Door control system, door control method, and door control program

Abstract

A door control system (1) according to the present disclosure comprises a posture information acquisition unit (11), a mobile body information acquisition unit (12), and a door control unit (13). The posture information acquisition unit (11) acquires posture information related to a posture of a passenger. The mobile body information acquisition unit (12) acquires mobile body information related to a mobile body in the vicinity of an automobile. The door control unit (13) detects a preparatory action of the passenger prior to performing an opening action on a door of the automobile on the basis of the posture information, to control an aperture of the door of the automobile on the basis of information related to the preparatory action and the mobile body information.

Description

Door control system, door control method, and non-transitory computer-readable medium

[0001] The present invention relates to a door control system, a door control method, and a non-transitory computer-readable medium.

[0002] Patent Document 1 describes a warning device for preventing an accident in which a passenger getting out of a vehicle is hit by a vehicle approaching from behind. The warning device described in Patent Document 1 prevents the door from opening if it detects an object approaching the vehicle and simultaneously detects an opening movement by the passenger. The warning device described in Patent Document 1 detects the opening movement of the passenger by detecting the movement of the door handle.

[0003] Japanese Patent Application Laid-Open No. 2001-239832

[0004] As described above, the warning device described in Patent Document 1 detects the movement of the door handle to detect the opening action of the occupant. Therefore, the warning device described in Patent Document 1 cannot stop the door from opening until the occupant pulls the door handle of the vehicle door, i.e., until the occupant performs the action to open the door.

[0005] In this configuration, the timing to stop the door from opening is delayed, which may cause the door to open to a certain extent, resulting in an accident in which the door comes into contact with a vehicle behind. In other words, the warning device described in Patent Document 1 has the problem of not being able to sufficiently prevent accidents caused by the vehicle door being opened.

[0006] The present disclosure has been made to solve such problems, and aims to provide a door control system, a door control method, and a door control program that can reduce the occurrence of accidents caused by the opening of a vehicle door.

[0007] The door control system according to the present disclosure is a door control system comprising: a posture information acquisition unit that acquires posture information relating to the posture of a passenger; a mobile body information acquisition unit that acquires mobile body information relating to mobile bodies in the vicinity of a vehicle; and a door control unit that detects, based on the posture information, a preparatory movement made by the passenger before opening the door of the vehicle, and controls the opening degree of the door of the vehicle based on information relating to the preparatory movement and the mobile body information.

[0008] This door control method detects preparatory movements made by a passenger before the passenger performs an opening operation of the vehicle door based on posture information relating to the passenger's posture, and controls the opening degree of the vehicle door based on information relating to the preparatory movements and mobile object information relating to mobile objects near the vehicle.

[0009] The non-transitory computer-readable medium according to the present disclosure is a non-transitory computer-readable medium storing a program that causes a computer to execute an operation of detecting a preparatory movement made by a passenger before the passenger performs an opening operation of the vehicle door based on posture information regarding the passenger's posture, and controlling the opening degree of the vehicle door based on information regarding the preparatory movement and moving object information regarding moving objects near the vehicle.

[0010] The present disclosure makes it possible to provide a door control system, a door control method, and a door control program that can reduce the occurrence of accidents caused by an automobile door being opened.

[0011] FIG. 1 is a block diagram showing the configuration of a door control system according to a first embodiment; FIG. 2 is a flowchart showing the operation of the door control system according to the first embodiment; FIG. 3 is a block diagram showing the configuration of a door control system according to a second embodiment; FIG. 4 is a block diagram showing the configuration of a door control unit according to the second embodiment; FIG. 5 is a block diagram showing the configuration of a door control unit according to the second embodiment; and FIG. 6 is a flowchart showing the operation of the door control system according to the second embodiment.

[0012] (First embodiment) <Configuration of door control system> A door control system according to a first embodiment will be described in detail below with reference to the drawings. First, the configuration of the door control system according to the first embodiment will be described. Fig. 1 is a block diagram showing the configuration of the door control system according to the first embodiment.

[0013] The door control system 1 according to the first embodiment controls the opening angle of a vehicle door. However, controlling the opening angle of the vehicle door may include determining whether to prevent the vehicle occupant from opening the door when the vehicle occupant is trying to open the door. Furthermore, controlling the opening angle of the vehicle door may include restricting the angle at which the door is opened.

[0014] When the door control system 1 determines to restrict the door from being opened by the occupant, the door control system 1 may, for example, restrict the door from being opened beyond a certain angle, or may lock the door so that it cannot be opened at all. That is, the door opening may be physically restricted. Furthermore, in addition to the physical restriction described above, or without implementing the physical restriction, the door control system 1 may issue a warning to the occupant to stop opening the door, thereby restricting the door from being opened.

[0015] The door control system 1 includes a posture information acquisition unit 11, a mobile object information acquisition unit 12, and a door control unit 13. The posture information acquisition unit 11 acquires posture information relating to the posture of a passenger. The posture information acquisition unit 11 outputs the acquired posture information to the door control unit 13.

[0016] The posture information here refers to information that records the position of each part of the passenger's body, the degree of bending or twisting of the joints, etc., and may be, for example, an image of the passenger. When the posture information is an image of the passenger, the posture information acquisition unit 11 may be, for example, a camera that captures images of the interior of the vehicle. Note that the passenger includes not only the driver of the vehicle but also passengers.

[0017] The mobile object information acquisition unit 12 acquires mobile object information about mobile objects near the automobile. The mobile object information acquisition unit 12 outputs the acquired mobile object information to the door control unit 13. The mobile object information here refers to information that can be used to determine at least whether or not a mobile object is present near the automobile.

[0018] The moving object information may be, for example, an image captured near the vehicle or output data from a sensor such as a LIDAR (Laser Imaging Detection and Ranging). The moving object here includes vehicles other than the vehicle controlled by the door control system 1 according to this embodiment, as well as bicycles, motorcycles, pedestrians, and the like.

[0019] The door control unit 13 detects preparatory movements made by the passenger before opening the vehicle door based on the posture information, and controls the opening degree of the vehicle door based on the detected preparatory movements and the moving object information.

[0020] For example, when a preparatory movement of a passenger is detected and a moving object is detected near the vehicle, the door control unit 13 may inhibit the passenger from opening the door. More typically, the door control unit 13 may stop the opening movement of the door in this case.

[0021] The preparatory movement here refers to a preparatory movement made by a passenger to open a car door, such as reaching for a door handle. For example, if the posture information is an image of a passenger, the door control unit 13 may detect the preparatory movement by skeletal recognition. Furthermore, the information about the preparatory movement here may include, for example, information about whether the door control unit 13 has detected the preparatory movement.

[0022] The door control unit 13 may also detect a moving object near the vehicle based on the moving object information, and may then control the vehicle doors based on, for example, whether or not a moving object is present near the vehicle.

[0023] <Operation of Door Control System> Next, the operation of the door control system, i.e., the door control method, according to the first embodiment will be described in detail with reference to the drawings. Fig. 2 is a flowchart showing the operation of the door control system according to the first embodiment. In the following description, Fig. 1 will be referred to as appropriate.

[0024] First, the posture information acquisition unit 11 acquires posture information (step ST101), and the mobile object information acquisition unit 12 acquires mobile object information (step ST102). Here, the execution order of steps ST101 and ST102 may be reversed. Furthermore, steps ST101 and ST102 may be executed in parallel. The posture information acquired in step ST101 and the mobile object information acquired in step ST102 are output to the door control unit 13.

[0025] Next, the door control unit 13 detects the preparatory movement of the occupant until the occupant starts the opening operation of the vehicle door based on the posture information (step ST103). Finally, the door control unit 13 controls the opening degree of the door (step ST104), and the door control system 1 ends the series of operations.

[0026] For example, in ST104, when a preparatory movement of a passenger is detected and a moving object is detected near the vehicle, the door control unit 13 may control the opening degree of the door to prevent the passenger from opening the door.

[0027] As described above, the door control system 1 according to this embodiment controls the opening degree of the vehicle door by detecting the preparatory movements made by the passenger before opening the vehicle door.

[0028] With this configuration, it is possible to determine whether to prevent the vehicle door from being opened by the occupant before the occupant performs the vehicle door opening operation, and as a result, the door control system 1 according to this embodiment can prevent accidents caused by the vehicle door being opened.

[0029] Second Embodiment <Configuration of Door Control System> A door control system according to a second embodiment will be described in detail below with reference to the drawings. First, the configuration of the door control system according to the second embodiment will be described. Fig. 3 is a block diagram showing the configuration of the door control system according to the second embodiment.

[0030] The door control system 1 according to the second embodiment controls the opening degree of a vehicle door. More specifically, the door control system 1 according to the present embodiment controls the door to be locked when there is a risk of a door-opening accident. The door control system 1 includes a posture information acquisition unit 11, a mobile object information acquisition unit 12, a door control unit 13, and a position information acquisition unit 14.

[0031] The posture information acquisition unit 11 acquires posture information related to the posture of the passenger. The posture information acquisition unit 11 outputs the acquired posture information to the door control unit 13. The posture information acquisition unit 11 according to this embodiment is configured as a camera mounted inside the vehicle. The posture information acquisition unit 11 according to this embodiment may be, for example, a drive recorder that captures video images inside the vehicle. The posture information acquisition unit 11 according to this embodiment acquires an image of the passenger as posture information and outputs the image to the door control unit 13. In other words, the posture information acquisition unit 11 according to this embodiment captures an image in which the passenger is captured and outputs the image to the door control unit 13.

[0032] The mobile object information acquisition unit 12 acquires mobile object information related to mobile objects near the vehicle. The mobile object information acquisition unit 12 outputs the acquired mobile object information to the door control unit 13. The mobile object information acquisition unit 12 according to this embodiment is configured as a camera that captures images of the vicinity of the vehicle. The mobile object information acquisition unit 12 according to this embodiment may be, for example, a drive recorder that captures images of the interior of the vehicle. The mobile object information acquisition unit 12 according to this embodiment acquires images of the vicinity of the vehicle as mobile object information and outputs the images to the door control unit 13.

[0033] The position information acquisition unit 14 acquires position information of the vehicle. The position information acquisition unit 14 outputs the acquired position information to the door control unit 13. The position information acquisition unit 14 according to this embodiment is, for example, a position information acquisition system that uses artificial satellites such as a Global Navigation Satellite System (GNSS).

[0034] The door control unit 13 acquires posture information from the posture information acquisition unit 11, acquires moving object information from the moving object information acquisition unit 12, and acquires position information from the position information acquisition unit 14. The door control unit 13 controls the door opening degree based on the acquired posture information, moving object information, and position information. In particular, the door control unit 13 according to this embodiment determines whether to lock the door based on the acquired posture information, moving object information, and position information.

[0035] 4 is a block diagram showing the configuration of the door control unit 13 according to this embodiment. The door control unit 13 according to this embodiment includes a preparatory movement detection unit 131, a confirmation movement detection unit 132, a moving object detection unit 133, and a determination unit 134.

[0036] The preparatory movement detection unit 131 acquires posture information from the posture information acquisition unit 11. That is, the preparatory movement detection unit 131 acquires an image of the occupant from the posture information acquisition unit 11. The preparatory movement detection unit 131 processes the image acquired from the posture information acquisition unit 11 and detects preparatory movements made by the occupant up to the time of opening the vehicle door. When the preparatory movement detection unit 131 detects a preparatory movement, it notifies the determination unit 134 to that effect.

[0037] The preparatory movement detection unit 131 may detect, for example, a movement of the passenger stretching his / her hand toward a door handle provided on a door of the vehicle as the preparatory movement. Furthermore, the preparatory movement detection unit 131 may detect, for example, a movement of the passenger stretching his / her hand toward a door opening / closing button provided on the door of the vehicle for opening and closing the door as the preparatory movement. That is, the preparatory movement detection unit 131 may detect, as the preparatory movement, a movement of the passenger stretching his / her hand toward a mechanism for opening and closing the door, such as a door handle or a door opening / closing button.

[0038] The preparatory movement detection unit 131 may detect the preparatory movement by, for example, skeletal recognition. In this case, the preparatory movement detection unit 131 detects skeletal information of the occupant from a captured image of the occupant. The skeletal information here includes, for example, information on the position of each part of the occupant's body and information on the bending angle of each joint of the occupant's body.

[0039] When the preparatory movement detection unit 131 detects the preparatory movement through skeletal recognition, the preparatory movement detection unit 131 may detect, for example, the bending angle of the occupant's arm joint as skeletal information. Then, the preparatory movement detection unit 131 may recognize that the occupant has performed a preparatory movement when the bending angle of the occupant's arm joint is equal to or greater than a predetermined value. In other words, the preparatory movement detection unit 131 may detect, through skeletal recognition, a movement in which the occupant widens the bending angle of the arm joint in order to reach for a mechanism for opening and closing a door as the preparatory movement.

[0040] Furthermore, when the preparatory movement detection unit 131 detects the preparatory movement through skeletal recognition, the preparatory movement detection unit 131 may detect, for example, a twisting angle of the occupant's waist as skeletal information. Then, the preparatory movement detection unit 131 may recognize that the occupant has performed a preparatory movement when the twisting angle of the occupant's waist is equal to or greater than a predetermined value. In other words, the preparatory movement detection unit 131 may detect, through skeletal recognition, a movement in which the occupant twists their waist to reach a mechanism for opening or closing a door as the preparatory movement.

[0041] The preparatory movement detection unit 131 may detect the position of the occupant's hand by, for example, image processing, and recognize that the occupant has performed a preparatory movement when the distance between the detected hand and a mechanism for opening and closing the door is equal to or less than a predetermined value. The preparatory movement detection unit 131 may detect the preparatory movement by, for example, reading the acquired image into artificial intelligence (AI).

[0042] The checking action detection unit 132 acquires posture information from the posture information acquisition unit 11. That is, the checking action detection unit 132 acquires an image of the occupant from the posture information acquisition unit 11. The checking action detection unit 132 processes the image acquired from the posture information acquisition unit 11 and detects a checking action by the occupant checking the situation around the vehicle. When the checking action detection unit 132 detects a checking action, it notifies the determination unit 134 to that effect.

[0043] The checking motion detection unit 132 may detect the checking motion by, for example, skeletal recognition. In this case, the checking motion detection unit 132 detects skeletal information of the occupant from an image of the occupant. When the checking motion detection unit 132 detects the checking motion by skeletal recognition, the checking motion detection unit 132 may detect, for example, the twisting angle of the occupant's neck as the skeletal information. Then, the checking motion detection unit 132 may recognize that the occupant has performed the checking motion when the twisting angle of the occupant's neck is equal to or greater than a predetermined value. In other words, the checking motion detection unit 132 may detect, as the checking motion, a motion in which the occupant twists their neck in a predetermined direction to check the situation around the vehicle by skeletal recognition.

[0044] The checking action detection unit 132 may detect the eye position of the passenger by image processing, and recognize that the passenger has performed a checking action when the detected eye position is a position where the passenger can check the situation around the vehicle. The checking action detection unit 132 may detect a checking action by, for example, having an artificial intelligence (AI) read the acquired image.

[0045] The moving object detection unit 133 acquires moving object information from the moving object information acquisition unit 12. That is, the moving object detection unit 133 acquires images of the vicinity of the automobile from the moving object information acquisition unit 12. The moving object detection unit 133 processes the images acquired from the moving object information acquisition unit 12 and detects moving objects near the automobile. More specifically, the moving object detection unit 133 detects moving objects present within a detection range near the automobile. When the moving object detection unit 133 detects a moving object within the detection range, it notifies the determination unit 134 to that effect.

[0046] The moving body detection unit 133 acquires the position information of the vehicle from the position information acquisition unit 14. The moving body detection unit 133 changes the detection range of the moving body based on the position information of the vehicle acquired from the position information acquisition unit 14.

[0047] For example, when a vehicle is present on a road, the moving object detection unit 133 may set the area behind the vehicle as the detection range for the moving object. With this configuration, it is possible to reduce collision accidents with other vehicles traveling on the road.

[0048] Furthermore, for example, when a vehicle is located close to the left edge of the road, the moving object detection unit 133 may set the right side of the vehicle as the detection range for the moving object. Conversely, for example, when a vehicle is located close to the right edge of the road, the left side of the vehicle may be set as the detection range for the moving object. This configuration also makes it possible to reduce collision accidents with other vehicles traveling on the road.

[0049] Furthermore, for example, when the vehicle is located in a parking lot, the moving object detection unit 133 may narrow the detection range for the moving object. With this configuration, unnecessary door locking due to erroneous detection of the moving object can be suppressed.

[0050] The moving object detection unit 133 may output the detection range of the moving object to the moving object information acquisition unit 12. In this case, the moving object information acquisition unit 12 may focus on capturing images of the acquired detection range of the moving object. In this case, the moving object information acquisition unit 12 may not capture images of areas that do not include the acquired detection range of the moving object.

[0051] When the preparatory movement detection unit 131 detects a preparatory movement, the determination unit 134 is notified of that fact by the preparatory movement detection unit 131. Furthermore, when the checking movement detection unit 132 detects a checking movement, the determination unit 134 is notified of that fact by the checking movement detection unit 132. Furthermore, when the moving object detection unit 133 detects a moving object within the detection range, the determination unit 134 is notified of that fact by the moving object detection unit 133.

[0052] The decision unit 134 controls the opening degree of the vehicle door based on the information on the preparatory movement, the information on the confirmation movement, and the moving object information. In particular, the decision unit 134 according to this embodiment decides to lock the vehicle door when the preparatory movement detection unit 131 detects the preparatory movement, the confirmation movement detection unit 132 does not detect the confirmation movement, and the moving object detection unit 133 detects a moving object within the detection range. Note that if the vehicle door is already in a locked state, locking the vehicle door includes maintaining that state.

[0053] In other words, the decision unit 134 in this embodiment decides to lock the vehicle doors when a passenger attempts to open the door in a situation where a moving object is present near the vehicle and the passenger has not checked outside the vehicle.

[0054] When the determination unit 134 determines to lock the doors, the determination unit 134 may notify a door lock mechanism that is pre-installed in the vehicle of the determination. Then, the door lock mechanism that receives the notification may lock the doors of the vehicle.

[0055] Fig. 5 is a block diagram showing the configuration of the door control unit 13 according to this embodiment. As shown in Fig. 5, the door control unit 13 may include a calculation unit 135 such as a CPU (Central Processing Unit) and a storage unit 136 such as a RAM (Random Access Memory) or a ROM (Read Only Memory) that stores programs, data, and the like for controlling the door control system 1. In other words, the door control unit 13 has the functions of a computer and controls the door control unit 13 based on the programs.

[0056] 4 can be configured in hardware by the CPU, memory unit, other circuits, etc., and can be realized in software by a program stored in the memory unit for controlling the door control system 1. In other words, the door control unit 13 can be realized in various forms by hardware, software, or a combination of both.

[0057] The program includes instructions (or software code) that, when loaded into a computer, cause the computer to perform one or more functions described in the embodiments. The program may be stored in a non-transitory computer-readable medium or a tangible storage medium. By way of example and not limitation, computer-readable media or tangible storage media include random-access memory (RAM), read-only memory (ROM), flash memory, solid-state drive (SSD) or other memory technologies, CD-ROM, digital versatile disc (DVD), Blu-ray (registered trademark) disc or other optical disk storage, magnetic cassette, magnetic tape, magnetic disk storage or other magnetic storage device. The program may also be transmitted on a transitory computer-readable medium or communication medium. By way of example and not limitation, transitory computer-readable media or communication media include electrical, optical, acoustic, or other forms of propagated signals.

[0058] <Operation of Door Control System> Next, the operation, i.e., the method, of the door control system according to the second embodiment will be described in detail with reference to the drawings. Fig. 6 is a flowchart showing the operation of the door control system according to the second embodiment. In the following description, Figs. 3 and 4 will be referred to as appropriate.

[0059] First, the location information acquisition unit 14 detects the location information of the vehicle (step ST201). The detected location information of the vehicle is output to the moving body detection unit 133. Next, the moving body detection unit 133 sets a detection range for the moving body (step ST202).

[0060] Next, the mobile object information acquisition unit 12 acquires mobile object information (step ST203). More specifically, in step ST203, the mobile object information acquisition unit 12 captures an image of an area including the detection range set in step ST202. The captured image is output to the mobile object detection unit 133 as mobile object information.

[0061] Next, the posture information acquisition unit 11 acquires posture information (step ST204). More specifically, in step ST203, the posture information acquisition unit 11 captures an image of the occupant. The captured image is output as posture information to the preparatory movement detection unit 131 and the checking movement detection unit 132.

[0062] The order of execution of step ST203 and step ST204 is not limited to the order shown in Fig. 6. For example, the door control system 1 may execute step ST203 after executing step ST204. Furthermore, step ST203 and step ST204 may be executed in parallel.

[0063] Next, the decision unit 134 determines whether or not a moving object has been detected near the vehicle (step ST205). More specifically, in step ST205, the decision unit 134 determines whether or not the moving object detection unit 133 has detected a moving object within the detection range. If a moving object has not been detected near the vehicle (NO in step ST205), the door control system 1 ends the series of operations.

[0064] If a moving object is detected near the vehicle (YES in step ST205), the decision unit 134 determines whether or not a preparatory movement of the occupant has been detected (step ST206). More specifically, in step ST206, the decision unit 134 determines whether or not the preparatory movement detection unit 131 has detected a preparatory movement of the occupant. If a preparatory movement of the occupant has not been detected (NO in step ST206), the door control system 1 ends the series of operations.

[0065] If a preparatory movement of the occupant is detected (YES in step ST206), the decision unit 134 determines whether or not a confirmation movement of the occupant has been detected (step ST207). More specifically, in step ST207, the decision unit 134 determines whether or not the confirmation movement detection unit 132 has detected a confirmation movement of the occupant. If a confirmation movement of the occupant has been detected (YES in step ST207), the door control system 1 ends the series of operations.

[0066] If the passenger's confirmation action is not confirmed (NO in step ST207), the door control unit 13 determines to lock the door (step ST208), and the door control system 1 ends the series of operations.

[0067] The execution order of steps ST205, ST206, and ST207 is not limited to the order shown in Fig. 6. For example, the door control system 1 may execute step ST206 before step ST205, or may execute step ST207 before step ST205. Furthermore, steps ST205, ST206, and ST207 may be executed in parallel. In other words, the execution order of steps ST205, ST206, and ST207 may be any order as long as the door lock is determined when a moving object is detected near the vehicle, a preparatory movement by the occupant is detected, and a confirmation movement by the occupant is not detected.

[0068] As described above, the door control system 1 according to this embodiment detects preparatory movements made by the occupant before opening the vehicle door based on posture information relating to the occupant's posture. Then, the door control system 1 according to this embodiment determines whether to lock the door based on whether the preparatory movements have been detected.

[0069] With this configuration, the door control system 1 according to the present embodiment can lock the vehicle door before the passenger opens the door, thereby reducing the occurrence of accidents caused by the vehicle door being opened.

[0070] (Other Embodiments) In the door control system 1 according to the present disclosure, the door control unit 13 may further detect the speed of a moving object near the vehicle based on the moving object information. The door control unit 13 may then control the opening degree of the vehicle door based on the detected moving object speed. For example, the door control system 1 according to the present disclosure may determine not to lock the door when the distance between the detected moving object and the vehicle in which the door control system 1 is installed is equal to or greater than a predetermined value and the detected moving object speed is equal to or less than a predetermined value. This configuration can prevent unnecessary door locking.

[0071] Furthermore, in the door control system 1 according to the present disclosure, the door control unit 13 may further detect the direction of travel of a moving object near the vehicle based on the moving object information. The door control unit 13 may then control the opening degree of the vehicle door based on the detected direction of travel of the moving object. For example, the door control system 1 according to the present disclosure may determine not to lock the door if the detected direction of travel of the moving object is a direction away from the vehicle in which the door control system 1 is installed. This configuration can prevent unnecessary door locking.

[0072] The door control system 1 according to the present disclosure may also control the opening degree of the door based on the position information of the vehicle. For example, the door control system 1 according to the present disclosure may control only the opening degree of the right door of the vehicle when the vehicle is located at the left edge of the road. The door control system 1 according to the present disclosure may also control only the opening degree of the left door of the vehicle when the vehicle is located at the right edge of the road. In other words, the door control system 1 according to the present disclosure may only control the opening degree of the door on the roadway side.

[0073] Furthermore, the door control system 1 according to the present disclosure may detect a vehicle door opening action by a passenger in addition to detecting a preparatory movement, and control the door opening degree based on the detected opening action. For example, the door control system 1 according to the present disclosure may be configured to warn the passenger to stop opening the door when a preparatory movement is detected, and to physically limit the door opening degree when an opening action is detected. Note that the door control system 1 according to the present disclosure may also detect the above-mentioned opening action from, for example, the movement of the door handle.

[0074] The present disclosure has been described above in accordance with the above-described embodiments, but the present disclosure is not limited to the configurations of the above-described embodiments, and naturally includes various modifications, alterations, and combinations that a person skilled in the art could make within the scope of the claims of the present application.

[0075] Some or all of the above embodiments can be described as, but are not limited to, the following supplementary notes. (Supplementary Note 1) A door control system comprising: a posture information acquisition unit that acquires posture information related to the posture of a vehicle occupant; a mobile object information acquisition unit that acquires mobile object information related to mobile objects near the vehicle; and a door control unit that detects a preparatory movement made by the vehicle occupant before performing an action to open the door of the vehicle based on the posture information, and controls the opening degree of the door of the vehicle based on information related to the preparatory movement and the mobile object information. (Supplementary Note 2) The door control system described in Supplementary Note 1, wherein the door control unit further detects a confirmation movement made by the vehicle occupant to check outside the vehicle based on the posture information, and controls the opening degree of the door of the vehicle based on information related to the preparatory movement, information related to the confirmation movement, and the mobile object information. (Supplementary Note 3) The door control system according to Supplementary Note 2, wherein the door control unit further detects a state of a moving object near the vehicle based on the moving object information, and controls the opening degree of the door of the vehicle based on information related to the preparatory movement, information related to the confirmation movement, and information related to the state of the moving object near the vehicle. (Supplementary Note 4) The door control system according to any one of Supplements 1 to 3, wherein the preparatory movement includes an action of the occupant reaching for the door handle. (Supplementary Note 5) The door control system according to any one of Supplements 1 to 4, wherein the preparatory movement includes an action of the occupant reaching for the door open / close button. (Supplementary Note 6) The door control system according to any one of Supplements 1 to 5, further comprising a position information acquisition unit that acquires position information of the vehicle, wherein the moving object information acquisition unit changes a detection range of the moving object based on the position information. (Supplementary Note 7) The door control system according to any one of Supplements 1 to 6, wherein the door control unit detects the preparatory movement by skeleton recognition. (Supplementary Note 8) The door control system according to any one of Supplementary Notes 1 to 7, wherein the door control unit detects the confirmation action by skeleton recognition.(Supplementary Note 9) The door control system according to any one of Supplementary Notes 1 to 8, wherein the door control unit further detects a speed of a moving body near the vehicle based on the moving body information, and controls the opening degree of the door of the vehicle based on the detected speed of the moving body near the vehicle. (Supplementary Note 10) The door control system according to any one of Supplementary Notes 1 to 9, wherein the door control unit further detects a traveling direction of a moving body near the vehicle based on the moving body information, and controls the opening degree of the door of the vehicle based on the detected traveling direction of the moving body near the vehicle. (Supplementary Note 11) A door control method comprising: based on posture information related to the posture of a passenger, detecting a preparatory movement made by the passenger until the passenger performs an opening operation of the door of the vehicle, and controlling the opening degree of the door of the vehicle based on information related to the preparatory movement and moving body information related to a moving body near the vehicle. (Supplementary Note 12) A non-transitory computer-readable medium storing a program that causes a computer to execute an operation of detecting a preparatory movement made by a passenger before the passenger performs an opening operation of the vehicle door based on posture information regarding the passenger's posture, and controlling the opening degree of the vehicle door based on information regarding the preparatory movement and moving object information regarding moving objects near the vehicle.

[0076] REFERENCE SIGNS LIST 1 Door control system 11 Posture information acquisition unit 12 Mobile body information acquisition unit 13 Door control unit 131 Preparatory movement detection unit 132 Confirmation movement detection unit 133 Mobile body detection unit 134 Determination unit 135 Calculation unit 136 Storage unit 14 Position information acquisition unit

Claims

1. a posture information acquisition unit that acquires posture information related to the posture of a passenger; a mobile object information acquisition unit that acquires mobile object information related to mobile objects in the vicinity of the automobile; a door control unit that detects a preparatory movement made by the occupant before the occupant performs an opening movement of the door of the vehicle based on the posture information, and controls an opening degree of the door of the vehicle based on information relating to the preparatory movement and the moving body information. Door control system.

2. the door control unit further detects a confirmation action of the occupant checking outside the vehicle based on the posture information, and controls an opening degree of the door of the automobile based on information on the preparatory action, information on the confirmation action, and the moving body information. The door control system of claim 1 .

3. the door control unit further detects a state of a moving object near the vehicle based on the moving object information, and controls the opening degree of the door of the vehicle based on the information on the preparatory operation, the information on the confirmation operation, and the information on the state of the moving object near the vehicle. The door control system of claim 2 .

4. The preparatory action includes an action of the occupant reaching for the door handle. A door control system according to any one of claims 1 to 3.

5. a location information acquisition unit that acquires location information of the vehicle; the mobile object information acquisition unit changes the detection range of the mobile object based on the position information; A door control system according to any one of claims 1 to 3.

6. the posture information acquisition unit acquires posture information of the occupant by skeletal recognition. A door control system according to any one of claims 1 to 3.

7. the door control unit further detects a traveling direction of a moving object near the vehicle based on the moving object information, and controls an opening degree of the door of the vehicle based on the detected traveling direction of the moving object near the vehicle. A door control system according to any one of claims 1 to 3.

8. detecting a preparatory movement made by the occupant before the occupant performs an opening movement of the door of the vehicle based on posture information relating to the posture of the occupant, and controlling the opening degree of the door of the vehicle based on information relating to the preparatory movement and moving body information relating to moving bodies in the vicinity of the vehicle; Door control method.

9. detects a preparatory movement made by the occupant before the occupant performs an opening movement of the door of the vehicle based on posture information relating to the posture of the occupant, and controls an opening degree of the door of the vehicle based on information relating to the preparatory movement and moving body information relating to moving bodies near the vehicle; Door control program.