Door opening / closing detection device and door opening / closing detection method

Abstract

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

Description

Technical Field

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

Background Art

[0002] For example, for crime prevention and security improvement, a method of detecting the opening and closing of windows and doors using a magnetic detection type sensor is common (for example, Patent Document 1). On the other hand, as one of the monitoring solutions in facilities such as nursing facilities, it is desired to detect the opening and closing state of a door to determine the presence or absence of a person in the room and to perform operation control of the system based on the determination result. As such an application, for example, a method and an apparatus for determining the presence or absence of a user for detecting the degree of opening and closing of a door in a method for determining the presence or absence of a user in a room where a communication device is installed are disclosed (for example, Patent Document 2).

[0003] Specifically, the method and apparatus for determining the presence or absence of a user described in Patent Document 2 use a door sensor installed around the door to measure the signal intensity and determine the degree of opening and closing of the door based on the signal intensity.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0005] For example, when applying the technologies described in Patent Documents 1 and 2 to a room with multiple doors, it is necessary to install magnetic detection sensors or door sensors for each of the multiple doors. Furthermore, the technology described in Patent Document 2 in particular makes a determination based solely on the intensity of the signal obtained from the door sensor, which may lead to misinterpretation of reflections from objects other than doors as the opening and closing of doors.

[0006] This disclosure is made in view of the above, and aims to realize a door opening / closing detection device and a door opening / closing detection method that can appropriately determine entry or exit to a room by detecting the open / closed state of a door. [Means for solving the problem]

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

[0008] In this configuration, by detecting the characteristics of the door's opening and closing movements when no one is inside the room, the period from opening to closing can be estimated as the time a person is inside the room.

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

[0010] In this configuration, by detecting the characteristics of the door's opening and closing movements when no one is inside the room, the period from opening to closing can be estimated as the time a person is inside the room. [Effects of the Invention]

[0011] According to this disclosure, a door opening / closing detection device and a door opening / closing detection method can be realized that can appropriately determine entry or exit to a room by detecting the open / closed state of a door. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 is a block diagram showing the schematic configuration of a door opening / closing detection device according to Embodiment 1. [Figure 2] Figure 2 shows an example of specific processing in the arrival direction estimation unit according to Embodiment 1. [Figure 3] Figure 3 shows a first specific example of the object to be detected when opening or closing in the door opening / closing detection device according to Embodiment 1. [Figure 4] Figure 4 shows an example of the time transition of the relative distance and relative velocity of a target acquired within the opening / closing detection range. [Figure 5] Figure 5 is a flowchart showing a first example of the door open / closed determination process. [Figure 6] Figure 6 is a subflowchart showing the first example of the door open detection process. [Figure 7] Figure 7 is a conceptual diagram showing an example of a buffer value for the number of door open determinations stored in the memory unit. [Figure 8] Figure 8 is a subflowchart showing the first example of the door closing detection process. [Figure 9] Figure 9 is a conceptual diagram showing an example of a buffer value for the number of door closing determinations stored in the memory unit. [Figure 10] Figure 10 is a flowchart showing a second example of the door open / closed determination process. [Figure 11] Figure 11 is a subflowchart showing a second example of the door open detection process. [Figure 12] Figure 12 is a subflowchart showing a second example of the door closing detection process. [Figure 13] Figure 13 shows a second specific example of the door opening / closing detection target in the door opening / closing detection device according to Embodiment 1. [Figure 14]FIG. 14 is a flowchart showing a third example of door opening / closing determination processing. [Figure 15] FIG. 15 is a sub-flowchart showing a third example of door opening determination processing. [Figure 16] FIG. 16 is a sub-flowchart showing a third example of door closing determination processing. [Figure 17] FIG. 17 is a flowchart showing a fourth example of door opening / closing determination processing. [Figure 18] FIG. 18 is a sub-flowchart showing a fourth example of door opening determination processing. [Figure 19] FIG. 19 is a sub-flowchart showing a fourth example of door closing determination processing. [Figure 20] FIG. 20 is a block diagram showing a schematic configuration of a door opening / closing detection device according to Embodiment 2. [Figure 21] FIG. 21 is a diagram showing an example of specific processing in an arrival direction estimation unit according to Embodiment 2. [Figure 22A] FIG. 22A is a diagram showing a specific example of an opening / closing detection target in a door opening / closing detection device according to Embodiment 2. [Figure 22B] FIG. 22B is a diagram showing a specific example of an opening / closing detection target in a door opening / closing detection device according to Embodiment 2. [Figure 23] FIG. 23 is a diagram showing an example of a power distribution in the distance direction. [Figure 24] FIG. 24 is a flowchart showing a fifth example of door opening / closing determination processing. [Figure 25] FIG. 25 is a sub-flowchart showing an example of door opening / closing state transition determination processing.

MODE FOR CARRYING OUT THE INVENTION

[0013] Hereinafter, a door opening / closing detection device and a door opening / closing detection method according to an embodiment will be described in detail based on the drawings. Note that the present disclosure is not limited by this embodiment.

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

[0015] In the configuration of the door opening / closing detection device 100 according to Embodiment 1, the radar 1 is, for example, an FMCW (Frequency Modulated Continuous Wave) or FCM (Fast Chirp Modulation) radar equipped with multiple transmitting and receiving antennas, capable of acquiring positional information of the object being observed (hereinafter also referred to as "target") based on the transmitted and received signals. Since FMCW and FCM radars are well known, a detailed explanation may be omitted.

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

[0017] Radar 1 emits a transmission wave Tx towards the target and receives the reflected wave Rx of the transmission wave Tx to acquire an IF (Intermediate Frequency) signal.

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

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

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

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

[0022] Note that the processing in the direction of arrival estimation unit 21 shown in Figure 2 is just one example, and this disclosure is not limited by the processing of the direction of arrival estimation unit 21.

[0023] Figure 3 is a diagram showing a first specific example of the door opening / closing detection target in the door opening / closing detection device according to Embodiment 1. In Figure 3, the installation position of the radar 1 is taken as the origin O, and a room 3a is shown as an example in which two doors A and B are provided within the detection range of the radar 1. In the first specific example shown in Figure 3, the doors A and B provided in room 3a are inward-opening doors that open inward relative to the interior space IS3a.

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

[0025] In this disclosure, radar 1 is an FMCW or FCM type radar, as described above, and is capable of acquiring positional information (distance information, speed information, and angle information) for each target. Therefore, by storing different positional information for each target, multiple doors can be set as targets for opening and closing detection, as shown in Figure 3. Specifically, in the example shown in Figure 3, doors A and B can be set as targets for opening and closing detection.

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

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

[0028] In the example shown in Figure 3, the storage unit 24 stores the opening / closing detection range of the door to be detected (hereinafter also referred to as the "door to be detected"), and the correspondence between the direction of movement and speed of the door to be detected. Preferably, the opening / closing detection range of the door to be detected includes at least the range of motion of the door to be detected (the range in which the door moves when the door to be detected is opened or closed).

[0029] Specifically, for example, in the example shown in Figure 3, the storage unit 24 stores the door A opening / closing detection range ARA, and the correspondence between the direction of movement of door A and its speed.

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

[0031] Furthermore, for example, in the example shown in Figure 3, the storage unit 24 stores the open / close detection range ARB of door B, and the correspondence between the direction of movement of door B and its speed.

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

[0033] Note that Figure 3 shows an example where the doors to be detected (doors A and B) are inward-opening doors, and when the doors to be detected are moving in the opening direction, the relative velocity of the target corresponding to the doors to be detected is negative, and when the doors to be detected are moving in the closing direction, the relative velocity of the target corresponding to the doors to be detected is positive. However, the system is not limited to this example.

[0034] Furthermore, although Figure 3 shows the opening / closing detection ranges ARA and ARB for each door A and B with dashed lines, the opening / closing detection range of the door to be detected is not limited to the configuration shown in Figure 3. It is also possible to obtain the range of motion of the door to be detected in advance and set that range of motion as the opening / closing detection range of the door to be detected. Alternatively, as long as it includes at least the range of motion of the door to be detected, the opening / closing detection range may be set as a roughly rectangular shape instead of being set along the range of motion as shown in the figure, or as a roughly stepped opening / closing detection range along the arc drawn by the operating end of the door to be detected.

[0035] Figure 4 shows an example of the time transition of the relative distance and relative velocity of a target acquired within the opening / closing detection range. In Figure 4, an example of the time transition of the relative distance and relative velocity of a target is shown when there is one door to be detected, and that door is an inward-opening door. Figure 4 also shows an example of the time transition from when a person enters a room until when they leave.

[0036] In Figure 4, the points indicated by triangles represent targets with a negative relative velocity (-) within the door's open / close detection range, the points indicated by black circles represent targets with a relative velocity of zero (0) within the door's open / close detection range, and the points indicated by squares represent targets with a positive relative velocity (+) within the door's open / close detection range.

[0037] Specifically, in the time transition example shown in Figure 4, from time t1 to time t2, a person opens an inward-opening door from outside, and from time t2 to time t3, a person enters the room through the opened door, and the person who entered closes the door. Then, from time t4 to time t5, a person inside the room opens an inward-opening door, and a person exits the room through the opened door, and from time t5 to time t6, the person who exited closes the inward-opening door. In other words, in the time transition example shown in Figure 4, there is no person inside the room before time t1 and after time t6, time t1 to time t3 shows the process of a person entering the room, time t3 to time t4 shows a person inside the room, and time t4 to time t6 shows the process of a person leaving the room.

[0038] In the process of a person entering a room as described above, when a person opens an inward-opening door from outside between time t1 and time t2, within the door's open / close detection range, there is a lower probability that a target with a positive or zero velocity is closer than a target with a negative velocity.

[0039] Furthermore, in the process of a person leaving a room as described above, when the person who left the room closes an inward-opening door between time t5 and time t6, within the door opening / closing detection range of the door being detected, there is a lower probability that a target with a negative or zero relative velocity exists at a closer relative distance than a target with a positive relative velocity.

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

[0041] The following describes a specific example of the door opening / closing detection process when the door being detected is an inward-opening door.

[0042] Figure 5 is a flowchart showing the first example of door opening / closing detection processing. Figure 5 shows a specific example of door opening / closing detection processing when the door to be detected is an inward-opening door. For the sake of simplicity, the processing when there is only one door to be detected will be explained here.

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

[0044] In Embodiment 1, the direction of arrival estimation process (step S100) is a process executed by the direction of arrival estimation unit 21 of the processing unit 2. The direction of arrival estimation unit 21 stores the acquired relative distance, relative velocity, and relative angle for each target in the storage unit 24.

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

[0046] First, the door open determination process (step S200) will be explained with reference to Figure 6. Figure 6 is a subflowchart showing a first example of the door open determination process. As a prerequisite for the door open determination process shown in Figure 6, the storage unit 24 is assumed to have the door open determination frame number Np and the door open determination threshold n1th (n1th ≤ Np) pre-set and stored.

[0047] The determination processing unit 23 determines whether the number of door open determinations N = the number of door open determination frames Np (step S201). If N = Np (step S201; No), it sets N = N+1 (step S203). If N = Np (step S201; Yes), it sets N = 0 (step S202) and N = N+1 (step S203).

[0048] The determination processing unit 23 refers to the relative distance, relative velocity, and relative angle for each target stored in the storage unit 24, and extracts the minimum distance dnmin for targets with a negative relative velocity, the minimum distance dpmin for targets with a positive relative velocity, and the minimum distance dzmin for targets with a zero relative velocity, within the pre-set open / close detection range of the door to be detected (step S204).

[0049] The determination processing unit 23 first determines whether there is a minimum distance dnmin for a target with a negative relative velocity (step S205), in other words, whether there is a target with a negative relative velocity within the opening / closing detection range of the door to be detected.

[0050] If there is no target with a negative relative velocity (step S205; No), in other words, if there is no target with a negative relative velocity within the open / close detection range of the door to be detected, the determination processing unit 23 stores the false value "0" as the buffer value BufN for the door open determination count N (BufN=0) in the storage unit 24 (step S211). Figure 7 is a conceptual diagram showing an example of the buffer value for the door open determination count stored in the storage unit.

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

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

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

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

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

[0056] The determination processing unit 23 takes the value ΣBufN obtained by adding the buffer value BufN of the number of door open determinations N stored in the memory unit 24 as the door open determination value n1 (step S212), and determines whether the door open determination value n1 is greater than or equal to the door open determination threshold n1th (step S213). If the door open determination value n1 is less than the door open determination threshold n1th (step S213; No), the process returns to the door open / close determination process shown in Figure 5.

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

[0058] In this disclosure, the door state flag State indicates the determination result of the door open / close detection process. Specifically, when the door state flag State = 1, it indicates that the door open detection process (step S200) detected that the door open process was in the process of opening. When the door state flag State = 0, it indicates that the door closed detection process (step S300), described later, detected that the door closed process was in the process of closing. The value of the door state flag State is stored in the storage unit 24.

[0059] As a result, the door state flag State=1 is stored in the storage unit 24 from the time the door to be detected to open is detected in the door open determination process (step S200) until the door to be detected to close is detected in the door closed determination process (step S300). Furthermore, the door state flag State=0 is stored in the storage unit 24 from the time the door to be detected to close is detected in the door closed determination process (step S300) until the door to be detected to open is detected in the door open determination process (step S200).

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

[0061] In the door open detection process shown in Figure 6, if the number of frames (door open detection value n1=ΣBufN) in the most recent door open detection frame count Np in which there are no targets with a positive or zero relative velocity closer to a target with a negative relative velocity within the open / close detection range is equal to or greater than the door open detection threshold n1th, the inward-opening door, which is the door subject to open / close detection, is determined to be in the process of opening, and the value of the door state flag State is set to "1" (step S214). As a result, if the ratio of time (n1 / Np) corresponding to the number of frames (door open detection value n1=ΣBufN) in the most recent door open detection frame count Np in which there are no targets with a positive or zero relative velocity closer to a target with a negative relative velocity within the open / close detection range is equal to or greater than a predetermined value (n1th / Np), the inward-opening door, which is the door subject to open / close detection, can be determined to be open.

[0062] Next, the door closing determination process (step S300) will be explained with reference to Figure 8. Figure 8 is a subflowchart showing a first example of the door closing determination process. As a prerequisite for the door closing determination process shown in Figure 8, it is assumed that the door closing determination frame number MQ and the door closing determination threshold m1th (m1th ≤ MQ) are set in advance and stored in the storage unit 24.

[0063] The determination processing unit 23 determines whether the door closing determination number M = the door closing determination frame number Mq (step S301). If M=Mq (step S301; No), it sets M=M+1 (step S303). If M=Mq (step S301; Yes), it sets M=0 (step S302) and then sets M=M+1 (step S303).

[0064] The determination processing unit 23 refers to the relative distance, relative velocity, and relative angle for each target stored in the storage unit 24, and extracts the minimum distance dnmin for targets with a negative relative velocity, the minimum distance dpmin for targets with a positive relative velocity, and the minimum distance dzmin for targets with a zero relative velocity, within the pre-set open / close detection range of the door to be detected (step S304).

[0065] The determination processing unit 23 first determines whether there is a target with a positive relative velocity at the minimum distance dpmin (step S305), in other words, whether there is a target with a positive relative velocity within the opening / closing detection range of the door to be detected.

[0066] If there is no target with a positive relative velocity (step S305; No), in other words, if there is no target with a positive relative velocity within the open / close detection range of the door to be detected, the determination processing unit 23 stores the false value "0" as the buffer value BufM for the door closed determination count M (BufM=0) in the storage unit 24 (step S311). Figure 9 is a conceptual diagram showing an example of the buffer value for the door closed determination count stored in the storage unit.

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

[0068] If there is a minimum distance dnmin for a target with a negative relative velocity (step S306; Yes), the determination processing unit 23 determines whether the minimum distance dpmin for a target with a positive relative velocity is smaller than the minimum distance dnmin for a target with a negative relative velocity (step S307). If the minimum distance dpmin for a target with a positive relative velocity is greater than or equal to the minimum distance dnmin for a target with a negative relative velocity (step S307; No), the determination processing unit 23 stores the false value "0" as the buffer value BufM for the door closing determination count M (BufM=0) in the storage unit 24 (step S311).

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

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

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

[0072] The determination processing unit 23 takes the value ΣBufM obtained by adding the buffer value BufM of the number of door closing determinations M stored in the memory unit 24 as the door closing determination value m1 (step S312), and determines whether the door closing determination value m1 is greater than or equal to the door closing determination threshold m1th (step S313). If the door closing determination value m1 is less than the door closing determination threshold m1th (step S313; No), the process returns to the door opening / closing determination process shown in Figure 5.

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

[0074] Then, the determination processing unit 23 sets the door closing determination count M=0, resets (=0) the respective buffer values ​​Buf1, Buf2, ..., BufMq for door closing determination counts 1, 2, ..., Mq shown in Figure 9 (step S315), and returns to the door opening / closing determination process shown in Figure 5.

[0075] In the door closing determination process shown in Figure 8, if the number of frames in the most recent door closing determination frame count Mq in which there are no targets with a negative or zero relative velocity within the opening / closing detection range that are closer to targets with a positive relative velocity than targets with a positive relative velocity (door closing determination value m1 = ΣBufM) is equal to or greater than the door closing determination threshold m1th, the inward-opening door, which is the door subject to opening / closing detection, is determined to be in the process of closing, and the value of the door state flag State is set to "0" (step S314). As a result, if the ratio of time (m1 / Mq) corresponding to the number of frames in the opening / closing detection range in which there are no targets with a negative or zero relative velocity within the opening / closing detection range that are closer to targets with a positive relative velocity than targets with a positive relative velocity (door closing determination value m1 = ΣBufM) is equal to or greater than a predetermined value (m1th / Mq), the inward-opening door, which is the door subject to opening / closing detection, can be determined to be closed.

[0076] Figure 10 is a flowchart showing a second example of the door open / closed determination process. In the second example of the door open / closed determination process shown in Figure 10, the determination conditions for determining whether the door is open or closed are different from those in the first example of the door open / closed determination process shown in Figure 5.

[0077] In the second example of the door opening / closing determination process shown in Figure 10, the door opening / closing detection device 100 according to Embodiment 1 performs an approach direction estimation process (see Figure 2) (step S100), similar to the first example of the door opening / closing determination process described above, to obtain the relative distance, relative velocity, and relative angle for each target, and then executes the door opening determination process (step S200a) and the door closing determination process (step S300a) in parallel. The door opening / closing determination process shown in Figure 10 is executed at a predetermined frame period during which the radar 1 acquires the IF signal.

[0078] In Embodiment 1, the direction of arrival estimation process (step S100) is a process executed by the direction of arrival estimation unit 21 of the processing unit 2, as described above. The direction of arrival estimation unit 21 stores the acquired relative distance, relative velocity, and relative angle for each target in the storage unit 24.

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

[0080] First, the door open determination process (step S200a) will be explained with reference to Figure 11. Figure 11 is a subflowchart showing a second example of the door open determination process. As a prerequisite for the door open determination process shown in Figure 11, it is assumed that the storage unit 24 has a door open determination threshold n2th pre-set and stored.

[0081] The determination processing unit 23 refers to the relative distance, relative velocity, and relative angle for each target stored in the storage unit 24, and extracts the minimum distance dnmin for targets with a negative relative velocity, the minimum distance dpmin for targets with a positive relative velocity, and the minimum distance dzmin for targets with a zero relative velocity, within the pre-set open / close detection range of the door to be detected (step S221).

[0082] The determination processing unit 23 first determines whether there is a minimum distance dnmin for a target with a negative relative velocity (step S222), in other words, whether there is a target with a negative relative velocity within the opening / closing detection range of the door to be detected.

[0083] If there is no target with a negative relative velocity (step S222; No), in other words, if there is no target with a negative relative velocity within the door opening / closing detection range of the door to be detected, the determination processing unit 23 resets the door opening determination value n2 to 0 (step S230) and returns to the door opening / closing determination process shown in Figure 10.

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

[0085] If there is a minimum distance dpmin for a target with a positive relative velocity (step S223; Yes), the determination processing unit 23 determines whether the minimum distance dnmin for a target with a negative relative velocity is smaller than the minimum distance dpmin for a target with a positive relative velocity (step S224). If the minimum distance dnmin for a target with a negative relative velocity is greater than or equal to the minimum distance dpmin for a target with a positive relative velocity (step S224; No), the determination processing unit 23 resets the door open determination value n2 to 0 (step S230) and returns to the door open / closed determination process shown in Figure 10.

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

[0087] If there is a minimum distance dzmin for a target with a relative velocity of zero (step S225; Yes), the determination processing unit 23 determines whether the minimum distance dnmin for a target with a negative relative velocity is smaller than the minimum distance dzmin for a target with a relative velocity of zero (step S226). If the minimum distance dnmin for a target with a negative relative velocity is greater than or equal to the minimum distance dzmin for a target with a relative velocity of zero (step S226; No), the determination processing unit 23 resets the door open determination value n2 to 0 (step S230) and returns to the door open / closed determination process shown in Figure 10.

[0088] If there is no minimum distance dzmin for a target with zero relative velocity (step S225; No), in other words, if there is no target with zero relative velocity within the door opening / closing detection range of the door to be detected, and if there is a minimum distance dzmin for a target with zero relative velocity (step S225; Yes), and the minimum distance dnmin for a target with a negative relative velocity is smaller than the minimum distance dzmin for a target with zero relative velocity (step S226; Yes), the determination processing unit 23 sets the door open determination value n2 = n2 + 1 (step S227) and determines whether the door open determination value n2 is greater than or equal to the door open determination threshold n2th (step S228). If the door open determination value n2 is less than the door open determination threshold n2th (step S228; No), the process returns to the door opening / closing determination process shown in Figure 10.

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

[0090] Then, the determination processing unit 23 resets the door open determination value n2 to 0 (step S230) and returns to the door open / closed determination process shown in Figure 10.

[0091] In the door open detection process shown in Figure 11, if a predetermined number of frames (door open detection threshold n2th) or more occur consecutively within the open / close detection range where there are no targets with a positive or zero relative velocity closer to a target with a negative relative velocity, it is determined that the inward-opening door, which is the door subject to open / close detection, is in the process of opening, and the value of the door state flag State is set to "1" (step S229). As a result, if the time during which a predetermined number of frames or more occur consecutively within the open / close detection range where there are no targets with a positive or zero relative velocity closer to a target with a negative relative velocity exceeds a predetermined time, it can be determined that the inward-opening door, which is the door subject to open / close detection, is open.

[0092] Next, the door closing determination process (step S300a) will be explained with reference to Figure 12. Figure 12 is a subflowchart showing a second example of the door closing determination process. As a prerequisite for the door closing determination process shown in Figure 12, it is assumed that the storage unit 24 has a door closing determination threshold m2th pre-set and stored in it.

[0093] The determination processing unit 23 refers to the relative distance, relative velocity, and relative angle for each target stored in the storage unit 24, and extracts the minimum distance dnmin for targets with a negative relative velocity, the minimum distance dpmin for targets with a positive relative velocity, and the minimum distance dzmin for targets with a zero relative velocity, within the pre-set open / close detection range of the door to be detected (step S321).

[0094] The determination processing unit 23 first determines whether there is a target with a positive relative velocity at the minimum distance dpmin (step S322), in other words, whether there is a target with a positive relative velocity within the opening / closing detection range of the door to be detected.

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

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

[0097] If there is a minimum distance dnmin for a target with a negative relative velocity (step S323; Yes), the determination processing unit 23 determines whether the minimum distance dpmin for a target with a positive relative velocity is smaller than the minimum distance dnmin for a target with a negative relative velocity (step S324). If the minimum distance dpmin for a target with a positive relative velocity is greater than or equal to the minimum distance dnmin for a target with a negative relative velocity (step S324; No), the determination processing unit 23 resets the door closed determination value m2 to 0 (step S330) and returns to the door open / closed determination process shown in Figure 10.

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

[0099] If there is a minimum distance dzmin for a target with a relative velocity of zero (step S325; Yes), the determination processing unit 23 determines whether the minimum distance dpmin for a target with a positive relative velocity is smaller than the minimum distance dzmin for a target with a relative velocity of zero (step S326). If the minimum distance dpmin for a target with a positive relative velocity is greater than or equal to the minimum distance dzmin for a target with a relative velocity of zero (step S326; No), the determination processing unit 23 resets the door closed determination value m2 to 0 (step S330) and returns to the door open / closed determination process shown in Figure 10.

[0100] If there is no minimum distance dzmin for a target with zero relative velocity (step S325; No), in other words, if there is no target with zero relative velocity within the open / close detection range of the door to be detected, and if there is a minimum distance dzmin for a target with zero relative velocity (step S325; Yes), and the minimum distance dpmin for a target with a positive relative velocity is smaller than the minimum distance dzmin for a target with zero relative velocity (step S326; Yes), the determination processing unit 23 sets the door closed determination value m2 = m2 + 1 (step S327) and determines whether the door closed determination value m2 is greater than or equal to the door closed determination threshold m2th (step S328). If the door closed determination value m2 is less than the door closed determination threshold m2th (step S328; No), the process returns to the door open / close determination process shown in Figure 10.

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

[0102] Then, the determination processing unit 23 resets the door closed determination value m2 to 0 (step S330) and returns to the door open / closed determination process shown in Figure 10.

[0103] In the door closing determination process shown in Figure 12, if a predetermined number of frames (door closing determination threshold m2th) or more occur consecutively within the opening / closing detection range where there are no targets with a negative or zero relative velocity closer to a target with a positive relative velocity than there are targets with a positive relative velocity, it is determined that the inward-opening door, which is the door subject to opening / closing detection, is in the process of closing, and the value of the door state flag State is set to "0" (step S329). As a result, if the time during which a predetermined number of consecutive frames exist within the opening / closing detection range where there are no targets with a negative or zero relative velocity closer to a target with a positive relative velocity than there are targets with a positive relative velocity exceeds a predetermined time, it can be determined that the inward-opening door, which is the door subject to opening / closing detection, has closed.

[0104] Figure 13 shows a second specific example of the door opening / closing detection target in the door opening / closing detection device according to Embodiment 1. In Figure 13, the installation position of the radar 1 is taken as the origin O, and a room 3b is shown as an example in which two doors C and D are provided within the detection range of the radar 1. In the second specific example shown in Figure 13, the doors C and D provided in room 3b are outward-opening doors that open outward relative to the interior space IS3b.

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

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

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

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

[0109] In the example shown in Figure 13, the storage unit 24 stores the opening / closing detection range of the door to be detected, and the correspondence between the direction of movement and speed of the door to be detected.

[0110] Specifically, for example, in the example shown in Figure 13, the storage unit 24 stores the door C opening / closing detection range ARC, and the correspondence between the door C's movement direction and speed.

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

[0112] Furthermore, for example, in the example shown in Figure 13, the storage unit 24 stores the door D opening / closing detection range ARD, and the correspondence between the door D's movement direction and speed.

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

[0114] Note that Figure 13 shows an example where, when the doors to be detected (doors C and D) are outward-opening doors, the relative velocity of the target corresponding to the door is positive when the door is moving in the opening direction, and negative when the door is moving in the closing direction. However, the example is not limited to this.

[0115] Furthermore, although Figure 13 shows the open / close detection ranges ARC and ARD for each door C and D with dashed lines, the open / close detection range of the door to be detected is not limited to the configuration shown in Figure 13. It is also possible to obtain the range of motion of the door to be detected in advance and set that range of motion as the open / close detection range of the door to be detected.

[0116] Furthermore, if the door to be detected is an outward-opening door, the storage unit 24 stores, in addition to the door detection range and the correspondence between the door's movement direction and speed, a designated area that is narrower than the door detection range within the door's detection range. The designated area provided when the door to be detected is an outward-opening door will be described below.

[0117] If the door to be detected as open or closed is an outward-opening door, it is assumed that during the process of a person entering a room, when a person opens the outward-opening door from outside and enters the room, the relative velocity of the door to be detected as open or closed will be zero while the door is pulled open from the outside.

[0118] Furthermore, if the door being detected is an outward-opening door, it is expected that during a person's exit from the room, the relative velocity of the door being detected will be zero as the person pushes the door open from the inside as they exit.

[0119] Therefore, in the door opening / closing determination process by the door opening / closing detection device 100 according to Embodiment 1, if the door to be detected is an outward-opening door, as shown in Figure 13, a designated area DARC,DARD is provided that is narrower than the opening / closing detection range ARC,ARD, and the opening / closing determination of the door to be detected is made when there is no target with a relative velocity of zero within the designated area DARC,DARD.

[0120] In Figure 13, for illustrative purposes, the designated area DARC, located within the open / close detection range ARC, and the designated area DARD, located within the open / close detection range ARD, are shown in different configurations.

[0121] Specifically, in the second specific example shown in Figure 13, the designated area DARC within the open / close detection range ARC is defined as the area within the open / close detection range ARC that is restricted to the Y direction. More specifically, the designated area DARD within the open / close detection range ARC is defined as the area within the open / close detection range ARC that is restricted to between d1 and d2 in the Y direction (d1 ≤ d2 ≤ W, where W is the width of the door to be detected (in this case, door C)).

[0122] Furthermore, in the second specific example shown in Figure 13, the designated area DAR within the opening / closing detection range ARD is defined as the area within the opening / closing detection range ARD where the range of motion of door D is restricted. More specifically, the designated area DAR within the opening / closing detection range ARD is defined as the area greater than or equal to a predetermined angle θ when door D is opened (θ ≤ θth, where θth is the maximum opening angle of the door to be detected (in this case, door D)).

[0123] The following describes a specific example of door opening / closing detection processing when the door being detected is an outward-opening door.

[0124] Figure 14 is a flowchart showing a third example of the door opening / closing detection process. Figure 14 shows a specific example of the door opening / closing detection process when the door to be detected is an outward-opening door. For the sake of simplicity, the process when there is only one door to be detected will be explained here.

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

[0126] In Embodiment 1, the direction of arrival estimation process (step S100) is a process executed by the direction of arrival estimation unit 21 of the processing unit 2, as described above. The direction of arrival estimation unit 21 stores the acquired relative distance, relative velocity, and relative angle for each target in the storage unit 24.

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

[0128] First, the door open determination process (step S200b) will be explained with reference to Figure 15. Figure 15 is a subflowchart showing a third example of the door open determination process. As a prerequisite for the door open determination process shown in Figure 15, the storage unit 24 is assumed to have the door open determination frame number Np and the door open determination threshold nth (nth ≤ Np) pre-set and stored.

[0129] The determination processing unit 23 determines whether the number of door open determinations N = the number of door open determination frames Np (step S241). If N = Np (step S241; No), it sets N = N+1 (step S243). If N = Np (step S241; Yes), it sets N = 0 (step S242) and N = N+1 (step S243).

[0130] The determination processing unit 23 refers to the relative distance, relative velocity, and relative angle for each target stored in the storage unit 24 and determines whether or not there are any targets with a relative velocity of zero within a specified area within the opening / closing detection range of the door to be detected (step S244). If there are targets with a relative velocity of zero within the specified area within the opening / closing detection range of the door to be detected (step S244; No), the determination processing unit 23 stores the false value "0" as the buffer value BufN for the door opening determination number N (BufN=0) in the storage unit 24 (step S252).

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

[0132] The determination processing unit 23 determines whether or not there is a target with a positive relative velocity at the minimum distance dpmin (step S246), in other words, whether or not there is a target with a positive relative velocity within the opening / closing detection range of the door to be detected.

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

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

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

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

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

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

[0139] The determination processing unit 23 takes the value ΣBufN obtained by adding the buffer value BufN of the number of door open determinations N stored in the memory unit 24 as the door open determination value n1 (step S253), and determines whether the door open determination value n1 is greater than or equal to the door open determination threshold nth (step S254). If the door open determination value n1 is less than the door open determination threshold nth (step S254; No), the process returns to the door open / close determination process shown in Figure 14.

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

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

[0142] In the door open determination process shown in Figure 15, if the number of frames (door open determination value n1=ΣBufN) in the most recent door open determination frame count Np in which there are no targets with a relative velocity of zero within the specified area within the opening / closing detection range, and in which there are no targets with a negative or zero relative velocity closer to targets with a positive relative velocity within the opening / closing detection range, is equal to or greater than the door open determination threshold nth, then it is determined that the outward-opening door, which is the door subject to opening / closing detection, is in the process of opening, and the value of the door state flag State is set to "1" (step S255). As a result, if the proportion of time (n1 / Np) corresponding to the number of frames (door open determination value n1=ΣBufN) in which there are no targets with a relative velocity of zero within the specified area within the opening / closing detection range, and in which there are no targets with a negative or zero relative velocity closer to targets with a positive relative velocity within the opening / closing detection range, is equal to or greater than a predetermined value (nth / Np), then it can be determined that the outward-opening door, which is the door subject to opening / closing detection, is open.

[0143] Next, the door closing determination process (step S300b) will be explained with reference to Figure 16. Figure 16 is a subflowchart showing a third example of the door closing determination process. As a prerequisite for the door closing determination process shown in Figure 16, it is assumed that the door closing determination frame number MQ and the door closing determination threshold mth (mth≦Mq) are pre-set and stored in the storage unit 24.

[0144] The determination processing unit 23 determines whether the number of door closing determinations M = the number of door closing determination frames Mq (step S341). If M = Mq (step S341; No), it sets M = M+1 (step S343). If M = Mq (step S341; Yes), it sets M = 0 (step S342) and then sets M = M+1 (step S343).

[0145] The determination processing unit 23 refers to the relative distance, relative velocity, and relative angle for each target stored in the storage unit 24 and determines whether or not there are any targets with a relative velocity of zero within the pre-set open / close detection range of the door to be detected (step S344). If there are targets with a relative velocity of zero within the specified area within the open / close detection range of the door to be detected (step S344; No), the determination processing unit 23 stores the false value "0" as the buffer value BufM for the door closing determination count M (BufM=0) in the storage unit 24 (step S352).

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

[0147] The determination processing unit 23 determines whether there is a minimum distance dnmin for a target with a negative relative velocity (step S346), in other words, whether there is a target with a negative relative velocity within the opening / closing detection range of the door to be detected.

[0148] If there is no target with a negative relative velocity (step S346; No), in other words, if there is no target with a negative relative velocity within the open / close detection range of the door to be detected, the determination processing unit 23 stores the false value "0" as the buffer value BufM for the door closed determination count M (BufM=0) in the storage unit 24 (step S352).

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

[0150] If there is a minimum distance dpmin for a target with a positive relative velocity (step S347; Yes), the determination processing unit 23 determines whether the minimum distance dnmin for a target with a negative relative velocity is smaller than the minimum distance dpmin for a target with a positive relative velocity (step S348). If the minimum distance dnmin for a target with a negative relative velocity is greater than or equal to the minimum distance dpmin for a target with a positive relative velocity (step S348; No), the determination processing unit 23 stores the false value "0" as the buffer value BufM for the door closing determination count M (BufM=0) in the storage unit 24 (step S352).

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

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

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

[0154] The determination processing unit 23 takes the value ΣBufM obtained by adding the buffer value BufM of the number of door closing determinations M stored in the memory unit 24 as the door closing determination value m1 (step S353), and determines whether the door closing determination value m1 is greater than or equal to the door closing determination threshold m1th (step S354). If the door closing determination value m1 is less than the door closing determination threshold m1th (step S354; No), the process returns to the door opening / closing determination process shown in Figure 14.

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

[0156] Then, the determination processing unit 23 sets the door closing determination count M=0, resets the buffer values ​​Buf1, Buf2, ..., BufMq for door closing determination counts 1, 2, ..., Mq shown in Figure 9 to 0 (step S356), and returns to the door opening / closing determination process shown in Figure 14.

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

[0158] Figure 17 is a flowchart showing a fourth example of the door open / closed determination process. In the fourth example of the door open / closed determination process shown in Figure 17, the determination conditions for determining whether the door is open or closed are different from those in the third example of the door open / closed determination process shown in Figure 14.

[0159] In the fourth example of the door opening / closing determination process shown in Figure 17, the door opening / closing detection device 100 according to Embodiment 1 performs an approach direction estimation process (see Figure 2) (step S100), similar to the third example of the door opening / closing determination process described above, to obtain the relative distance, relative velocity, and relative angle for each target, and then executes the door opening determination process (step S200c) and the door closing determination process (step S300c) in parallel. The door opening / closing determination process shown in Figure 14 is executed at a predetermined frame period in which the radar 1 acquires the IF signal.

[0160] In Embodiment 1, the direction of arrival estimation process (step S100) is a process executed by the direction of arrival estimation unit 21 of the processing unit 2, as described above. The direction of arrival estimation unit 21 stores the acquired relative distance, relative velocity, and relative angle for each target in the storage unit 24.

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

[0162] First, the door open determination process (step S200c) will be explained with reference to Figure 18. Figure 18 is a subflowchart showing a fourth example of the door open determination process. As a prerequisite for the door open determination process shown in Figure 18, it is assumed that the storage unit 24 has a door open determination threshold n2th pre-set and stored.

[0163] The determination processing unit 23 refers to the relative distance, relative velocity, and relative angle for each target stored in the memory unit 24 and determines whether or not there are any targets with a relative velocity of zero within the pre-set open / close detection range of the target door and within a pre-set specified area within the open / close detection range of the target door (step S261). If there are targets with a relative velocity of zero within the specified area within the open / close detection range of the target door (step S261; No), the determination processing unit 23 resets the door open determination value n2 (= 0) (step S271) and returns to the door open / close determination process shown in Figure 17.

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

[0165] The determination processing unit 23 determines whether or not there is a target with a positive relative velocity at the minimum distance dpmin (step S263), in other words, whether or not there is a target with a positive relative velocity within the opening / closing detection range of the door to be detected.

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

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

[0168] If there is a minimum distance dnmin for a target with a negative relative velocity (step S264; Yes), the determination processing unit 23 determines whether the minimum distance dpmin for a target with a positive relative velocity is smaller than the minimum distance dnmin for a target with a negative relative velocity (step S265). If the minimum distance dpmin for a target with a positive relative velocity is greater than or equal to the minimum distance dnmin for a target with a negative relative velocity (step S265; No), the determination processing unit 23 resets the door open determination value n2 to 0 (step S271) and returns to the door open / closed determination process shown in Figure 17.

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

[0170] If there is a minimum distance dzmin for a target with a relative velocity of zero (step S266; Yes), the determination processing unit 23 determines whether the minimum distance dpmin for a target with a positive relative velocity is smaller than the minimum distance dzmin for a target with a relative velocity of zero (step S267). If the minimum distance dpmin for a target with a positive relative velocity is greater than or equal to the minimum distance dzmin for a target with a relative velocity of zero (step S267; No), the determination processing unit 23 resets the door open determination value n2 to 0 (step S271) and returns to the door open / closed determination process shown in Figure 17.

[0171] If the minimum distance dpmin of a target with a positive relative velocity is greater than or equal to the minimum distance dzmin of a target with a zero relative velocity (step S267; Yes), the determination processing unit 23 sets the door open determination value n2 = n2 + 1 (step S268) and determines whether the door open determination value n2 is greater than or equal to the door open determination threshold n2th (step S269). If the door open determination value n2 is less than the door open determination threshold n2th (step S269; No), the process returns to the door open / closed determination process shown in Figure 17.

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

[0173] Then, the determination processing unit 23 resets the door open determination value n2 to 0 (step S271) and returns to the door open / closed determination process shown in Figure 17.

[0174] In the door open determination process shown in Figure 18, if there are no consecutive targets with a relative velocity of zero within the specified area within the open / close detection range, and there are no targets with a negative or zero relative velocity closer to targets with a positive relative velocity within the open / close detection range, a predetermined number of frames (door open determination value n2) or more occur consecutively (door open determination threshold n2th), it is determined that the outward-opening door, which is the door subject to open / close detection, is in the process of opening, and the value of the door state flag State is set to "1" (step S270). As a result, if the time during which there are no consecutive targets with a relative velocity of zero within the specified area within the open / close detection range, and there are no targets with a negative or zero relative velocity closer to targets with a positive relative velocity within the open / close detection range, exceeds a predetermined time, it can be determined that the outward-opening door, which is the door subject to open / close detection, is open.

[0175] Next, the door closing determination process (step S300c) will be explained with reference to Figure 19. Figure 19 is a subflowchart showing a fourth example of the door closing determination process. As a prerequisite for the door closing determination process shown in Figure 19, it is assumed that the storage unit 24 has a door closing determination threshold m2th pre-set and stored in it.

[0176] The determination processing unit 23 refers to the relative distance, relative velocity, and relative angle for each target stored in the memory unit 24 and determines whether or not there are any targets with a relative velocity of zero within the pre-set open / close detection range of the target door and within a pre-set specified area within the open / close detection range of the target door (step S361). If there are targets with a relative velocity of zero within the specified area within the open / close detection range of the target door (step S361; No), the determination processing unit 23 resets the door closed determination value m2 (= 0) (step S371) and returns to the door open / close determination process shown in Figure 17.

[0177] If there are no targets with a relative velocity of zero within the specified area within the opening / closing detection range of the door to be detected (step S361; Yes), the determination processing unit 23 extracts the minimum distance dnmin for targets with a negative relative velocity, the minimum distance dpmin for targets with a positive relative velocity, and the minimum distance dzmin for targets with a relative velocity of zero within the pre-set opening / closing detection range of the door to be detected (step S362).

[0178] The determination processing unit 23 determines whether or not there is a minimum distance dnmin for a target with a negative relative velocity (step S363), in other words, whether or not there is a target with a negative relative velocity within the opening / closing detection range of the door to be detected.

[0179] If there is no target with a negative relative velocity (step S363; No), in other words, if there is no target with a negative relative velocity within the open / close detection range of the door to be detected, the determination processing unit 23 resets the door closed determination value m2 to 0 (step S371) and returns to the door open / close determination process shown in Figure 17.

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

[0181] If there is a minimum distance dpmin for a target with a positive relative velocity (step S364; Yes), the determination processing unit 23 determines whether the minimum distance dnmin for a target with a negative relative velocity is smaller than the minimum distance dpmin for a target with a positive relative velocity (step S365). If the minimum distance dnmin for a target with a negative relative velocity is greater than or equal to the minimum distance dpmin for a target with a positive relative velocity (step S365; No), the determination processing unit 23 resets the door closed determination value m2 to 0 (step S371) and returns to the door open / closed determination process shown in Figure 17.

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

[0183] If there is a minimum distance dzmin for a target with a relative velocity of zero (step S366; Yes), the determination processing unit 23 determines whether the minimum distance dnmin for a target with a negative relative velocity is smaller than the minimum distance dzmin for a target with a relative velocity of zero (step S367). If the minimum distance dnmin for a target with a negative relative velocity is greater than or equal to the minimum distance dzmin for a target with a relative velocity of zero (step S367; No), the determination processing unit 23 resets the door closed determination value m2 to 0 (step S371) and returns to the door open / closed determination process shown in Figure 17.

[0184] If the minimum distance dnmin for a target with a negative relative velocity is greater than or equal to the minimum distance dzmin for a target with a zero relative velocity (step S367; Yes), the determination processing unit 23 sets the door closed determination value m2 = m2 + 1 (step S368) and determines whether the door closed determination value m2 is greater than or equal to the door closed determination threshold m2th (step S369). If the door closed determination value m2 is less than the door closed determination threshold m2th (step S369; No), the process returns to the door open / closed determination process shown in Figure 17.

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

[0186] Then, the determination processing unit 23 resets the door closed determination value m2 to 0 (step S371) and returns to the door open / closed determination process shown in Figure 17.

[0187] In the door closing determination process shown in Figure 19, if there are no consecutive targets with a relative velocity of zero within the specified area within the opening / closing detection range, and there are no targets with a relative velocity of positive or zero at a position closer to a target with a relative velocity of negative within the opening / closing detection range, the outward-opening door, which is the door subject to opening / closing detection, is determined to be in the process of closing, and the value of the door state flag State is set to "0" (step S370). As a result, if the time during which there are no consecutive frames with a relative velocity of zero within the specified area within the opening / closing detection range, and there are no targets with a relative velocity of positive or zero at a position closer to a target with a relative velocity of negative within the opening / closing detection range, is longer than a predetermined time, the outward-opening door, which is the door subject to opening / closing detection, can be determined to be closed.

[0188] The above-described door open / closed determination process illustrates a configuration in which the door open determination process (steps S200, S200a, S200b, S200c) and the door closed determination process (steps S300, S300a, S300b, S300c) are executed in parallel, but is not limited to this configuration. For example, depending on the determination result of the previous door open / closed determination process, it is possible to omit either the door open determination process (steps S200, S200a, S200b, S200c) or the door closed determination process (steps S300, S300a, S300b, S300c).

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

[0190] Furthermore, while the above-described door opening / closing determination process explained the process when there is only one door to be detected, if multiple doors are set as doors to be detected, the process can be applied by appropriately executing the door open determination process (steps S200, S200a, S200b, S200c) and the door open determination process (steps S300, S300a, S300b, S300c) in parallel for each of the multiple doors to be detected. In this case, it is sufficient that the opening / closing detection range of each door, and the correspondence between the direction of movement and speed of each door, are stored in the storage unit 24.

[0191] (Embodiment 2) Figure 20 is a block diagram showing the schematic configuration of the door opening / closing detection device according to Embodiment 2. The door opening / closing detection device 100a according to Embodiment 2 differs from the door opening / closing detection device 100 according to Embodiment 1 in the processing of the direction of arrival estimation unit 21a and the determination processing unit 23a of the processing unit 2a. Here, we will explain in detail the differences from Embodiment 1, and we may omit explanations of the same aspects as Embodiment 1.

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

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

[0194] Figures 22A and 22B show specific examples of objects to be detected when opening or closing in the door opening / closing detection device according to Embodiment 2. In Figures 22A and 22B, the installation position of the radar 1 is taken as the origin O, and a room 3c is shown as an example in which two doors E and F are provided within the detection range of the radar 1.

[0195] In the examples shown in Figures 22A and 22B, an inward-opening door E and an outward-opening door F can be set as doors to be detected for opening and closing. Figure 22A shows doors E and F in the open state, while Figure 22B shows doors E and F in the closed state.

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

[0197] Figure 23 shows an example of power distribution in the distance direction. The dashed line in Figure 23 shows the power distribution when the door being detected is open, and the solid line in Figure 23 shows the power distribution when the door being detected is closed.

[0198] As shown in Figure 23, a power difference exists near the door position between the power distribution when the door being detected is open and the power distribution when the door being detected is closed. Specifically, the power value near the door position when the door being detected is closed is greater than the power value near the door position when the door being detected is open.

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

[0200] The following describes a specific example of the door opening / closing determination process by the door opening / closing detection device 100a according to Embodiment 2.

[0201] Figure 24 is a flowchart showing the fifth example of the door opening / closing detection process. Figure 24 shows a specific example of the door opening / closing detection process when the door to be detected is an inward-opening door. For the sake of simplicity, the process when there is only one door to be detected will be explained here.

[0202] In the fifth example of the door opening / closing determination process shown in Figure 24, the door opening / closing detection device 100a according to Embodiment 2 performs an approach direction estimation process (see Figure 21) (step S100a) to obtain the relative distance, relative velocity, relative angle, and two-dimensional power distribution of the relative distance and relative angle for each target, and then executes the door opening determination process (steps S200, S200a, S200b, S200c), the door closing determination process (steps S300, S300a, S300b, S300c), and the door opening / closing state transition determination process (step S400), which will be described later, in parallel. The door opening / closing determination process shown in Figure 24 is executed at a predetermined frame period in which the radar 1 acquires the IF signal.

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

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

[0205] The door open / closed state transition determination process (step S400) will be explained below with reference to Figure 25. Figure 25 is a subflowchart showing an example of the door open / closed state transition determination process.

[0206] As a prerequisite for the door open / closed state transition determination process shown in Figure 25, the storage unit 24a is assumed to have the detection range AR of the door to be detected as open or closed, and the power threshold Pth for the minimum power value P(AR)min within the detection range AR of the door to be detected as open or closed, pre-set and stored.

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

[0208] In this disclosure, the frame interval Fint represents the number of times the door open / close determination process has been executed after the value of the door state flag State has been updated, or in other words, the number of times the door open / close determination process has been executed after the door to be detected as open has been determined to be open (door state flag State=1) by the door open determination process (steps S200, S200a, S200b, S200c), or the number of times the door open / close determination process has been executed after the door closed has been determined to be closed (door state flag State=0) by the door closed determination process (steps S300, S300a, S300b, S300c). That is, the value of the frame interval Fint corresponds to the elapsed time after the door open determination (door state flag State=1) or the door closed determination (door state flag State=0). The value of the frame interval Fint is temporarily stored in the storage unit 24a. The storage unit 24a is also pre-set and stored a predetermined frame interval count Finth as a threshold value for the frame interval Fint.

[0209] The determination processing unit 23a determines whether the frame interval Fint value is equal to or greater than a predetermined frame interval number Fintth (step S404). If the frame interval Fint value is less than the frame interval number Fintth (step S404; No), the process returns to the door opening / closing determination process shown in Figure 24.

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

[0211] Next, the determination processing unit 23a determines whether the value of the door state buffer Dbuf is "0" or not (step S406).

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

[0213] If the value of the door state buffer Dbuf is 0 (step S406; Yes), the determination processing unit 23a determines whether the minimum power value P(AR)min extracted in step S405 is less than the power threshold Pth (step S407). If the minimum power value P(AR)min is greater than or equal to the power threshold Pth (step S407; No), the determination processing unit 23a determines that the door to be detected as open or closed is closed (hereinafter also referred to as "closed state"), and returns to the door open / closed determination process shown in Figure 24.

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

[0215] If the value of the door state buffer Dbuf is 1 (step S406; No), the determination processing unit 23a determines whether the minimum power value P(AR)min extracted in step S405 is greater than or equal to the power threshold Pth (step S409). If the minimum power value P(AR)min is less than the power threshold Pth (step S409; No), the determination processing unit 23a determines the open state and returns to the door open / closed determination process shown in Figure 24.

[0216] If the minimum power value P(AR)min is greater than or equal to the power threshold Pth (step S409; Yes), the determination processing unit 23a determines that the door is closed and sets the value of the door state buffer Dbuf to "0" (step S410), and then determines whether the value of the door state flag State is "0" or not (step S411).

[0217] If the door state flag State = 0 (step S411; Yes), the determination processing unit 23a sets the value of the door state flag State to "1" (step S412) and returns to the door open / closed determination process shown in Figure 24.

[0218] If the door state flag State=1 (step S411; No), the determination processing unit 23a sets the value of the door state flag State to "0" (step S413) and returns to the door open / closed determination process shown in Figure 24.

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

[0220] As a result, for example, even if the door closed determination process (steps S300, S300a, S300b, S300c) successfully determines that the door is closed (door state flag State=0), but the door open determination process (steps S200, S200a, S200b, S200c) fails to successfully determine that the door is open (door state flag State=1), the determination result of the door open / closed state transition determination process (step S400) can be used to correct the determination to open (door state flag State=1) (step S412).

[0221] Furthermore, this prevents erroneous corrections when the door open determination process (steps S200, S200a, S200b, S200c) successfully determines that the door is open (door state flag State=1).

[0222] Furthermore, for example, even if the door is not successfully determined to be open (door state flag State=1) in the door open determination process (steps S200, S200a, S200b, S200c) but the door is not successfully determined to be closed (door state flag State=0) in the door closed determination process (steps S300, S300a, S300b, S300c), the determination can be corrected to be closed (door state flag State=0) using the determination result of the door open / closed state transition determination process (step S400) (step S413).

[0223] Furthermore, it prevents erroneous corrections when the door closing determination process (steps S300, S300a, S300b, S300c) successfully determines that the door is closed (door state flag State=0).

[0224] The embodiments described above are provided to facilitate understanding of this disclosure and are not intended to limit the invention. This disclosure may be modified or improved without departing from its spirit, and equivalents thereof are included.

[0225] This disclosure makes it possible to realize a door opening / closing detection device and a door opening / closing detection method that can appropriately determine entry or exit to a room by detecting the open / closed state of a door. [Explanation of symbols]

[0226] 1 Radar 2,2a Processing Unit 21,21a Direction of arrival estimation unit 23,23a Determination Processing Unit 24,24a Storage section 100,100a Door Open / Close Detection Device

Claims

1. A sensor capable of acquiring the relative position information of the target, An approach direction estimation unit estimates the relative distance, relative velocity, and relative angle of the target to the sensor based on the transmitted and received signals of the sensor. A determination processing unit that determines the open / closed state of the door based on at least the relative distance and the relative speed, Equipped with, The aforementioned sensor is The radar includes a device that transmits a linearly frequency-modulated chirp signal, receives reflected waves from a target, and combines the received and transmitted waves to generate an IF signal. The aforementioned direction of arrival estimation unit, Based on the IF signal, the relative distance, relative velocity, and relative angle are estimated. The determination processing unit, The open / close detection range, which includes the range of motion of the door to be detected for determining its open / closed state, and the correspondence between the direction of movement and speed of the door to be detected are predetermined. Within the aforementioned opening / closing detection range, if there is no target with a positive or zero relative velocity at a position closer than a target with a negative relative velocity, it is determined that the door targeted for opening / closing detection is open. Within the aforementioned opening / closing detection range, if there are no targets with a negative or zero relative velocity that are closer to a target with a positive relative velocity than to a target with a positive relative velocity, it is determined that the door subject to opening / closing detection has closed. Door opening / closing detection device.

2. A sensor capable of acquiring the relative position information of the target, An approach direction estimation unit estimates the relative distance, relative velocity, and relative angle of the target to the sensor based on the transmitted and received signals of the sensor. A determination processing unit that determines the open / closed state of the door based on at least the relative distance and the relative speed, Equipped with, The aforementioned sensor is The radar includes a device that transmits a linearly frequency-modulated chirp signal, receives reflected waves from a target, and combines the received and transmitted waves to generate an IF signal. The aforementioned direction of arrival estimation unit, Based on the IF signal, the relative distance, relative velocity, and relative angle are estimated. The determination processing unit, The open / close detection range, which includes the range of motion of the door to be detected for determining its open / closed state, and the correspondence between the direction of movement and speed of the door to be detected are predetermined. Within the specified area of ​​the opening / closing detection range, if there are no targets with a relative velocity of zero, and within the opening / closing detection range, if there are no targets with a negative or zero relative velocity that are closer to a target with a positive relative velocity, then it is determined that the door to be detected as opening / closing has opened. Within the specified area of ​​the opening / closing detection range, if there are no targets with a relative velocity of zero, and within the opening / closing detection range, if there are no targets with a relative velocity of positive or zero at a position closer than targets with a relative velocity of negative, then it is determined that the door subject to opening / closing detection has closed. Door opening / closing detection device.

3. A sensor capable of acquiring the relative position information of the target, An approach direction estimation unit estimates the relative distance, relative velocity, and relative angle of the target to the sensor based on the transmitted and received signals of the sensor. A determination processing unit that determines the open / closed state of the door based on at least the relative distance and the relative speed, Equipped with, The aforementioned sensor is The radar includes a device that transmits a linearly frequency-modulated chirp signal, receives reflected waves from a target, and combines the received and transmitted waves to generate an IF signal. The aforementioned direction of arrival estimation unit, Based on the IF signal, the relative distance, relative velocity, and relative angle are estimated. The determination processing unit, The open / close detection range, which includes the range of motion of the door to be detected for determining its open / closed state, and the correspondence between the direction of movement and speed of the door to be detected are predetermined. Within the aforementioned opening / closing detection range, if there is a period in which no target with a positive relative velocity or zero relative velocity is located closer to a target with a negative relative velocity than the target with a negative relative velocity, and if the proportion of this period within a predetermined period is greater than or equal to a predetermined value, it is determined that the door subject to opening / closing detection has opened. Within the aforementioned opening / closing detection range, the system detects a period during which there are no targets with a negative or zero relative velocity that are closer to a target with a positive relative velocity than the target with a positive relative velocity. If the proportion of this period within a predetermined timeframe is greater than or equal to a predetermined value, the system determines that the door subject to opening / closing detection has closed. Door opening / closing detection device.

4. A sensor capable of acquiring the relative position information of the target, An approach direction estimation unit estimates the relative distance, relative velocity, and relative angle of the target to the sensor based on the transmitted and received signals of the sensor. A determination processing unit that determines the open / closed state of the door based on at least the relative distance and the relative speed, Equipped with, The aforementioned sensor is The radar includes a device that transmits a linearly frequency-modulated chirp signal, receives reflected waves from a target, and combines the received and transmitted waves to generate an IF signal. The aforementioned direction of arrival estimation unit, Based on the IF signal, the relative distance, relative velocity, and relative angle are estimated. The determination processing unit, The open / close detection range, which includes the range of motion of the door to be detected for determining its open / closed state, and the correspondence between the direction of movement and speed of the door to be detected are predetermined. Within the designated area of ​​the opening / closing detection range, if there is no target with a relative velocity of zero, and no target with a relative velocity of negative or zero is located closer to a target with a relative velocity of positive, and if the proportion of this period within a predetermined period is greater than or equal to a predetermined value, then it is determined that the door subject to opening / closing detection has opened. Within the designated area of ​​the opening / closing detection range, the system detects a period during which there are no targets with a relative velocity of zero, and no targets with a relative velocity of positive or zero are located closer to a target with a relative velocity of negative value. If the proportion of this period within a predetermined timeframe is greater than or equal to a predetermined value, the system determines that the door subject to opening / closing detection has closed. Door opening / closing detection device.

5. A sensor capable of acquiring the relative position information of the target, An approach direction estimation unit estimates the relative distance, relative velocity, and relative angle of the target to the sensor based on the transmitted and received signals of the sensor. A determination processing unit that determines the open / closed state of the door based on at least the relative distance and the relative speed, Equipped with, The aforementioned sensor is The radar includes a device that transmits a linearly frequency-modulated chirp signal, receives reflected waves from a target, and combines the received and transmitted waves to generate an IF signal. The aforementioned direction of arrival estimation unit, Based on the IF signal, the relative distance, relative velocity, and relative angle are estimated. The determination processing unit, The open / close detection range, which includes the range of motion of the door to be detected for determining its open / closed state, and the correspondence between the direction of movement and speed of the door to be detected are predetermined. Within the aforementioned opening / closing detection range, if there are no targets with a positive relative velocity or zero relative velocity at a position closer to a target with a negative relative velocity for a predetermined period of time or longer, it is determined that the door subject to opening / closing detection is open. Within the aforementioned opening / closing detection range, if there are no targets with a negative or zero relative velocity at a position closer to a target with a positive relative velocity for a predetermined period of time or longer, it is determined that the door subject to opening / closing detection has closed. Door opening / closing detection device.

6. A sensor capable of acquiring the relative position information of the target, An approach direction estimation unit estimates the relative distance, relative velocity, and relative angle of the target to the sensor based on the transmitted and received signals of the sensor. A determination processing unit that determines the open / closed state of the door based on at least the relative distance and the relative speed, Equipped with, The aforementioned sensor is The radar includes a device that transmits a linearly frequency-modulated chirp signal, receives reflected waves from a target, and combines the received and transmitted waves to generate an IF signal. The aforementioned direction of arrival estimation unit, Based on the IF signal, the relative distance, relative velocity, and relative angle are estimated. The determination processing unit, The open / close detection range, which includes the range of motion of the door to be detected for determining its open / closed state, and the correspondence between the direction of movement and speed of the door to be detected are predetermined. Within the designated area of ​​the opening / closing detection range, if there are no targets with a relative velocity of zero, and no targets with a relative velocity of negative or zero are located closer to targets with a relative velocity of positive value, and this condition persists for a predetermined period of time or longer, then it is determined that the door subject to opening / closing detection has opened. Within the designated area of ​​the opening / closing detection range, if there are no targets with a relative velocity of zero, and no targets with a relative velocity of positive or zero are located closer to targets with a relative velocity of negative value, and this condition persists for a predetermined period of time or longer, then the door subject to opening / closing detection is determined to be closed. Door opening / closing detection device.

7. A door opening / closing detection device according to any one of claims 1 to 6, The radar is installed inside the room where the door to be detected as open or closed is located. Door opening / closing detection device.

8. An estimation step of estimating the relative distance, relative velocity, and relative angle of the target with respect to the sensor based on the transmitted and received signals of a sensor capable of acquiring the relative position information of the target, A determination step of determining the open / closed state of the door based at least on the relative distance and the relative speed, It has, The estimation step described above is: The steps include transmitting a chirp signal that is linearly frequency modulated, The steps include receiving the reflected wave reflected by the target, The steps include generating an IF signal by combining the received wave and the transmitted wave, A step of estimating the relative distance, the relative velocity, and the relative angle based on the IF signal, Includes, In the estimation step, the open / close detection range of the door to be detected for determining its open / closed state, and the correspondence between the direction of movement and speed of the door to be detected are predetermined. The opening / closing detection range includes at least the movable range of the door to be detected. The aforementioned determination step is, A door open determination step in which, within the open / close detection range of the door to be detected, if there is no target with a positive or zero relative velocity at a position closer than a target with a negative relative velocity, it is determined that the door to be detected is open. The door closing determination step includes determining that the door subject to opening / closing detection has closed if, within the opening / closing detection range, there is no target with a negative or zero relative velocity that is closer to a target with a positive relative velocity than there is a target with a positive relative velocity. Door opening / closing detection method.

9. An estimation step of estimating the relative distance, relative velocity, and relative angle of the target with respect to the sensor based on the transmitted and received signals of a sensor capable of acquiring the relative position information of the target, A determination step of determining the open / closed state of the door based at least on the relative distance and the relative speed, It has, The estimation step described above is: The steps include transmitting a chirp signal that is linearly frequency modulated, The steps include receiving the reflected wave reflected by the target, The steps include generating an IF signal by combining the received wave and the transmitted wave, A step of estimating the relative distance, the relative velocity, and the relative angle based on the IF signal, Includes, In the estimation step, the open / close detection range of the door to be detected for determining its open / closed state, and the correspondence between the direction of movement and speed of the door to be detected are predetermined. The opening / closing detection range includes at least the movable range of the door to be detected. The aforementioned determination step is, A door open determination step in which, within a designated area within the open / close detection range of the door to be detected, if there are no targets with a relative velocity of zero, and there are no targets with a relative velocity of negative or zero that are closer to a target with a relative velocity of positive, the door to be detected is determined to be open. A door closing determination step in which, within a designated area within the opening / closing detection range, if there are no targets with a relative velocity of zero, and there are no targets with a relative velocity of positive value or zero at a position closer than targets with a relative velocity of negative value, the door subject to opening / closing detection is determined to be closed. including, Door opening / closing detection method.

10. An estimation step of estimating the relative distance, relative velocity, and relative angle of the target with respect to the sensor based on the transmitted and received signals of a sensor capable of acquiring the relative position information of the target, A determination step of determining the open / closed state of the door based at least on the relative distance and the relative speed, It has, The estimation step described above is: The steps include transmitting a chirp signal that is linearly frequency modulated, The steps include receiving the reflected wave reflected by the target, The steps include generating an IF signal by combining the received wave and the transmitted wave, A step of estimating the relative distance, the relative velocity, and the relative angle based on the IF signal, Includes, In the estimation step, the open / close detection range of the door to be detected for determining its open / closed state, and the correspondence between the direction of movement and speed of the door to be detected are predetermined. The opening / closing detection range includes at least the movable range of the door to be detected. The aforementioned determination step is, A door open determination step in which, within the open / close detection range of the door to be detected, a period is detected in which there are no targets with a positive relative velocity or zero relative velocity that are closer to a target with a negative relative velocity than a target with a negative relative velocity, and if the proportion of such a period within a predetermined period is greater than or equal to a predetermined value, it is determined that the door to be detected is open. A door closing determination step in which, within the opening / closing detection range, a period is detected in which there are no targets with a negative or zero relative velocity that are closer to a target with a positive relative velocity than the period in which the relative velocity is positive, and if the proportion of this period within a predetermined period is equal to or greater than a predetermined value, it is determined that the door subject to opening / closing detection has closed. including, Door opening / closing detection method.

11. An estimation step of estimating the relative distance, relative velocity, and relative angle of the target with respect to the sensor based on the transmitted and received signals of a sensor capable of acquiring the relative position information of the target, A determination step of determining the open / closed state of the door based at least on the relative distance and the relative speed, It has, The estimation step described above is: The steps include transmitting a chirp signal that is linearly frequency modulated, The steps include receiving the reflected wave reflected by the target, The steps include generating an IF signal by combining the received wave and the transmitted wave, A step of estimating the relative distance, the relative velocity, and the relative angle based on the IF signal, Includes, In the estimation step, the open / close detection range of the door to be detected for determining its open / closed state, and the correspondence between the direction of movement and speed of the door to be detected are predetermined. The opening / closing detection range includes at least the movable range of the door to be detected. The aforementioned determination step is, A door open determination step in which, within a designated area within the open / close detection range of the door to be detected, there are no targets with a relative velocity of zero, and there are no targets with a relative velocity of negative or zero at a position closer than targets with a relative velocity of positive, and if the proportion of such period within a predetermined period is greater than or equal to a predetermined value, it is determined that the door to be detected is open. A door closing determination step in which, within a designated area within the opening / closing detection range, there are no targets with a relative velocity of zero, and there are no targets with a relative velocity of positive value or zero at a position closer than a target with a relative velocity of negative value, and if the proportion of such period within a predetermined period is greater than or equal to a predetermined value, it is determined that the door subject to opening / closing detection has closed. including, Door opening / closing detection method.

12. An estimation step of estimating the relative distance, relative velocity, and relative angle of the target with respect to the sensor based on the transmitted and received signals of a sensor capable of acquiring the relative position information of the target, A determination step of determining the open / closed state of the door based at least on the relative distance and the relative speed, It has, The estimation step described above is: The steps include transmitting a chirp signal that is linearly frequency modulated, The steps include receiving the reflected wave reflected by the target, The steps include generating an IF signal by combining the received wave and the transmitted wave, A step of estimating the relative distance, the relative velocity, and the relative angle based on the IF signal, Includes, In the estimation step, the open / close detection range of the door to be detected for determining its open / closed state, and the correspondence between the direction of movement and speed of the door to be detected are predetermined. The opening / closing detection range includes at least the movable range of the door to be detected. The aforementioned determination step is, A door open determination step in which, within the open / close detection range of the door to be detected, if there are no targets with a positive relative velocity or zero relative velocity at a position closer than a target with a negative relative velocity for a predetermined period of time or longer, it is determined that the door to be detected is open. A door closing determination step in which, if, within the opening / closing detection range, there are no targets with a negative or zero relative velocity at a position closer to a target with a positive relative velocity for a predetermined period of time or longer, it is determined that the door subject to opening / closing detection has closed; including, Door opening / closing detection method.

13. An estimation step of estimating the relative distance, relative velocity, and relative angle of the target with respect to the sensor based on the transmitted and received signals of a sensor capable of acquiring the relative position information of the target, A determination step of determining the open / closed state of the door based at least on the relative distance and the relative speed, It has, The estimation step described above is: The steps include transmitting a chirp signal that is linearly frequency modulated, The steps include receiving the reflected wave reflected by the target, The steps include generating an IF signal by combining the received wave and the transmitted wave, A step of estimating the relative distance, the relative velocity, and the relative angle based on the IF signal, Includes, In the estimation step, the open / close detection range of the door to be detected for determining its open / closed state, and the correspondence between the direction of movement and speed of the door to be detected are predetermined. The opening / closing detection range includes at least the movable range of the door to be detected. The aforementioned determination step is, A door open determination step in which, within a specified area within the open / close detection range of the door to be detected, if there are no targets with a relative velocity of zero, and there are no targets with a relative velocity of negative or zero at a position closer than targets with a relative velocity of positive, the door to be detected is determined to be open if this condition persists for a predetermined period of time or longer. A door closing determination step in which, if, within a designated area within the opening / closing detection range, there are no targets with a relative velocity of zero, and there are no targets with a relative velocity of positive value or zero at a position closer than a target with a relative velocity of negative value, the door subject to opening / closing detection is determined to be closed if this condition persists for a predetermined period of time or longer; including, Door opening / closing detection method.

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