Remote control system, control device, and non-transitory computer-readable medium

Abstract

A sensor (11) transmits a radio wave (W). A control device (12) controls the operation of an opening and closing device (22) when a predetermined condition has been satisfied. The predetermined condition includes a first condition and a second condition. The control device (12) determines whether the first condition has been satisfied on the basis of a reflected wave of the radio wave (W). When it is determined that the first condition has been satisfied, the control device (12) starts determining whether the second condition has been satisfied on the basis of the reflected wave of the radio wave (W). The first condition is that a user enters a first detection area. The second condition is that the user performs a predetermined operation in the first detection area. The determination as to whether the second condition has been satisfied is performed more frequently than the determination as to whether the first condition has been satisfied.

Description

Remote control system, controller, and non-transitory computer-readable medium

[0001] The present disclosure relates to a remote control system that remotely controls a controlled device based on a user's actions. The present disclosure also relates to a control device included in the remote control system and a non-transitory computer-readable medium storing a computer program executable by a processor installed in the control device.

[0002] Japanese Patent Application Publication No. 2018-096128 discloses a system for controlling the opening and closing of a vehicle door, which is an example of a controlled device, based on the user's actions. The vehicle door is allowed to open or close when the user performs a kicking motion by inserting their foot into a detection area of ​​a kick sensor mounted on the vehicle.

[0003] There is a demand for reducing power consumption in a system that remotely controls a controlled device based on a user's actions.

[0004] An example of an aspect that the present disclosure can provide is a remote control system comprising: a sensor that emits radio waves; and a control device that controls the operation of a controlled device when predetermined conditions are satisfied, wherein the predetermined conditions include a first condition and a second condition; the control device determines whether the first condition is satisfied based on the reflected waves of the radio waves; and when it is determined that the first condition is satisfied, begins to determine whether the second condition is satisfied based on the reflected waves of the radio waves; the first condition is that a user enters a first detection area; and the second condition is that the user performs a predetermined action within the first detection area; and the determination of whether the second condition is satisfied is made more frequently than the determination of whether the first condition is satisfied.

[0005] An example of an aspect that can be provided by the present disclosure is a control device comprising: an interface that receives a signal corresponding to a reflected wave of radio waves; and a processor that controls the operation of a controlled device when it is determined that a predetermined condition is satisfied based on the signal, wherein the predetermined condition includes a first condition and a second condition, wherein the processor determines whether the first condition is satisfied based on the reflected wave of the radio waves, and when it is determined that the first condition is satisfied, begins to determine whether the second condition is satisfied based on the reflected wave of the radio waves, wherein the first condition is that a user enters a first detection area, and the second condition is that the user performs a predetermined action within the first detection area, and the determination of whether the second condition is satisfied is made more frequently than the determination of whether the first condition is satisfied.

[0006] An example aspect that the present disclosure may provide is a non-transitory computer-readable medium storing a computer program executable by a processor mounted on a control device, wherein, when the program is executed, the control device determines whether a predetermined condition is satisfied based on a signal corresponding to a reflected wave of radio waves, and controls the operation of a controlled device when it is determined that the predetermined condition is satisfied, the predetermined condition including a first condition and a second condition, and when the computer program is executed, the control device determines whether the first condition is satisfied based on the reflected wave of radio waves, and when it is determined that the first condition is satisfied, begins to determine whether the second condition is satisfied based on the reflected wave of radio waves, the first condition being a user entering a first detection area, and the second condition being a user performing a predetermined action within the first detection area, and the determination of whether the second condition is satisfied is made more frequently than the determination of whether the first condition is satisfied.

[0007] According to the configurations of the above-described embodiments, the determination of whether a user has performed a predetermined action, which requires higher time resolution, is not started until it is determined that the user has entered the first detection area, and the determination of whether the user has entered the first detection area is performed less frequently than the determination of whether a predetermined action has been performed. This reduces the power consumed for transmitting radio waves used in the series of determinations. Therefore, the power consumption of the system that remotely controls the controlled device based on the user's actions can be reduced.

[0008] 6 illustrates a vehicle equipped with a remote control system according to an embodiment. 6 illustrates an example of the functional configuration of the remote control system of FIG. 1. 6 shows an example of the flow of processing executed by the processor of FIG. 2. 6 is a diagram for explaining phase positioning executed by the processor of FIG. 2. 6 shows another example of the flow of processing executed by the processor of FIG. 2. 6 shows another example of the flow of processing executed by the processor of FIG. 6. 6 illustrates an example of a user's action detected by the processing of FIG. 6.

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] The following detailed description of exemplary embodiments will be given with reference to the accompanying drawings, in which the scale of each illustrated element is appropriately changed so that it can be recognized.

[0010] As illustrated in FIG. 1 , a remote control system 10 according to an embodiment is mounted on a vehicle 20. The remote control system 10 is configured to control the opening and closing operation of a back door 21 mounted on the vehicle 20 based on the action of a user 30. The shape of the vehicle 20 is merely an example. The vehicle 20 is an example of a moving body. The back door 21 is an example of an opening and closing body.

[0011] 2 illustrates an example of the functional configuration of the remote control system 10. The remote control system 10 includes a sensor 11.

[0012] The sensor 11 is configured to be able to transmit radio waves W toward a predetermined detection area. The sensor 11 is configured to be able to receive reflected waves of the radio waves W generated by an object located within the detection area. The sensor 11 is configured to output a detection signal DT according to the reception state of the reflected waves. The detection signal DT may be an analog signal or a digital signal depending on the specifications of the sensor 11.

[0013] In this embodiment, the sensor 11 is a radar element that operates based on the UWB (ultra-wideband) wireless communication standard. This standard defines the wireless equipment specified in Article 4-4, Paragraph 2, Item 2 of the Enforcement Regulations of the Radio Law of Japan. The wireless equipment may also be specified by the UWB Alliance.

[0014] The remote control system 10 includes a control device 12. The control device 12 is configured to control the operation of an opening / closing device 22 mounted on a vehicle 20 when a predetermined condition is satisfied. The opening / closing device 22 is a device that automatically opens and closes a back door 21 of the vehicle 20. The opening / closing device 22 is an example of a controlled device. Details of the predetermined condition will be described later.

[0015] The control device 12 includes an input interface 121 , a processor 122 , and an output interface 123 .

[0016] The input interface 121 is configured as a hardware interface capable of receiving the detection signal DT. When the detection signal DT is an analog signal, the input interface 121 includes an appropriate conversion element including an A / D converter.

[0017] The processor 122 is configured to output a transmission control signal TC from the output interface 123. The transmission control signal TC is a signal for causing the sensor 11 to transmit radio waves W.

[0018] The output interface 123 is configured as a hardware interface capable of outputting a transmission control signal TC. The transmission control signal TC may be an analog signal or a digital signal depending on the specifications of the sensor 11. This description also applies to other signals that can be output by the output interface 123, which will be described later.

[0019] An example of the flow of processing executed by the processor 122 will be described in detail with reference to FIG.

[0020] The processor 122 outputs a transmission control signal TC, which causes the sensor 11 to transmit radio waves W, from the output interface 123 (STEP 11).

[0021] As illustrated in FIG. 1 , a user 30 located around the vehicle 20 generates a reflected wave R of a radio wave W. As described above, the sensor 11 outputs a detection signal DT according to the reception state of the reflected wave R. The processor 122 determines whether the user 30 has entered the first detection area A1 based on the detection signal DT received by the input interface 121 (STEP 12). "The user 30 entering the first detection area A1" is an example of the first condition. The first condition is included in the "predetermined condition" related to the control device 12 described above.

[0022] As an example, if the reception strength of the detection signal DT exceeds a threshold, it is determined that the user 30 has entered the first detection area A1.

[0023] As another example, it is determined that the user 30 has entered the first detection area A1 when the time length from when the radio wave W is transmitted until the reflected wave R is received falls below a threshold. This time length can be specified as the time length from when a transmission control signal TC for transmitting a specific radio wave W is output until a detection signal DT corresponding to the reflected wave R of the radio wave is received, for example.

[0024] If it is determined that the user 30 has not entered the first detection area A1 (NO in STEP 12), the processor 122 returns the process to STEP 11 and causes the sensor 11 to transmit the radio waves W again.

[0025] A user 30 who wishes to open the back door 21 is informed in advance to enter the first detection area A1 and perform a predetermined action. At least one of the actions listed below can be detected as the "predetermined action." Any of these actions can involve movement of the entire lower leg while both feet are on the ground: - Pointing the toes of one foot and twisting the entire lower leg left or right around the toes - Bringing one of the lower legs, with the legs spaced shoulder-width apart, closer to the other - Crossing one of the lower legs, with the legs spaced shoulder-width apart, over the other - Sliding one foot forward or backward while keeping the foot on the ground.

[0026] When it is determined that the user 30 has entered the first detection area A1 (YES in STEP 12), the processor 122 starts phase positioning to detect the movement of the user's lower limbs (STEP 13).

[0027] Specifically, the processor 122 outputs a transmission control signal TC from the output interface 123 to cause the sensor 11 to transmit radio waves W, and detects a change in the phase of the reflected wave R based on the detection signal DT received by the input interface 121. The change in the phase of the reflected wave R is an example of a change in the state of the reflected wave R.

[0028] The first detection area A1 extends not only in the front-rear and left-right directions of the vehicle 20 illustrated in Fig. 1 but also in the up-down direction of the vehicle 20 illustrated in Fig. 4. The above-described movement of the entire lower leg 31 can be detected as a change in the phase of the reflected wave R reflected from a plurality of different distances within the first detection area A1, including at least the distance L1 and the distance L2. The change in phase is reflected in the detection signal DT output from the sensor 11 so as to correspond to the reception state of the reflected wave R.

[0029] Therefore, the processor 122 determines whether the user 30 has performed a predetermined action by determining whether the change in phase of the reflected waves R from multiple distances within the first detection area A1 exceeds a threshold based on the detection signal DT received by the input interface 121 (STEP 14 in FIG. 3). "The user 30 performing a predetermined action within the first detection area A1" is an example of the second condition. The second condition is included in the "predetermined condition" related to the control device 12 described above.

[0030] It is also possible to determine whether the user 30 has performed a predetermined action based on a change in frequency or amplitude of the reflected wave R from multiple distances within the first detection area A1. The change in frequency or amplitude of the reflected wave R is also an example of a change in the state of the reflected wave R.

[0031] If it is determined that the user 30 is not performing the predetermined action (NO in STEP 14), the processor 122 returns the process to STEP 13 and performs phase positioning again. This process is repeated until it is determined that the user 30 has performed the predetermined action. Note that the determination as to whether the user 30 has performed the predetermined action is made more frequently than the determination as to whether the user 30 has entered the first detection area A1. In other words, the determination as to whether the second condition is satisfied is made with a higher time resolution than the determination as to whether the first condition is satisfied.

[0032] When it is determined that the user 30 has performed a predetermined action (YES in STEP 14), the processor 122 outputs an operation control signal OC from the output interface 123 to cause the opening / closing device 22 to open the back door 21 (STEP 15). The opening / closing device 22 opens the back door 21 based on the operation control signal OC.

[0033] According to the configuration of this embodiment, the determination of whether the user 30 has performed a predetermined action, which requires higher time resolution, is not started until it is determined that the user 30 has entered the first detection area A1, and the determination of whether the user 30 has entered the first detection area A1 is performed less frequently than the determination of whether the predetermined action has been performed. This reduces the power consumed for transmitting the radio waves W used in the series of determinations. Therefore, the power consumption of the remote control system 10, which remotely controls the opening and closing device 22 based on the action of the user 30, can be reduced.

[0034] In particular, in this embodiment, the sensor 11 that emits radio waves W based on the UWB wireless communication standard is used, so the above-mentioned power saving effect is remarkable.

[0035] In addition, since the determination of whether the user 30 has performed a predetermined action is made based on the phase change of the reflected waves R from multiple distances within the first detection area A1, the spatial resolution of action detection can be improved. This allows the operation of the opening and closing device 22 to be controlled with a relatively small action. This improves the convenience of the remote control system 10, which remotely controls the opening and closing device 22 based on the action of the user 30.

[0036] In particular, in this embodiment, the first detection area A1 is set to a position that includes the lower leg 31 of the user 30. Therefore, compared to conventional configurations that require a predetermined motion such as inserting the toes under the vehicle body or a kicking motion, the operation of the opening / closing device 22 can be controlled with a smaller motion of the lower leg 31. This makes it possible to avoid contact between the clothing of the user 30 and the vehicle body and the user 30 temporarily standing on one leg. This further increases the convenience that the user 30 can enjoy.

[0037] Preferably, the condition includes that the user 30 remains stationary for a predetermined length of time before or after the aforementioned "predetermined action." Specifically, it is determined whether the state change of the reflected wave R described above remains below a specific threshold for a predetermined length of time. This configuration can prevent a situation in which a relatively small unintended action is detected as a "predetermined action" and the opening / closing device 22 is unexpectedly activated.

[0038] As illustrated in Fig. 1, a second detection area A2 larger than the first detection area A1 may be set around the vehicle 20. At least a portion of the first detection area A1 may be included in the second detection area A2. Fig. 5 shows another example of the flow of processing executed by the processor 122 of the control device 12 in this case. Elements common to the flow of processing described with reference to Fig. 3 are assigned the same reference numerals, and repeated description will be omitted.

[0039] The processor 122 outputs a transmission control signal TC, which causes the sensor 11 to transmit radio waves W, from the output interface 123 (STEP 21).

[0040] Next, the processor 122 determines whether the user 30 has entered the second detection area A2 based on the detection signal DT received by the input interface 121 (STEP 22). "The user 30 entering the second detection area A2" is an example of a third condition. The third condition is included in the "predetermined condition" related to the control device 12 described above.

[0041] For example, if the reception strength of the detection signal DT exceeds a threshold, it is determined that the user 30 has entered the second detection area A2. The threshold is set to be smaller than the threshold used in STEP 12 to determine whether the user 30 has entered the first detection area A1.

[0042] As another example, if the length of time from when the radio wave W is transmitted until when the reflected wave R is received falls below a threshold, it is determined that the user 30 has entered the second detection area A2. This threshold is set to be longer than the threshold used in STEP 12 to determine whether the user 30 has entered the first detection area A1.

[0043] When it is determined that the user 30 has entered the second detection area A2 (YES in STEP 22), the processor 122 outputs a transmission control signal TC from the output interface 123 to cause the sensor 11 to emit radio waves W to determine whether the user 30 has entered the first detection area A1 (STEP 11).

[0044] If it is determined that the user 30 has not entered the second detection area A2 (NO in STEP 22), the processor 122 returns the process to STEP 21 and causes the sensor 11 to transmit radio waves W again. This process is repeated until it is determined that the user 30 has entered the second detection area A2. Note that the determination of whether the user 30 has entered the second detection area A2 is made less frequently than the determination of whether the user 30 has entered the first detection area A1. In other words, the determination of whether the third condition is satisfied is made with lower time resolution than the determination of whether the first condition is satisfied.

[0045] With this configuration, the operational control of the opening / closing device 22 can be put on hold from a state in which the user 30 is located farther away. On the other hand, the power consumed for transmitting the radio waves W can be reduced until it is determined that the user 30 has entered the first detection area A1, where it is more likely that the user 30 desires operational control of the opening / closing device 22.

[0046] The radio waves used to determine whether the user 30 has entered the second detection area A2 may be emitted from a device other than the sensor 11.

[0047] One example is a device that periodically emits a long wave (LF) signal. An electronic key carried by the user 30 is configured to return a response signal upon receiving the long wave signal. The device may be configured to output a detection signal DT upon receiving the response signal. When the detection signal DT is received by the input interface 121, the processor 122 of the control device 12 determines that the user 30 has entered the second detection area A2.

[0048] Another example is a device that emits a signal used to establish a connection based on the Bluetooth (registered trademark) standard. The device may be configured to output a detection signal DT when a connection is established with a portable mobile device carried by the user 30. When the detection signal DT is received by the input interface 121, the processor 122 of the control device 12 determines that the user 30 has entered the second detection area A2.

[0049] If the device used to determine whether user 30 has entered the second detection area A2 is different from sensor 11, the frequency with which this determination is made does not necessarily have to be lower than the frequency with which a determination is made as to whether user 30 has entered the first detection area A1.

[0050] 6 shows another example of the flow of processing performed by the processor 122 of the control device 12. Elements common to the flow of processing described with reference to FIG. 3 are given the same reference numerals, and repeated description will be omitted.

[0051] In this processing example, when it is determined that the user 30 has performed a predetermined action in the first detection area A1 (YES in STEP 14), the processor 122 executes a notification process (STEP 31). In this processing example, "the user 30 performing a predetermined action in the first detection area A1" is an example of the first condition. The first condition is included in the "predetermined condition" related to the control device 12 described above.

[0052] Specifically, an operation control signal OC that causes the opening / closing device 22 to partially open the back door 21 is output from the output interface 123. The expression "partially open" used in this specification means displacing the back door 21 in the opening direction by an amount that is smaller than the amount of movement required for full opening. The opening / closing device 22 partially opens the back door 21 based on the operation control signal OC. This allows the user 30 to recognize that the specified operation they performed has been approved.

[0053] In this processing example, it is not necessary to determine whether the first condition is satisfied based on phase positioning using the sensor 11. Any appropriate well-known technology can be adopted as long as it can detect a predetermined movement of the user 30.

[0054] Next, the processor 122 determines whether the user 30 has moved from the first detection area A1 in a predetermined direction (STEP 32). Specifically, as illustrated in FIG. 7, it determines whether the user 30 has moved in a direction D1 approaching the back door 21. In this processing example, "the user 30 moving from the first detection area A1 in a predetermined direction" is an example of the second condition. The second condition is included in the "predetermined condition" related to the control device 12 described above.

[0055] As an example, whether the second condition is met can be determined through positioning by a plurality of sensors 11 (UWB radar devices) mounted on the vehicle 20. The determination can be made based on whether the user's position coordinates identified through the positioning are approaching the position coordinates corresponding to the back door 21.

[0056] As another example, whether the second condition is satisfied may be determined by using a device capable of communicating with a mobile device carried by the user 30 based on the Bluetooth standard. The determination may be made based on whether the location coordinates of the mobile device identified by the communication are approaching the location coordinates corresponding to the back door 21.

[0057] If it is determined that the second condition is satisfied (YES in STEP 32), the processor 122 outputs an operation control signal OC to the opening / closing device 22 to fully open the back door 21 from the output interface 123 (STEP 33). The opening / closing device 22 fully opens the back door 21 based on the operation control signal OC.

[0058] 7 , when the user 30 moves in the direction D2 away from the back door 21, the processor 122 determines that the second condition is not satisfied (NO in STEP 32). In this case, the processor 122 outputs an operation control signal OC to the opening / closing device 22 from the output interface 123 (STEP 34). The opening / closing device 22 closes the back door 21 based on the operation control signal OC.

[0059] According to the configuration of this processing example, the notification process can make the user 30 aware that a predetermined operation has been approved. If the approval is given against the user's intention, the user 30 can stop the opening operation control of the back door 21 by moving away from the back door 21. This can prevent the back door 21 from being left open against the user's intention. Therefore, the convenience of the remote control system 10, which remotely controls the opening and closing device 22 based on the user's 30's actions, can be improved.

[0060] In particular, the second condition is not met when the user 30 moves in direction D2 away from the back door, which is highly likely to mean that the user does not want the back door 21 to be opened. Therefore, even if the user 30 does not properly recognize the alert, the probability that the unintended opening of the back door 21 will be stopped can be increased.

[0061] As long as the user 30 can be made aware that the predetermined operation has been approved, the notification process is not limited to the partial opening of the back door 21. For example, the processor 122 may output, from the output interface 123, an operation control signal OC that causes the locking / unlocking device of the back door 21 to perform an unlocking operation. If the user 30 subsequently fails to satisfy the second condition related to the direction of movement, the processor 122 outputs, from the output interface 123, an operation control signal OC that causes the locking / unlocking device to perform a locking operation.

[0062] As another example, the processor 122 may output from the output interface 123 an operation control signal OC that causes a lighting device mounted on the vehicle 20 to issue a visual notification, an operation control signal OC that causes a sound generating device mounted on the vehicle 20 to issue an auditory notification, etc.

[0063] The processor 122 of the control device 12, which has the various functions described above, may be realized by at least one general-purpose microprocessor operating in cooperation with at least one general-purpose memory. Examples of the general-purpose microprocessor include a CPU, an MPU, and a GPU. Examples of the general-purpose memory include a ROM and a RAM. In this case, the ROM may store a computer program that executes the above-described processes. The ROM is an example of a non-transitory computer-readable medium that stores a computer program. The general-purpose microprocessor specifies at least a portion of the computer program stored in the ROM, deploys it on the RAM, and executes the above-described processes in cooperation with the RAM. The computer program may be pre-installed in the general-purpose memory, or may be downloaded from an external server device (not shown) via a wireless communication network (not shown) and then installed in the general-purpose memory. In this case, the external server device is an example of a non-transitory computer-readable medium that stores a computer program.

[0064] The processor 122 may be implemented by at least one dedicated integrated circuit capable of executing the computer program. Examples of the dedicated integrated circuit include a microcontroller, an ASIC, and an FPGA. In this case, the computer program is pre-installed in at least one memory element included in the dedicated integrated circuit. The memory element is an example of a non-transitory computer-readable medium that stores a computer program. The processor 122 may also be implemented by a combination of a general-purpose microprocessor and a dedicated integrated circuit.

[0065] The above-described embodiments are merely examples for facilitating understanding of the present disclosure. The configurations according to the above-described embodiments may be appropriately modified or improved without departing from the spirit and scope of the present disclosure.

[0066] In the above embodiment, the back door 21, which is opened and closed by rotating around a rotating shaft, is the target of remote control. However, a hood panel or a trunk panel, which are opened and closed by rotating around a rotating shaft, can also be the target of remote control. A sliding door or a power window, which is opened and closed by sliding along the vehicle body, can also be the target of remote control. The hood panel, trunk panel, sliding door, and power window are each an example of an opening / closing body.

[0067] In the above embodiment, remote control is performed based on the movement of the lower limb 31 of the user 30. However, depending on the installation position of the sensor 11, remote control may be performed based on the movement of a body part of the user 30 other than the lower limb 31.

[0068] The remote control is not limited to the opening and closing control of an opening / closing body mounted on the vehicle 20. An automatic parking assistance function (including returning from a parked state to a drivable state) may be activated based on the action of the user 30. In this case, all in-vehicle devices that can realize the function are examples of controlled devices.

[0069] The remote control system 10 can also be applied to moving objects other than the vehicle 20. Examples of other moving objects include trains, airplanes, and ships. The moving objects may not require a driver. However, if a specific opening / closing object used for opening / closing control is shared by multiple users, the conditions for opening / closing control must be determined for each individual user.

[0070] The remote control system 10 does not necessarily need to be mounted on a mobile object. Doors and windows in a home or facility can also be examples of opening and closing objects. Furthermore, various types of equipment in a home or facility can also be examples of controlled devices.

[0071] The contents of Japanese Patent Application No. 2024-134120 filed on August 9, 2024 are incorporated herein by reference as part of this disclosure.

Claims

1. A remote control system comprising: a sensor that emits radio waves; and a control device that controls the operation of a controlled device when predetermined conditions are satisfied, wherein the predetermined conditions include a first condition and a second condition; the control device determines whether the first condition is satisfied based on the reflected waves of the radio waves; and when it is determined that the first condition is satisfied, begins to determine whether the second condition is satisfied based on the reflected waves of the radio waves; the first condition is that a user enters a first detection area; and the second condition is that the user performs a predetermined action within the first detection area; and the determination of whether the second condition is satisfied is made more frequently than the determination of whether the first condition is satisfied.

2. The remote control system described in claim 1, wherein the predetermined condition includes a third condition, and when the control device determines that the third condition is satisfied, it begins to determine whether the first condition is satisfied, and the third condition is that the user enters a second detection area that is larger than the first detection area.

3. The remote control system according to claim 2, wherein the control device determines whether the third condition is satisfied less frequently than the control device determines whether the first condition is satisfied.

4. The remote control system according to claim 2 or 3, wherein the radio waves are used to determine whether the third condition is satisfied.

5. A remote control system according to any one of claims 1 to 4, wherein the radio waves are transmitted based on the UWB wireless communication standard.

6. A remote control system according to any one of claims 1 to 5, wherein the controlled device is an opening / closing device for an opening / closing body.

7. The remote control system according to claim 6, wherein the opening and closing body is mounted on a moving body.

8. A control device comprising: an interface that receives a signal corresponding to a reflected wave of a radio wave; and a processor that controls the operation of a controlled device when it is determined based on the signal that a predetermined condition is satisfied, wherein the predetermined condition includes a first condition and a second condition, wherein the processor determines whether the first condition is satisfied based on the reflected wave of the radio wave, and when it is determined that the first condition is satisfied, begins to determine whether the second condition is satisfied based on the reflected wave of the radio wave, wherein the first condition is that a user enters a first detection area, and the second condition is that the user performs a predetermined action within the first detection area, and the determination of whether the second condition is satisfied is made more frequently than the determination of whether the first condition is satisfied.

9. A non-transitory computer-readable medium storing a computer program executable by a processor mounted on a control device, wherein, when the program is executed, the control device determines whether a predetermined condition is satisfied based on a signal corresponding to a reflected wave of radio waves, and controls the operation of a controlled device if the predetermined condition is satisfied, the predetermined condition including a first condition and a second condition, and when the computer program is executed, the control device determines whether the first condition is satisfied based on the reflected wave of radio waves, and if the first condition is satisfied, begins to determine whether the second condition is satisfied based on the reflected wave of radio waves, the first condition being that a user enters a first detection area, and the second condition being that the user performs a predetermined action within the first detection area, and the determination of whether the second condition is satisfied is made more frequently than the determination of whether the first condition is satisfied.

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