Vehicle door control device
The vehicle door control device uses camera analysis and optical flow to manage door operations based on individual movements, addressing safety issues by preventing door-contact through precise movement-based control.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- TOYOTA JIDOSHA KK
- Filing Date
- 2023-09-19
- Publication Date
- 2026-06-02
AI Technical Summary
Existing systems fail to accurately control the opening and closing of automatic vehicle doors based on the movement of individuals near the doors, leading to potential safety hazards due to misjudgments by sensors.
A vehicle door control device that analyzes images from in-vehicle and out-vehicle cameras to detect and track the movement of individuals, using optical flow techniques to determine if the movement exceeds thresholds, thereby controlling the door's operation based on these movements and overlapping regions with the door.
Enables precise control of automatic doors based on individual movements, reducing the risk of contact between doors and persons, even with imperfect human detection accuracy.
Smart Images
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Abstract
Description
Technical Field
[0001] The present disclosure relates to a device for controlling the opening and closing of an automatic door provided in a vehicle.
Background Art
[0002] When a person (such as a passenger) near an automatic door provided in a vehicle such as a bus is detected by a sensor, from the viewpoint of safety, an operation may be performed in which the opening and closing of the automatic door is not controlled.
[0003] Patent Document 1 describes a device for detecting a passenger in a vehicle based on an image captured by a camera.
Prior Art Documents
Patent Documents
[0004]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0005] Even when a person near the automatic door is not detected by the sensor, it is not always the case that there is no person near the automatic door. Therefore, there are cases where the opening and closing of the automatic door cannot be controlled in accordance with the movement of a person actually near the automatic door.
[0006] An object of the present disclosure is to control the opening and closing of an automatic door provided in a vehicle in accordance with the movement of a person near the automatic door.
Means for Solving the Problems
[0007] One aspect of the present disclosure is By analyzing the image, a calculation unit that calculates the Per unit time amount of movement of a moving object within a region including an automatic door provided in a vehicle, and A person detection unit that detects a person by analyzing the aforementioned image and identifies a person detection region, which is the area in the image where a person has been detected. with respect to the direction intersecting the automatic door, the Per unit time of a moving objectIf the amount of movement exceeds the threshold, the opening and closing of the automatic door will not be permitted. Per unit time of a moving object A determination unit that permits opening and closing of the automatic door if the amount of movement is less than a threshold, and Furthermore, even if the amount of movement of the moving body per unit time is less than a threshold, if the area of the overlapping region between the door region, which is the region including the automatic door set in the image, and the person detection region identified by the person detection unit, is greater than or equal to the area threshold, the determination unit will not permit the opening or closing of the automatic door. This is a vehicle door control device characterized by the following features. [Effects of the Invention]
[0008] According to this disclosure, the opening and closing of an automatic door installed on a vehicle can be controlled in accordance with the movement of a person standing near the automatic door. [Brief explanation of the drawing]
[0009] [Figure 1] This is a block diagram showing the configuration of the control device according to the embodiment. [Figure 2] This is a diagram showing an image of the interior of a car. [Figure 3] This diagram shows an image representing the exterior of a vehicle. [Figure 4] This is a diagram showing the door area as viewed from above the vehicle. [Figure 5] This diagram shows a flowchart illustrating the process for determining whether passengers are boarding or alighting. [Figure 6] This figure shows a specific example of automatic door opening and closing control. [Modes for carrying out the invention]
[0010] Referring to Figure 1, the configuration of the control device 10 according to this embodiment will be described. Figure 1 is a block diagram showing the configuration of the control device 10.
[0011] The control device 10 is an example of a vehicle door control device. The control device 10 analyzes an image representing the area including the automatic door 14 installed on the vehicle 12, and controls the opening and closing of the automatic door 14 based on the analysis results. For example, the vehicle 12 is a bus. The automatic door 14 is an outward-opening door, an inward-opening door, or a sliding door.
[0012] The in-vehicle camera 16 and the out-vehicle camera 18 are provided in the vehicle 12. For example, the in-vehicle camera 16 and the out-vehicle camera 18 are fisheye lenses.
[0013] The in-vehicle camera 16 generates an image (hereinafter referred to as an "in-image") representing the internal area including the automatic door 14 by photographing the area including the automatic door 14 inside the vehicle 12.
[0014] The out-vehicle camera 18 generates an image (hereinafter referred to as an "out-image") representing the outer area including the automatic door 14 by photographing the area including the automatic door 14 in the outer area of the vehicle 12.
[0015] The in-image and the out-image are output to the control device 10. The control device 10 analyzes the in-image and the out-image and controls the opening and closing of the automatic door 14 based on the analysis result.
[0016] The control device 10 includes a person detection unit 20, a calculation unit 22, a determination unit 24, and a control unit 26.
[0017] The person detection unit 20 detects a person inside the vehicle 12 by analyzing the in-image. Also, the person detection unit 20 detects a person in the outer area of the vehicle 12 by analyzing the out-image. A technique known as a person detection technique is used. For example, the person detection unit 20 sets a bounding box (an area surrounding an object represented in an image) in the image and performs classification of the class of the object represented in the bounding box. The person detection unit 20 detects a person inside the vehicle 12 by determining whether the object represented in the bounding box is a person or not.
[0018] The calculation unit 22 calculates the amount of movement of a moving object within the area including the automatic door 14 by analyzing the inner image and the outer image. For example, the calculation unit 22 calculates the amount of movement of the moving object per unit time. The unit time is set by the user. For example, the unit time is a time such as 1 second. As a technique for calculating the amount of movement of a moving object, a known technique such as optical flow is used. Optical flow is a method of detecting the movement of an object between frames and displaying the speed of that movement as a vector. For example, the block matching method is used as optical flow. The block matching method is a method of detecting the movement of an object by dividing an image into a plurality of regions and detecting regions with high similarity between frames. For example, the moving object is a passenger in the vehicle 12.
[0019] The determination unit 24 determines whether to permit the opening and closing of the automatic door 14 based on the amount of movement of the moving object in the direction intersecting the automatic door 14. For example, when the amount of movement of the moving object in the direction intersecting the automatic door 14 is equal to or greater than the threshold value, the determination unit 24 does not permit the opening and closing of the automatic door 14. When the amount of movement of the moving object in the direction intersecting the automatic door 14 is less than the threshold value, the determination unit 24 permits the opening and closing of the automatic door 14. The threshold value is predetermined.
[0020] More specifically, the determination unit 24 determines whether a person is boarding or alighting based on the amount of movement of the moving object in the direction intersecting the automatic door 14. For example, when the amount of movement of the moving object in the direction intersecting the automatic door 14 is equal to or greater than the threshold value, the determination unit 24 determines that a person is boarding or alighting and does not permit the opening and closing of the automatic door 14. When the amount of movement of the moving object in the direction intersecting the automatic door 14 is less than the threshold value, the determination unit 24 determines that a person is not boarding or alighting and permits the opening and closing of the automatic door 14.
[0021] The direction intersecting the automatic door 14 is the direction from the inside of the vehicle toward the outside of the vehicle through the area where the automatic door 14 is provided, or the direction from the outside of the vehicle toward the inside of the vehicle through the area. For example, the direction intersecting the automatic door 14 is the direction orthogonal to the automatic door 14 in the closed state.
[0022] The control unit 26 controls the opening and closing of the automatic door 14. If the determination unit 24 does not permit the opening or closing of the automatic door 14, the control unit 26 stops the opening and closing of the automatic door 14. If the determination unit 24 permits the opening or closing of the automatic door 14, the control unit 26 opens or closes the automatic door 14 according to the instructions for opening or closing the automatic door 14. The instructions for opening and closing the automatic door 14 may be given by the driver of the vehicle 12, or they may be given to the control unit 26 from an external device such as a server via a communication path such as the internet. The control unit 26 may also control the opening and closing of the automatic door 14 by automatic control.
[0023] If the amount of movement exceeds a threshold, it is presumed that a person, being a moving object, is either boarding or alighting from vehicle 12. Therefore, the determination unit 24 does not permit the opening or closing of the automatic door 14, and the control unit 26 stops the opening or closing of the automatic door 14. This prevents contact between the opening or closing automatic door 14 and a person.
[0024] If the amount of movement is below the threshold, it is presumed that no one is getting on or off the vehicle. Therefore, the determination unit 24 permits the opening and closing of the automatic door 14.
[0025] For example, if the automatic door 14 is open and the amount of movement of the moving object is greater than or equal to a threshold, the determination unit 24 will not permit the automatic door 14 to close. In this case, even if an instruction to close the automatic door 14 is given to the control unit 26, the control unit 26 will not close the automatic door 14 and will maintain the open state. If the amount of movement is less than the threshold, the determination unit 24 will permit the automatic door 14 to close. In this case, if an instruction indicating the automatic door 14 is given to the control unit 26, the control unit 26 will close the door.
[0026] The following will explain specific examples with reference to Figures 2 to 4. Figure 2 is a diagram showing the interior view. Figure 3 is a diagram showing the exterior view. Figure 4 is a diagram showing the door area 32 as viewed from above the vehicle 12.
[0027] The internal image 28 shown in Figure 2 is an image taken by the internal camera 16. For example, vehicle 12 is a bus, and the interior 30 and automatic door 14 of the bus are shown in internal image 28. Passengers A to D are on board vehicle 12 and are shown in internal image 28. The internal camera 16 is a fisheye lens, and a wide area inside the interior 30 is shown in internal image 28.
[0028] The external image 34 shown in Figure 3 is an image captured by the external camera 18. The vehicle body 12a of the vehicle 12 is shown in the external image 34. Also, a person E in the area outside the vehicle 12 is shown in the external image 34.
[0029] As shown in Figures 2 and 3, the door region 32 is defined as an inner image 28 and an outer image 34. The door region 32 is the region that includes the automatic door 14. Furthermore, the door region 32 includes the inner region of the vehicle 12 and the outer region of the vehicle 12, with the automatic door 14 as the boundary.
[0030] Referring to Figure 4, the door area 32 will be described in detail. As shown in Figures 4(a) and 4(b), the door area 32 includes an inner area 32a and an outer area 32b. The inner area 32a is the area inside the vehicle 12, separated by the automatic door 14. The outer area 32b is the area outside the vehicle 12, separated by the automatic door 14. The inner area 32a is the area represented in the inner image 28. The outer area 32b is the area represented in the outer image 34.
[0031] The calculation unit 22 calculates the amount of movement of a moving object within the door area 32 by analyzing the inner image 28 and the outer image 34 using optical flow technology. The calculation unit 22 may also calculate the amount of movement of the moving object separately for the inner image 28 and the outer image 34. For example, the calculation unit 22 calculates the amount of movement of a moving object within the inner area 32a by analyzing the inner image 28, and calculates the amount of movement of a moving object within the outer area 32b by analyzing the outer image 34.
[0032] Arrows 36 and 38 in Figure 4 represent vectors indicating the velocity of the moving object, calculated by optical flow. The length of the vector (length of the arrow) represents the amount of movement of the person per unit time. The direction of the vector (direction of the arrow) represents the direction of movement of the object.
[0033] In Figure 4, the positive (+) direction is perpendicular to the automatic door 14 and represents the direction from outside the vehicle to inside the vehicle. The negative (-) direction is perpendicular to the automatic door 14 and represents the direction from inside the vehicle to outside the vehicle.
[0034] The arrow 36 shown in Figure 4(a) points in the positive direction. Therefore, it can be inferred that in the state shown in Figure 4(a), a person is in the process of boarding vehicle 12.
[0035] The arrow 38 shown in Figure 4(b) points in the negative direction. Therefore, it can be inferred that in the state shown in Figure 4(b), a person is in the process of disembarking from vehicle 12.
[0036] The boarding / alighting determination process will be explained below with reference to Figure 5. Figure 5 is a flowchart showing the flow of the determination process.
[0037] First, the calculation unit 22 calculates the amount of movement of the moving object within the door area 32 by analyzing the inner image 28 and the outer image 34 using optical flow technology (S01).
[0038] Next, the calculation unit 22 extracts the amount of movement in a specific direction from the amount of movement calculated in step S01 (S02). Here, as an example, the calculation unit 22 extracts the amount of movement in the direction perpendicular to the automatic door 14. If a vector perpendicular to the automatic door 14 is not calculated, the calculation unit 22 may calculate the orthogonal component (the component perpendicular to the automatic door 14) of the calculated vector and calculate the amount of movement of that orthogonal component.
[0039] Next, the determination unit 24 determines whether the absolute value of the amount of movement extracted in step S02 is greater than or equal to the threshold Th1 (S03). If the absolute value of the amount of movement is greater than or equal to the threshold Th1, the determination unit 24 determines that the moving object in the door area 32 is moving.
[0040] If the absolute value of the amount of movement is greater than or equal to the threshold Th1 (S03, Yes), the determination unit 24 determines whether a person is getting on or off the vehicle based on the direction of movement (S04). In other words, if the absolute value of the amount of movement is greater than or equal to the threshold Th1, the determination unit 24 determines whether a person is getting on or off the vehicle 12. Next, the determination unit 24 determines whether the person is getting on or off the vehicle.
[0041] As shown in Figures 4(a) and 4(b), positive and negative directions are defined, and the sign of the displacement is determined according to these definitions. For example, the displacement indicated by arrow 36 has a positive sign, and the displacement indicated by arrow 38 has a negative sign.
[0042] If the amount of movement is greater than 0 (S04, Yes), the determination unit 24 determines that a person is in the process of boarding the vehicle 12 (S05). For example, as shown in Figure 4(a), if the amount of movement is a positive value, the determination unit 24 determines that a person is in the process of boarding the vehicle 12.
[0043] If the amount of movement is less than 0 (S04, No), the determination unit 24 determines that the person is in the process of getting out of the vehicle 12 (S06). For example, as shown in Figure 4(b), if the amount of movement is a negative value, the determination unit 24 determines that the person is in the process of getting out of the vehicle 12.
[0044] In the example shown in Figure 5, if the absolute value of the amount of movement is less than the threshold Th1 (S03, No), the determination unit 24 uses the detection result of the person detection unit 20 to determine whether or not a person is getting on or off the vehicle.
[0045] First, the person detection unit 20 detects a person inside the door area 32 by analyzing the internal image 28 and the external image 34 (S07).
[0046] The determination unit 24 calculates the area of the region where the region where a person is detected by the person detection unit 20 (hereinafter referred to as the "person detection region") and the door region 32 overlap.
[0047] If the area of the overlapping region is less than the threshold Th2 (S08, No), the determination unit 24 determines that no one is getting on or off the vehicle 12 (S09). If the area of the overlapping region is less than the threshold Th2, even if a person is detected by the person detection unit 20, it is highly likely that the detected person is not inside the door area 32 and is therefore presumed not to be a person getting on or off the vehicle. For this reason, the determination unit 24 determines that no one is getting on or off the vehicle 12.
[0048] If the area of the overlapping region is greater than or equal to the threshold Th2 (S08, Yes), the determination unit 24 tracks the person detection region and determines whether a person is getting on or off the vehicle based on the time change in the position of the person detection region. If the area of the overlapping region is greater than or equal to the threshold Th2, even if the movement of the person detected by the person detection unit 20 is slow and the absolute value of the amount of movement is less than the threshold Th1, the detected person is likely to be inside the door region 32 and is presumed to be getting on or off the vehicle. Therefore, the determination unit 24 determines that a person is getting on or off the vehicle 12.
[0049] If the person detection area at a certain time t1 is located closer to the interior 30 than the person detection area at time t0 (a time before time t1) (S10, Yes), the determination unit 24 determines that the person is in the process of boarding the vehicle 12 (S11). If the person detection area at time t1 is located closer to the interior 30 than the person detection area at time t0, it is presumed that the detected person is moving towards the interior 30. Therefore, the determination unit 24 determines that the person is in the process of boarding the vehicle 12.
[0050] If the person detection area at time t1 is not located closer to the interior 30 than the person detection area at time t0 (S10, No), the determination unit 24 determines that the person is in the process of getting out of the vehicle 12 (S12). If the person detection area at time t1 is not located closer to the interior 30 than the person detection area at time t0, it is presumed that the person is not moving towards the interior 30, but rather towards the outside of the vehicle 12. Therefore, the determination unit 24 determines that the person is in the process of getting out of the vehicle 12.
[0051] Furthermore, if the processes from step S07 to step S12 are not executed and the absolute value of the amount of movement is less than the threshold Th1, the determination unit 24 may determine that no one is getting on or off the vehicle 12.
[0052] In the embodiment described above, the calculation unit 22 calculates the amount of movement of a moving object by analyzing the internal image 28 and the external image 34. However, the calculation unit 22 may also calculate the amount of movement of a moving object by analyzing the internal image 28 without using the external image 34. As another example, the internal camera 16 may be provided on the vehicle 12, and the external camera 18 may not be provided on the vehicle 12. In this case as well, the calculation unit 22 calculates the amount of movement of a moving object within the area including the automatic door 14 by analyzing the internal image 28. In other words, the calculation unit 22 calculates the amount of movement of a moving object that is within the internal area 32a of the door area 32. Based on the calculation result, the determination unit 24 determines whether or not a person is getting on or off, and determines whether or not to allow the opening and closing of the automatic door 14. The person detection unit 20 also detects a person by analyzing the internal image 28.
[0053] The opening and closing control of the automatic door 14 based on the determination result by the determination unit 24 will be explained below with reference to Figure 6.
[0054] Figure 6(a) shows an example of control based on the analysis results of the internal image 28. In this example, the external image 34 is not used. In this case, the calculation unit 22 calculates the amount of movement of a moving object within the internal area 32a of the door area 32. The determination unit 24 determines whether or not a person is getting on or off based on the calculation result.
[0055] If it is determined that no one is getting on or off the vehicle 12, the control unit 26 continues to control the opening and closing of the automatic door 14. For example, if the automatic door 14 is in the process of opening or closing, the control unit 26 continues to control the opening and closing of the automatic door 14.
[0056] If the control unit 26 determines that a person is inside the vehicle 12, it stops controlling the opening and closing of the automatic door 14. Similarly, if the control unit 26 determines that a person is getting off the vehicle 12, it stops controlling the opening and closing of the automatic door 14. For example, if the automatic door 14 is in the process of opening or closing, the control unit 26 stops the opening and closing of the automatic door 14. This prevents people who are inside or getting off the vehicle from coming into contact with the opening or closing automatic door 14.
[0057] Figure 6(b) shows an example of control based on the analysis results of the inner image 28 and the outer image 34. Figure 6(b) shows the control while the automatic door 14 is being opened.
[0058] In the example shown in Figure 6(b), the calculation unit 22 analyzes the internal image 28 using optical flow technology to calculate the amount of movement of a moving object within the internal area 32a of the door area 32. The determination unit 24 determines whether or not a person is getting on or off the door within the internal area 32a based on the amount of movement of the moving object within the internal area 32a.
[0059] Similarly, the calculation unit 22 analyzes the external image 34 using optical flow technology to calculate the amount of movement of a moving object within the outer area 32b of the door area 32. Based on the amount of movement of the moving object within the outer area 32b, the determination unit 24 determines whether or not a person is getting on or off the door within the outer area 32b.
[0060] Thus, in the example shown in Figure 6(b), boarding and alighting of people within the inner region 32a and boarding and alighting of people within the outer region 32b are determined separately.
[0061] If it is determined that no one is getting on or off in either the inner area 32a or the outer area 32b (as indicated by (1) in Figure 6(b)), the control unit 26 continues to control the automatic door 14 to open.
[0062] If it is determined that a person is inside the inner area 32a and that no one is getting on or off the vehicle in the outer area 32b (Figure 6(b) (2)), the control unit 26 continues to control the automatic door 14 to open. The control unit 26 may also slow down the speed at which the automatic door 14 opens. For example, the control unit 26 may reduce the speed at which the automatic door 14 opens to half its original speed. If it is determined that a person is inside the inner area 32a, it means that the person is moving towards the inside of the vehicle within the inner area 32a. In this case, it is presumed that the possibility of the person and the automatic door 14 coming into contact is low even if the control to open the automatic door 14 is continued. Therefore, the control unit 26 continues to control the automatic door 14 to open.
[0063] If it is determined that a person is disembarking in the inner area 32a and that no one is boarding or disembarking in the outer area 32b (Figure 6(b) (3)), the control unit 26 continues to control the automatic door 14 to open. Determining that a person is disembarking in the inner area 32a means that the person is moving out of the vehicle within the inner area 32a. If the control to open the automatic door 14 is stopped in this case, there is a possibility that the stopped automatic door 14 will come into contact with the person disembarking. To avoid this contact, the control unit 26 continues to control the automatic door 14 to open. In this way, it is possible to suppress the person disembarking from coming into contact with the automatic door 14.
[0064] If it is determined that a person is boarding or alighting in the outer area 32b (as shown in (4) to (9) in Figure 6(b)), the control unit 26 stops the control to open the automatic door 14, regardless of whether a person is boarding or alighting in the inner area 32a. This prevents contact between the opening automatic door 14 and people outside the vehicle.
[0065] Figure 6(c) shows an example of control based on the analysis results of the inner image 28 and the outer image 34. Figure 6(c) shows the control while the automatic door 14 is being closed.
[0066] In the example shown in Figure 6(c), the calculation unit 22 calculates the amount of movement of a moving object within the inner region 32a of the door region 32 by analyzing the inner image 28 using optical flow technology. The determination unit 24 determines whether or not a person is getting on or off the door within the inner region 32a based on the amount of movement of the moving object within the inner region 32a.
[0067] Similarly, the calculation unit 22 analyzes the external image 34 using optical flow technology to calculate the amount of movement of a moving object within the outer area 32b of the door area 32. Based on the amount of movement of the moving object within the outer area 32b, the determination unit 24 determines whether or not a person is getting on or off the door within the outer area 32b.
[0068] Thus, in the example shown in Figure 6(c), boarding and alighting of people within the inner region 32a and boarding and alighting of people within the outer region 32b are determined separately.
[0069] If it is determined that no one is getting on or off in either the inner area 32a or the outer area 32b (1 in Figure 6(c)), the control unit 26 continues to control the automatic door 14 to close.
[0070] If it is determined that a person is inside the inner area 32a and that no one is getting on or off in the outer area 32b (Figure 6(c), (2)), the control unit 26 reverses the control of opening and closing the automatic door 14 and temporarily suspends the control. In other words, the control unit 26 changes the control of the automatic door 14 from closing control to opening control and temporarily suspends the opening control. This suppresses the possibility of a person inside the inner area 32a coming into contact with the automatic door 14 while it is closing. To further reduce the possibility of such contact, the control unit 26 continues the control to open the automatic door 14 after the temporary suspension.
[0071] If it is determined that a person is disembarking in the inner area 32a and that no one is boarding or disembarking in the outer area 32b (Figure 6(c), (3)), the control unit 26 reverses the control of opening and closing the automatic door 14 and temporarily suspends the control. In other words, the control unit 26 changes the control of the automatic door 14 from closing control to opening control and temporarily suspends the opening control. This prevents a person disembarking in the inner area 32a from coming into contact with the automatic door 14 while it is closing. Since it is presumed that a person is disembarking, the control unit 26 resumes the control of opening the automatic door 14 after the temporary suspension.
[0072] If it is determined that a person is boarding or alighting in the outer area 32b (as shown in (4) to (9) in Figure 6(c)), the control unit 26 stops the control to close the automatic door 14, regardless of whether a person is boarding or alighting in the inner area 32a. This prevents contact between the automatic door 14 and a person while it is closing.
[0073] As described above, according to this embodiment, even without human detection, it is possible to determine whether a person is boarding or alighting based on the amount of movement of a moving object, and to control the opening and closing of the automatic door 14 based on that determination result. As a result, the opening and closing of the automatic door 14 can be controlled in accordance with the movement of a person near the automatic door 14. For example, even if the accuracy of human detection is low, the opening and closing of the automatic door 14 can be controlled in accordance with the movement of a person.
[0074] The calculation unit 22, the determination unit 24, and the control unit 26 can be implemented using hardware resources such as a processor or electronic circuits, and devices such as memory may be used as needed in their implementation. Alternatively, the calculation unit 22, the determination unit 24, and the control unit 26 may be implemented by a computer. In other words, all or part of the calculation unit 22, the determination unit 24, and the control unit 26 may be implemented through the cooperation of hardware resources such as the CPU (Central Processing Unit) and memory of a computer, and software (programs) that define the operation of the CPU, etc. This program is stored in the storage device of the control device 10 via a recording medium such as a CD or DVD, or via a communication path such as a network. As another example, the calculation unit 22, the determination unit 24, and the control unit 26 may be implemented by a DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), or FPGA (Field Programmable Gate Array), etc. Of course, a GPU (Graphics Processing Unit), etc., may also be used.
[0075] The functions of the control device 10 may be implemented by a single device or by multiple devices.
[0076] The control device 10 may be installed in the vehicle 12 or in an external device such as a server. If the control device 10 is installed in an external device, the control device 10 communicates with the vehicle 12 via a communication path such as the internet to detect people and control the opening and closing of doors. [Explanation of symbols]
[0077] 10 Control device, 12 Vehicle, 14 Automatic door, 16 Interior camera, 18 Exterior camera, 20 Person detection unit, 22 Calculation unit, 24 Judgment unit, 26 Control unit.
Claims
1. A calculation unit that calculates the amount of movement per unit time of a moving object in an area including an automatic door installed on a vehicle by analyzing an image, A person detection unit that detects a person by analyzing the aforementioned image and identifies a person detection region, which is the area in the image where a person has been detected. A determination unit which, if the amount of movement of the moving body per unit time in the direction intersecting the automatic door is greater than or equal to a threshold, does not permit the opening or closing of the automatic door, and if the amount of movement of the moving body per unit time is less than the threshold, permits the opening or closing of the automatic door. It has, The determination unit shall not permit the opening or closing of the automatic door if, even if the amount of movement of the moving body per unit time is less than a threshold, the area of the overlapping region between the door region, which is the region containing the automatic door set in the image, and the person detection region identified by the person detection unit, is greater than or equal to the area threshold. A vehicle door control device characterized by the following features.
2. In the vehicle door control device according to claim 1, The determination unit, when the automatic door is open, will not permit closing the automatic door if the amount of movement of the moving body per unit time is greater than or equal to a threshold, and will permit closing the automatic door if the amount of movement of the moving body per unit time is less than the threshold. A vehicle door control device characterized by the following features.