JP2020076271A - Automatic door opening device and program for vehicle - Google Patents

Abstract

To provide an automatic door opening device for a vehicle with improved security.SOLUTION: The automatic door opening device for a vehicle for automatically opening a door of a vehicle comprises: a first detection unit for detecting that an authority holder has entered inside a predetermined first range of the vehicle; a second detection unit for detecting that a person has entered inside a predetermined second range of the vehicle; and a control unit for executing normal processing of automatically opening a door when the first detection unit detects that the authority holder has entered inside the first range. The control unit executes restriction processing of restricting the automatic door opening when the second detection unit detects that a person other than the authority holder has entered inside the second range, even when the first detection unit detects that the authority holder has entered inside the first range.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a vehicle automatic door opening device and a program.

  BACKGROUND ART When a vehicle key enters a predetermined range from the vehicle, a door of the vehicle is automatically opened / closed by responding to a wireless signal from the vehicle key (see Patent Document 1).

JP, 2005-139657, A

  However, if the vehicle door is automatically opened when the vehicle key enters a predetermined range from the vehicle, there is a possibility that a suspicious person around the vehicle gets into the vehicle and is accompanied by security. Was not preferable from the viewpoint.

  According to one aspect of the present invention, an automatic door opening device for a vehicle is provided. The vehicle automatic door opening device is a vehicle automatic door opening device that automatically opens a vehicle door, and is a first automatic door opening device that detects that an authority holder has entered a predetermined first range of the vehicle. 1 detection unit, a second detection unit that detects that a person has entered a second predetermined range of the vehicle, and that the authority holder has entered the first range by the first detection unit And a control unit that executes a normal process of automatically opening the door when it is detected, and the control unit detects that the authority holder has entered the first range by the first detection unit. Even in such a case, when the second detection unit detects that a person other than the authority holder has entered the second range, the limiting process for limiting the automatic door opening is executed.

  In one aspect of the present invention, a program is provided. The program causes the computer to perform a first detection step of detecting that the authority holder has entered a predetermined first range of the vehicle, and a person to enter a second predetermined range of the vehicle. A second detection step of detecting that the authority holder has entered the first range by the first detection step, and a control for executing a normal process of automatically opening the door of the vehicle Even if the first detection step detects that the authority holder is within the first range, the second detection step causes a person other than the authority holder to execute Is detected within the second range, restriction processing for restricting automatic door opening is executed.

  Note that the above summary of the invention does not enumerate all necessary features of the present invention. Further, a sub-combination of these feature groups can also be an invention.

An example of the operating environment of the vehicle automatic opening device 10 in 1st Embodiment is shown. An example of the functional block diagram of the vehicle automatic door opening device 10 in 1st Embodiment is shown. An example of the opening / closing pattern of the door 21 in the first embodiment is shown. It is a flowchart which shows operation | movement in the vehicle automatic opening apparatus 10 in 1st Embodiment. An example of the functional block diagram of the vehicle automatic opening device 10a in 2nd Embodiment is shown. An example of the opening / closing pattern of the door 21 in the second embodiment is shown. It is a flowchart which shows operation | movement in the vehicle automatic door opening apparatus 10a in 2nd Embodiment. An example of the functional block diagram of the vehicle automatic door opening device 10b in 3rd Embodiment is shown. An example of the opening / closing pattern of the door 21 in the third embodiment is shown. It is a flowchart which shows operation | movement in the vehicle automatic opening apparatus 10b in 3rd Embodiment.

  Hereinafter, the present invention will be described through embodiments of the invention, but the following embodiments do not limit the invention according to the claims. Moreover, not all combinations of the features described in the embodiments are essential to the solving means of the invention.

[First Embodiment]
FIG. 1 shows an example of an operating environment of the vehicle automatic door opening device 10 according to the first embodiment. FIG. 1 shows a scene in which the authority holder 100 gets into the vehicle 102. The authority holder 100 means a person who has the authority to get on the vehicle 102, and includes, for example, the family of the person who owns the vehicle 102. The vehicle automatic door opening device 10 is mounted on the vehicle 102, and a touch sensor 22 is mounted on the door 21 of the vehicle 102.

  As shown in FIG. 1, the authority holder 100 possesses a key 103 capable of wireless communication with a vehicle 102. When the key 103 possessed by the authority holder 100 enters the area A indicated by the broken line 50, the door 21 of the vehicle 102 automatically opens. FIG. 1 shows a situation in which a suspicious person 101 is approaching behind the authority holder 100, but the authority holder 100 is unaware of the existence of the suspicious person 101.

  Here, when the key 103 possessed by the authority holder 100 enters the area A and the door 21 of the vehicle 102 is automatically opened, the suspicious person 101 approaching from behind the authority holder 100 becomes the vehicle. There is a possibility that a “tailgating” may occur when getting on the vehicle 102.

  In the vehicle automatic door opening device 10 according to the first embodiment, the suspicious person 101 around the vehicle 102 is recognized by the camera 104 attached to the vehicle 102, and the key 103 possessed by the authority holder 100 is within the area A. Even if the person enters, if the suspicious person 101 is found to be around the vehicle 102, "tailgating" is prevented by not automatically performing the process of opening the door 21 of the vehicle 102. The purpose is to

  FIG. 2 shows an example of a functional block diagram of the vehicle automatic door opening device 10 according to the first embodiment. In FIG. 2, the vehicle automatic door opening device 10 is shown together with a vehicle 102, a key 103 of the vehicle 102, a camera 104 attached to the vehicle 102, a door driving device 20, a door 21, and a touch sensor 22. In the first embodiment, the vehicle automatic door opening device 10 includes a first detection unit 11, a second detection unit 12, and a control unit 15.

  The key 103 of the vehicle 102 performs wireless communication with the first detection unit 11 of the vehicle automatic door opening device 10. The camera 104 generates a captured image that captures the surroundings of the vehicle 102. The camera 104 transmits the generated captured image to the second detection unit 12. The door drive device 20 has a mechanism such as a motor for driving the door 21, and drives the door 21 based on a command received from the control unit 18.

  The touch sensor 22 is a contact type sensor, and when detecting that the touch sensor 22 is touched, the touch sensor 22 transmits information indicating that the touch sensor 22 is touched to the control unit 15. When the control unit 15 receives the information indicating that the touch is made from the touch sensor 22, the control unit 15 transmits a command to open the door 21 to the door driving device 20.

  First detection unit 11 detects that authority holder 100 has entered a predetermined first range of vehicle 102. In the first embodiment, the first detection unit 11 detects that the key 103 is within the first range, and thus the authority holder 100 who owns the key 103 is within the first range. Detect that. In the first embodiment, the predetermined first range of the vehicle 102 is referred to as area A. Area A is, for example, within a range of a distance of 3 m from the vehicle 102. As shown in FIG. 2, the first detection unit 11 includes a wireless communication unit 111 and an authentication unit 112.

  The wireless communication unit 111 wirelessly communicates with the key 103 of the vehicle 102. The wireless communication between the wireless communication unit 111 and the key 103 of the vehicle 102 is established when the key 103 of the vehicle 102 enters the area A. Information including the ID information of the key 103 is transmitted from the key 103 to the vehicle 102. The wireless communication unit 111 transmits the ID information of the key 103 received from the key 103 of the vehicle 102 to the authentication unit 112.

  In the wireless communication between the vehicle 102 and the key 103, the radio wave transmitted from the vehicle 102 to the key 103 can be an LF (Low Frequency) radio wave, and the radio wave transmitted from the key 103 to the vehicle 102 can be used. Can use radio waves in the UHF (Ultra High Frequency) band.

  The authentication unit 112 compares the ID information of the key 103 received from the wireless communication unit 111 with the authentication information stored in advance in the authentication unit 112, so that the key 103 for which wireless communication has been established has the authority of the vehicle 102. It is authenticated that the person has the key 103 held by the person 100. When the authentication is completed, the authentication unit 112 transmits authentication information indicating that the key 103 held by the authority holder 100 has entered the area A to the control unit 15.

  In addition, in the first embodiment, a plurality of wireless communication units 111 are provided at different locations on the vehicle 102, and have different directivities for radio wave reception. The plurality of wireless communication units 111 transmits the plurality of radio field intensities of the keys 103 received by the plurality of wireless communication units 111 to the second detection unit 12 in association with the information that identifies the plurality of wireless communication units 111. The second detection unit 12 grasps the relative position of the key 103 with respect to the vehicle 102 by also analyzing a plurality of radio wave intensities of the key 103 received by the plurality of wireless communication units 111 each having a different directivity. To do.

  The second detection unit 12 detects that the person has entered the predetermined second range of the vehicle 102. In the first embodiment, the second detection unit 12 detects whether the person shown in the image captured by the camera 104 is a registrant. In the following description, a predetermined second range of vehicle 102 is also referred to as area B. Area B is within a range of a distance of 5 m from the vehicle 102, for example. Note that the size relationship between the area A and the area B does not matter, but in the first embodiment, the area A is included in the area B. As shown in FIG. 2, the second detection unit 12 includes a person recognition unit 121, a storage unit 122, and a person determination unit 123.

  The person recognition unit 121 acquires a captured image from the camera 104 and analyzes the captured image to recognize the number of persons shown in the captured image. Here, the periphery of the vehicle 102 means the area B. The person recognizing unit 121 recognizes that there are two persons within a range of a distance of 5 m from the vehicle 102, for example.

  When the number of persons shown in the captured image is recognized, the person recognition unit 121 determines whether the number of recognized persons is two or more. The person recognition unit 121 transmits the number of recognized persons to the control unit 15. When the number of recognized persons is two or more, the person recognition unit 121 transmits the captured image acquired from the camera 104 to the person determination unit 123.

  The storage unit 122 stores information for determining that the person shown in the captured image is a registered person who is a previously registered person. In the first embodiment, face image information of a person such as a friend or family member of the authority holder 100, which is face image information for collation used for face authentication, is registered in the storage unit 122 in advance.

  In order to register a new person in the storage unit 122, for example, a method of transmitting a facial photograph of a family member or a friend stored in the photograph data of the smartphone from the smartphone to the vehicle automatic opening device 10 is used. it can.

  The storage unit 122 may store face image information of a person shown in a captured image of the interior of the vehicle 102. In this case, the face image information of the person can be generated by extracting the information for specifying the face portion of the person from the image of the indoor camera. The person shown in the captured image of the interior of the vehicle 102 may be any person who has entered the interior of the vehicle 102 even once.

  The person determination unit 123 determines whether or not the person shown in the captured image of the surroundings of the vehicle 102 is a registered person who is a previously registered person. In the first embodiment, the person determination unit 123 performs the face authentication of the persons other than the authority holder 100 shown in the captured image to identify the person other than the authority holder 100 shown in the captured image as the suspicious person 101. Or not.

  However, since a person other than the authority holder 100 and the authority holder 100 may be reflected in the captured image at the same time, which of the captured images should be the target of face authentication in the first embodiment. First, it is determined whether the person other than the authority holder 100.

  The person determination unit 123 determines the relative position of the key 103 with respect to the vehicle 102 based on the radio field intensities of the keys 103 received from the radio communication units 111 and the directivity information of the radio communication units 111 stored in advance. The position is derived and stored as position information of the key 103. Further, the person determination unit 123 analyzes the captured image received from the person recognition unit 121, derives the relative position of the person shown in the captured image with respect to the vehicle 102, and stores it as the position information of the person. In this case, the camera 104 has an autofocus technique or a stereo camera technique, and the person determination unit 123 may derive the relative position of the person with respect to the vehicle 102 by the technique.

  The person determination unit 123 compares the position information of the key 103 with the position information of the person, and specifies the person to be face-authenticated in the captured image. When the person determination unit 123 compares the position information of the key 103 with the position information of the person, the person who is within a predetermined range from the position where the key 103 exists is the authority holder 100, and the authority holder Assuming that the person in the area other than the area in which 100 is reflected is the person other than the authority holder 100 to be the target of face authentication, the area in which the person other than the authority holder 100 in the captured image is reflected Identify.

  When the person determination unit 123 specifies the area in which the person other than the authority holder 100 is shown in the captured image, the person determination unit 123 extracts the feature amount such as the eyes, nose, forehead, and contour of the face of the person shown in the area. By performing face authentication in which the face image information for collation registered in the storage unit 122 in advance is collated, it is determined whether the person shown in the area in the captured image is a registrant.

  When the person determination unit 123 determines that the person other than the authority holder 100 shown in the captured image is the registrant as a result of the face authentication, it indicates that the person other than the authority holder 100 is the registrant. The determination result is transmitted to the control unit 15.

  On the other hand, when the person determination unit 123 determines that the person other than the authority holder 100 shown in the captured image is not the registrant as a result of the face authentication, the person other than the authority holder 100 is the suspicious person 101. The determination result indicating that there is is transmitted to the control unit 15. When the person determination unit 123 detects that there is a person outside the area B, the person determination unit 123 does not perform face authentication of the person, and transmits a determination result indicating that the other person 106 is outside the area B to the control unit 15. To do.

  When the first detection unit 11 detects that the authority holder 100 has entered the area A, the control unit 15 executes a normal process of automatically opening the door 21 of the vehicle 102. On the other hand, even if the first detection unit 11 detects that the authority holder 100 has entered the area A, the control unit 15 causes the second detection unit 12 to detect a person other than the authority holder 100 in the area A. When it is detected that B has been entered, a restriction process for restricting automatic door opening is executed. In addition, in the first embodiment, the door 21 that automatically opens may be a predetermined door, and may be, for example, a sliding door of a rear seat.

  In the first embodiment, the normal process performed by the control unit 15 is a process of transmitting a command to automatically open the door 21 to the door drive device 20, and the restriction process performed by the control unit 15 is performed by the door drive device 20. This is a process of not transmitting a command to automatically open the door 21. In the first embodiment, when the control unit 15 performs the limiting process, the door 21 is not opened until the touch sensor 22 of the door 21 detects a touch.

  When the control unit 15 receives the authentication information from the authentication unit 112 of the first detection unit 11, the control unit 15 indicates from the person recognition unit 121 of the second detection unit 12 that there is one person in the area B. When the information is received, it is determined that there is no suspicious person 101 around the vehicle 102, and a command to automatically open the door 21 is transmitted to the door drive device 20. In this case, the door 21 is automatically opened by the door drive device 20.

  When the authentication information is received from the authentication unit 112 of the first detection unit 11, the control unit 15 determines that the number of people in the area B is 2 or more from the person recognition unit 121 of the second detection unit 12. When the information to that effect is received, the content of the command is changed according to the determination result received from the person determination unit 123.

  In the above case, when the determination result received from the person determination unit 123 is the registrant, the control unit 15 determines that the person around the vehicle 102 is the registrant and automatically opens the door 21. The command is transmitted to the door driving device 20. In this case, the door 21 is automatically opened by the door drive device 20.

  On the other hand, when the determination result received from the person determination unit 123 is the suspicious person 101, the control unit 15 determines that the suspicious person 101 exists around the vehicle 102 and issues a command to automatically open the door 21. Do not send to the door drive device 20. In this case, the door 21 is not opened until the touch sensor 22 of the door 21 detects a touch.

  3A to 3D show an example of the opening / closing pattern of the door 21 according to the first embodiment.

  3A to 3D show patterns of opening and closing the door 21 of the vehicle 102 according to the positions of the authority holder 100, the suspicious person 101, the friend 105, or the stranger 106 with respect to the vehicle 102. 3A to 3D, an area A is an area between the broken line 50 and the vehicle 102, an area B is an area between the broken line 60 and the vehicle 102, and an area C is a broken line 70 and the vehicle 102. It is the area between 102. In FIGS. 3B to 3D, broken lines 50, 60, and 70 are partially omitted.

  As shown in FIG. 3A, when the key 103 possessed by the authority holder 100 enters the area A and no one other than the authority holder 100 exists in the area B or outside the area B. , The door 21 of the vehicle 102 is automatically "OPENed".

  As shown in FIG. 3B, when the key 103 possessed by the authority holder 100 enters the area A, and the person other than the authority holder 100 in the area B is the suspicious person 101. Then, the door 21 of the vehicle 102 is “CLOSE”.

  As shown in FIG. 3C, when the key 103 possessed by the authority holder 100 enters the area A, a person other than the authority holder 100 in the area B is a friend of the registrants. If it is 105, the door 21 of the vehicle 102 is automatically “OPENed”.

  As shown in FIG. 3D, when the key 103 possessed by the authority holder 100 enters the area A and the other person 106 exists outside the area B, the door 21 of the vehicle 102 is automatically operated. Is "OPEN".

  FIG. 4 is a flowchart showing the operation of the vehicle automatic door opening device 10 according to the first embodiment.

  The control unit 15 determines whether the key 103 has entered the area A based on the authentication result received from the authentication unit 112 (S01). When the key 103 is in the area A (S01: Yes), the control unit 15 determines that one person is in the area B based on the number of people shown in the captured image received from the person recognition unit 121. It is determined whether there is any (S02).

  When the number of persons in the area B is one (S02: Yes), the control unit 15 transmits a command to automatically open the door 21 to the door driving device 20 (S06). In this case, the door 21 automatically opens (see FIGS. 3A and 3D). When there are two or more persons in the area B (S02: No), the person determination unit 123 of the second detection unit 12 performs face authentication of a person other than the authority holder 100 (S03).

  As a result of the face authentication, when all the persons other than the authority holder 100 are registrants (S04: Yes), the control unit 15 issues a command to the door driving device 20 to automatically open the door 21. It is transmitted (S06). In this case, the door 21 automatically opens (see FIG. 3 (c)). As a result of performing face authentication, if any person is not a registrant (S04: No), the control unit 15 does not send a command to automatically open the door 21 to the door drive device 20. In this case, the door 21 is not opened until the touch sensor 22 of the door 21 detects a touch (S05, see FIG. 3B).

  According to the vehicle automatic door opening device 10 according to the first embodiment, the suspicious person 101 around the vehicle 102 is recognized by the camera 104, and the key 103 possessed by the authority holder 100 enters the area A. Even in such a case, if it is found that the suspicious person 101 is in the area B, the suspicious person 101 gets into the vehicle 102 by not automatically performing the process of opening the door 21 of the vehicle 102. It is possible to prevent “tailgating” and provide the vehicle automatic door opening device 10 with improved security.

[Modification 1]
In the above-described first embodiment, the restriction process performed by the control unit 15 has been described as a process of not opening the door 21 until the touch sensor 22 of the door 21 detects a touch. However, the restriction process performed by the control unit 15 may be a process in which the door 21 is not automatically opened until the key 103 possessed by the authority holder 100 enters the area C narrower than the area A. In this case, when the key 103 enters the area A and the suspicious person 101 is in the area B, the door 21 is not automatically opened, but the key 103 is smaller than the area A (the area of the door 21 is smaller than the area A). If the distance is such that the touch sensor 22 can be touched), even if the suspicious person 101 is in the area B, the door 21 automatically opens.

[Modification 2]
In addition to the first embodiment and the first modification, a process of issuing a warning may be performed as the limiting process performed by the control unit 15. In this case, the warning may be a sound, light, or the like from the vehicle 102 for the purpose of notifying the authority holder 100 of the existence of the suspicious person 101. It may also emit light or the like.

[Modification 3]
In the first embodiment described above, the door 21 that automatically opens is described as a predetermined door, but the door 21 that automatically opens may be the door 21 closest to the authority holder 100. . In this case, the door 21 closest to the authority holder 100 can be identified by specifying the relative position of the key 103 with respect to the vehicle 102 with the same configuration as the person determination unit 123 in the first embodiment. it can. Further, the door 21 that automatically opens is not limited to the door 21 on the driver's seat, and may be another door 21. The door 21 may be a sliding door 21 or an opening / closing door 21.

[Modification 4]
In the first embodiment, the suspicious person 101 is recognized by the captured image obtained from the camera 104. However, the suspicious person 101 may be recognized by using another sensor in addition to the camera 104. In this case, an obstacle sensor such as an ultrasonic sensor or an infrared sensor can be used as the other sensor.

[Modification 5]
In the first embodiment described above, a so-called whitelist of friends and family of the authority holder 100 is registered in the storage unit 122 in advance, but the storage unit 122 stores the face of the suspicious person 101 as a blacklist. The image information may be registered in advance. In this case, in step S04 of FIG. 4, it is possible to determine whether a person other than the authority holder 100 is the suspicious person 101, and if the person is the suspicious person 101, the door 21 may not be automatically opened.

[Second Embodiment]
In the above-described first embodiment, whether or not the person is the suspicious person 101 is determined by performing face authentication of the person based on the captured image acquired from the camera 104. On the other hand, in the second embodiment, it is determined whether the person is the suspicious person 101 based on the sensor information acquired from the obstacle sensor 107.

  FIG. 5 shows an example of a functional block diagram of the vehicle automatic door opening device 10a according to the second embodiment. Hereinafter, the vehicle automatic door opening device 10a according to the second embodiment will be described with reference to FIG. In the following description, only the configuration different from the vehicle automatic door opening device 10 according to the first embodiment will be described, and the same configuration as the vehicle automatic door opening device 10 according to the first embodiment will be described. The description is omitted.

  In FIG. 5, the vehicle automatic door opening device 10 a is shown together with the vehicle 102, the key 103 of the vehicle 102, the obstacle sensor 107 attached to the vehicle 102, the door driving device 20, the door 21, and the touch sensor 22. .. In the second embodiment, the vehicle automatic door opening device 10a includes a first detection unit 11, a second detection unit 13, and a control unit 15. The obstacle sensor 107 may be an ultrasonic sensor or an infrared sensor.

  The second detection unit 13 detects that a person has entered the area B when the presence of the obstacle in the area B is detected by the information received from the obstacle sensor 107 that detects the obstacle.

  The second detection unit 13 includes a sensor information acquisition unit 131, a person recognition unit 132, a moving direction calculation unit 133, a distance calculation unit 134, and a suspicious person determination unit 135. The second detection unit 13 calculates the moving direction of the person and the distance between the person and the authority holder 100 based on the sensor information acquired from the obstacle sensor 107, and determines whether the person is the suspicious person 101.

  The sensor information acquisition unit 131 receives sensor information indicating information on obstacles around the vehicle 102 from the obstacle sensor 107. The sensor information acquisition unit 131 transmits the sensor information to the person recognition unit 132.

  The person recognition unit 132 recognizes the number of persons in the area B by analyzing the sensor information received from the sensor information acquisition unit 131, and determines whether the number of recognized persons is two or more. To do. The person recognition unit 121 transmits the number of recognized persons to the control unit 15.

  The person recognizing unit 132 receives a plurality of radio wave intensities of the key 103 received by the plurality of wireless communication units 111 from the wireless communication unit 111 of the first detection unit 11, and a person other than the authority holder 100 in the sensor information is detected. Identify the area where The operation for the person recognizing unit 132 to specify the area in the sensor information where the person other than the authority holder 100 is present is the same as the person recognizing unit 121 in the first embodiment, and thus the description thereof is omitted.

  When the person recognizing unit 132 specifies an area in the sensor information where a person other than the authority holder 100 is present, the person recognizing unit 132 stores it as position information of the person other than the authority holder 100. When the number of persons recognized in the area B is two or more, the person recognizing unit 132 transmits the sensor information and the position information to the moving direction calculating unit 133 and the distance calculating unit 134.

  The movement direction calculation unit 133 calculates the movement direction Y1 of the authority holder 100 and the movement direction Y2 of a person other than the authority holder 100 from the sensor information and the position information received from the person recognition unit 132. As described above, the sensor information includes a temporal element, and the moving direction calculation unit 133 calculates the moving directions Y1 and Y2 of the person by observing the temporal change of the position of the person in the sensor information. be able to. The moving direction calculation unit 133 transmits moving direction information indicating the calculated moving direction Y1 of the authority holder 100 and moving direction Y2 of a person other than the authority holder 100 to the suspicious individual determination unit 135.

  The distance calculation unit 134 calculates the distance X between the authority holder 100 and a person other than the authority holder 100 from the sensor information and the position information received from the person recognition unit 132. The distance calculation unit 134 transmits the calculated distance X to the suspicious person determination unit 135.

  When the obstacle sensor 107 is an ultrasonic sensor, the sensor information includes information about the time until the pulsed ultrasonic wave output by the ultrasonic sensor is reflected from the person and returns. The distance calculation unit 134 can calculate the distance between the person and the vehicle 102 from the time.

  The suspicious person determination unit 135 analyzes the moving direction information received from the moving direction calculation unit 133, and the difference between the moving direction Y1 of the authority holder 100 and the moving direction Y2 of the person other than the authority holder 100 is determined in advance. It is determined whether the angle is within a predetermined threshold angle. Moreover, the suspicious individual determination unit 135 determines whether or not the distance X received from the distance calculation unit 134 is equal to or less than a predetermined threshold distance.

  The suspicious individual determination unit 135 determines that the difference between the moving direction Y1 of the authority holder 100 and the moving direction Y2 of a person other than the authority holder 100 is within a threshold angle, and the distance X is equal to or less than the threshold distance. In this case, a person other than the authority holder 100 is determined to be a friend 105 of the authority holder 100.

  The suspicious person determination unit 135 determines that the difference between the moving direction Y1 of the authority holder 100 and the moving direction Y2 of a person other than the authority holder 100 is within a threshold angle, and the distance X is larger than the threshold distance. In this case, a person other than the authority holder 100 is determined to be the suspicious person 101.

  The suspicious person determination unit 135, when the difference between the moving direction Y1 of the authority holder 100 and the moving direction Y2 of the person other than the authority holder 100 is larger than the threshold angle, the distance X received from the distance calculation unit 134. Regardless of this, it is determined that the person other than the authority holder 100 is the unrelated stranger 106. The suspicious individual determination unit 135 transmits the determination result to the control unit 15.

  In the case where the control unit 15 receives the authentication information from the authentication unit 112 of the first detection unit 11, the number of persons in the area B from the person recognition unit 132 of the second detection unit 13 is one. When the information of 1 is received, it is determined that there is no suspicious person 101 around the vehicle 102, and a command to automatically open the door 21 is transmitted to the door drive device 20. In this case, the door 21 is automatically opened by the door drive device 20.

  When the control unit 15 receives the authentication information from the authentication unit 112 of the first detection unit 11, the number of persons in the area B from the person recognition unit 132 of the second detection unit 13 is two or more. When the information to the effect is received, the content of the command is changed according to the determination result received from the suspicious person determination unit 135.

  In the above case, when the determination result received from the suspicious person determination unit 135 is the friend 105, the control unit 15 determines that the person around the vehicle 102 is the friend 105 and automatically opens the door 21. A command to open the door is transmitted to door drive device 20. In this case, the door 21 is automatically opened by the door drive device 20.

  In the above case, if the determination result received from the suspicious person determination unit 135 is the unrelated other person 106, the control unit 15 determines that the person around the vehicle 102 is the other person 106. , A command for automatically opening the door 21 is transmitted to the door driving device 20. In this case, the door 21 is automatically opened by the door drive device 20.

  In the above case, when the determination result received from the suspicious person determination unit 135 is the suspicious person 101, the control unit 15 determines that the person around the vehicle 102 is the suspicious person 101, and the door 21 Is not transmitted to the door drive device 20. In this case, the door 21 is not automatically opened by the door drive device 20 and is not opened until the touch sensor 22 of the door 21 detects a touch.

  FIGS. 6A to 6D show an example of the opening / closing pattern of the door 21 in the second embodiment.

  FIGS. 6A to 6D show patterns of opening and closing the door 21 of the vehicle 102 according to the positions of the authority holder 100, the suspicious person 101, the friend 105, and the stranger 106 with respect to the vehicle 102. In FIGS. 6A to 6D, the area A is the area between the broken line 50 and the vehicle 102, and the area B is the area between the broken line 60 and the vehicle 102.

  As shown in FIG. 6A, when the key 103 possessed by the authority holder 100 enters the area A and no one other than the authority holder 100 exists in the area B or outside the area B. , The door 21 of the vehicle 102 is automatically "OPENed".

  As shown in FIG. 6B, when the key 103 possessed by the authority holder 100 enters the area A, the person who is in the area B from the distance X and the moving directions Y1 and Y2 is the suspicious person 101. If it is determined that, the door 21 of the vehicle 102 is “CLOSE”.

  As shown in FIG. 6C, when the key 103 possessed by the authority holder 100 enters the area A, the person in the area B from the distance X and the moving directions Y1 and Y2 is the friend 105. When it is determined that the door 21 is present, the door 21 of the vehicle 102 is automatically “OPENed”.

  As shown in FIG. 6D, when the key 103 possessed by the authority holder 100 enters the area A, it is determined that the person in the area B from the moving directions Y1, Y2 is the stranger 106. If so, the door 21 of the vehicle 102 is automatically “OPENed”.

  FIG. 7 is a flowchart showing the operation of the vehicle automatic door opening device 10a according to the second embodiment. Hereinafter, the operation of the vehicle automatic door opening device 10a according to the second embodiment will be described with reference to FIG. 7. In the following description, reference will also be made to FIGS. 6A to 6D as appropriate.

  The control unit 15 determines whether the key 103 has entered the area A based on the authentication result received from the authentication unit 112 (S11). When the key 103 is in the area A (S11: Yes), the control unit 15 determines whether the number of persons in the area B received from the person recognizing unit 132 is one (S12).

  When the number of people in the area B is one (S12: Yes), the control unit 15 transmits a command to automatically open the door 21 to the door driving device 20 (S17). In this case, the door 21 automatically opens (see FIG. 6 (a)).

  When there are two or more persons in the area B (S12: No), the movement direction calculation unit 133 calculates the movement direction Y1 of the authority holder 100 and the movement direction Y2 of a person other than the authority holder 100. Then, the distance calculation unit 134 calculates the distance X between the authority holder 100 and a person other than the authority holder 100 (S14).

  Then, the suspicious person determination unit 135 determines whether the person other than the authority holder 100 includes the suspicious person 101 based on the calculated moving directions Y1, Y2 and the distance X (S15). When the person other than the authority holder 100 does not include the suspicious person 101 (S15: No), the control unit 15 transmits a command to automatically open the door 21 to the door drive device 20 (S17). .. In this case, the door 21 automatically opens (see FIGS. 6C and 6D).

  When the person other than the authority holder 100 includes the suspicious person 101 (S15: Yes), the control unit 15 does not transmit the command to automatically open the door 21 to the door driving device 20. In this case, the door 21 is not opened until the door 21 is touched (S16, see FIG. 6B).

  According to the vehicle automatic door opening device 10a according to the second embodiment, the same effect as that of the vehicle automatic door opening device 10 according to the first embodiment can be obtained. Further, according to the vehicle automatic door opening device 10a according to the second embodiment, since the obstacle sensor 107 recognizes the person around the vehicle 102, it is not necessary to perform the face authentication of the suspicious person 101. Therefore, even if the face authentication of the suspicious individual 101 cannot be performed due to a dark time zone, the suspicious individual 101 can be identified by the obstacle sensor 107.

[Modification 1]
In the second embodiment, it is determined whether the difference between the moving direction Y1 of the authority holder 100 and the moving direction Y2 of a person other than the authority holder 100 is within a predetermined threshold angle. Although it is determined that the person other than the authority holder 100 is the suspicious person 101, the authority holder 100 is determined by determining whether the moving direction of the person other than the authority holder 100 is a predetermined direction. It may be determined that the other person is the suspicious person 101.

[Third Embodiment]
In the first embodiment, it is detected that the authority holder 100 has entered the area A by detecting that the wireless communication between the vehicle 102 and the key 103 is established. On the other hand, in the third embodiment, the face authentication of the person is performed based on the captured image acquired from the camera 104 to detect that the authority holder 100 has entered the area A.

  FIG. 8 shows an example of a functional block diagram of the vehicle automatic door opening device 10b according to the third embodiment. Hereinafter, the vehicle automatic door opening device 10b according to the third embodiment will be described with reference to FIG. In the following description, only the configurations different from the vehicle automatic door opening device 10 according to the first embodiment and the vehicle automatic door opening device 10a according to the second embodiment will be described, and the first embodiment will be described. The description of the same configurations as the vehicle automatic door opening device 10 and the vehicle automatic door opening device 10a according to the second embodiment will be omitted. In the third embodiment, the area A and the area B described in the first and second embodiments will be described as being the same.

  In FIG. 8, the vehicle automatic door opening device 10b is shown together with the vehicle 102, the camera 104 attached to the vehicle 102, the door driving device 20, the door 21, and the touch sensor 22. In the third embodiment, the vehicle automatic door opening device 10b includes a detection unit 14 and a control unit 15. The detection unit 14 includes a person determination unit 141 and a storage unit 142. In the third embodiment, the detection unit 14 also serves as a first detection unit and a second detection unit.

  Face image information for collation used for face authentication of the authority holder 100 is registered in the storage unit 142 in advance. In addition, face image information of a person such as a friend 105 or a family member of the authority holder 100 is registered in the storage unit 142 in advance. These persons are called registrants other than the authority holder 100.

  The person determination unit 141 refers to the storage unit 142 and performs face authentication of the person shown in the imaged image of the area A to determine whether the person shown in the imaged image is the authority holder 100 or the authority. It is determined whether the person is a registrant other than the holder 100 or a person who does not correspond to any registrant. When it is determined that the person shown in the captured image is the authority holder 100, the person determination unit 141 detects that the authority holder 100 has entered the area A. When a plurality of persons are shown in the captured image of the area A, the person determination unit 141 makes the above determination for all the persons.

  When the person determination unit 141 determines that the person shown in the captured image is the authority holder 100 as a result of the face authentication, the control unit 15 determines that the authority holder 100 is in the area A. Send to.

  When the person determination unit 141 determines that the person shown in the captured image is a registrant other than the authority holder 100 as a result of the face authentication, the person other than the authority holder 100 is in the area A. The result of the determination is transmitted to the control unit 15.

  If the person determination unit 141 determines that the person shown in the captured image does not correspond to any of the registrants as a result of the face authentication, the person determination unit 141 determines that a person other than the registrant is in the area A. It is transmitted to the control unit 15.

  When the control unit 15 receives only the determination result that the authority holder 100 is in the area A from the person determination unit 141, it determines that only the authority holder 100 is in the area A, and the door A command to automatically open the door 21 is transmitted to the door driving device 20. In this case, the door 21 is automatically opened by the door drive device 20.

  When the control unit 15 receives from the person determination unit 141 the determination result that the authority holder 100 and the registrant other than the authority holder 100 are in the area A, the control unit 15 determines that the authority holder 100 other than the authority holder 100 in the area A is present. The person is determined to be the friend 105, and a command to automatically open the door 21 is transmitted to the door driving device 20. In this case, the door 21 is automatically opened by the door drive device 20.

  When the control unit 15 receives from the person determination unit 141 a determination result that a person other than the authority holder 100 and the registrant is in the area A, a person other than the authority holder 100 in the area A is suspicious. The person 101 is determined.

  The content of the restriction processing by the control unit 15 in the third embodiment is different from the restriction processing by the control unit 15 in the first embodiment until the authority holder 100 enters the area C narrower than the area A. This is a process in which the door 21 is not automatically opened. Therefore, when it is determined that the suspicious person 101 is in the area A, the control unit 15 does not automatically open the door 21 of the vehicle 102 until the authority holder 100 enters the area C.

  9A to 9D show an example of the opening / closing pattern of the door 21 in the third embodiment.

  9A to 9D show patterns of opening and closing the door 21 of the vehicle 102 according to the position of the authority holder 100, the suspicious person 101, or the friend 105 with respect to the vehicle 102. 9A to 9D, the area A is the area between the broken line 50 and the vehicle 102, and the area C is the area between the broken line 70 and the vehicle 102. In addition, in the third embodiment, the area C is an area included in the area A.

  As shown in FIG. 9A, when the key 103 possessed by the authority holder 100 enters the area A and the person in the area A is only the authority holder 100, The door 21 of 102 is automatically "OPENed".

  As shown in FIG. 9B, when the authority holder 100 enters the area A and it is determined that a person other than the authority holder 100 in the area A is the suspicious person 101. The door 21 of the vehicle 102 is "CLOSE".

  As shown in FIG. 9C, when the authority holder 100 enters the area C which is the area inside the area A, a person other than the authority holder 100 in the area A is the suspicious person 101. If it is determined that, the door 21 of the vehicle 102 is automatically "OPENed".

  As shown in FIG. 9D, when the authority holder 100 enters the area A, and a person other than the authority holder 100 in the area A is determined as the friend 105 who is the registrant. Then, the door 21 of the vehicle 102 is “OPEN”.

  FIG. 10 is a flowchart showing the operation of the vehicle automatic door opening device 10b according to the third embodiment. Hereinafter, the operation of the vehicle automatic door opening device 10b according to the third embodiment will be described with reference to FIG. In the following description, reference will also be made to FIG. 9 as appropriate.

  The person determination unit 141 performs face authentication of the person in the area A (S21). When the person is the authority holder 100 as a result of the face authentication (S22: Yes), the person determination unit 141 determines whether there is another person in the area A (S23). The face authentication by the person determination unit 141 is repeated for other people in the area A until the authority holder 100 is face authenticated (S22: No).

  When there is no other person (S23: No), the control unit 15 transmits a command to automatically open the door 21 to the door driving device 20 (S06). In this case, the door 21 automatically opens (see FIGS. 9A and 9D). When there is another person (S23: Yes), the person determination unit 141 performs face authentication of another person in the area A (S24) and determines whether the person other than the registrant is included in the other person. Yes (S25).

  When the person other than the registrant is not included in the other persons (S25: No), the control unit 15 transmits a command to automatically open the door 21 to the door driving device 20 (S27). In this case, the door 21 automatically opens (see FIG. 9 (c)). When the person other than the registrant is included in the other persons (S25: Yes), the person determination unit 141 determines whether the authority holder 100 has entered the area C (S26), and the authority holder 100 determines the area. After entering the inside of C, the door 21 is automatically opened (S27).

  According to the vehicle automatic door opening device 10b according to the third embodiment, the same effects as those of the vehicle automatic door opening device 10 according to the first embodiment can be obtained. Further, according to the vehicle automatic door opening device 10b according to the third embodiment, since the authority holder 100 is identified by face authentication, a person other than the authority holder 100 who has stolen the key 103 approaches the vehicle 102. Even if the door 21 of the vehicle 102 is not opened automatically. Therefore, it is possible to provide the vehicle automatic door opening device 10b with improved security as compared with the vehicle automatic door opening device 10 according to the first embodiment.

[Modification 1]
In addition to the above-described third embodiment, processing may be performed by setting priorities for a plurality of authority holders 100 or registrants. For example, if it is recognized that males and females are mixed among the plurality of authority holders 100 or registrants approaching the vehicle 102, even if the door 21 close to the female is preferentially opened. Good. This can prevent a woman from being attacked by a suspicious person 101 such as a thug.

  In addition, the process of prioritizing the child and opening the door 21 close to the child may be performed. In this case, the priority order of the authority holder 100 or the registrant is obtained by associating the face image information of the authority holder 100 or the registrant stored in advance with the information regarding the priority order of the authority holder 100 or the registrant. However, the control unit 15 may refer to the information regarding the priority order.

[Modification 2]
In the third embodiment described above, a so-called whitelist of friends and family of the authority holder 100 is registered in the storage unit 142 in advance, but the storage unit 142 stores a face of the suspicious person 101 as a blacklist. The image information may be registered in advance. In this case, in step S25 of FIG. 10, it is determined whether another person includes the suspicious person 101, and when the suspicious person 101 is included, the door 21 may not be automatically opened.

  Although the present invention has been described above using the first to third embodiments, the technical scope of the present invention is not limited to the scope described in the first to third embodiments. An embodiment obtained by combining the first to third embodiments is also included in the technical scope of the present invention. Further, it is apparent to those skilled in the art that various modifications and improvements can be added to the first to third embodiments. It is apparent from the scope of the claims that the embodiments added with such changes or improvements can be included in the technical scope of the present invention.

  The order of execution of each process such as operations, procedures, steps, and stages in the devices, systems, programs, and methods shown in the claims, the specification, and the drawings is "preceding" and "prior to prior". It should be noted that the output of the previous process can be realized in any order unless it is used in the subsequent process. The operation flow in the claims, the specification, and the drawings is described by using “first,” “next,” and the like for convenience, but it is essential that the operations are performed in this order. Not a thing.

  Note that the vehicle automatic door opening device 10, 10a, 10b activates software or a program that defines the operation of each part of the vehicle automatic door opening device 10, 10a, 10b in an information processing device having a general configuration. May be realized by

  An information processing device used as the vehicle automatic door opening device 10, 10a, 10b is a data processing device including a processor such as a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and a communication interface. Device, touch panel, microphone, input device such as GPS (Global Positioning System) information acquisition device, acceleration sensor, gyro sensor, etc., output device such as display device, speaker, vibrating device, memory, HDD (Hard Disk Drive), etc. Storage device.

  The data processing device or the storage device may store the above software or program. The software or program described above is executed by a processor to cause the information processing apparatus to execute an operation defined by the instruction or program.

  10, 10a, 10b automatic door opening device for vehicle, 11 first detection unit, 12, 13 second detection unit, 14 detection unit, 15 control unit, 20 door drive device, 21 door, 22 touch sensor, 50, 60, 70 dashed line, 100 authority holder, 101 suspicious person, 102 vehicle, 103 key, 104 camera, 105 friend, 106 other person, 107 obstacle sensor, 111 wireless communication section, 112 authentication section, 121 person recognition section, 122 storage section, 123 person determination unit, 131 sensor information acquisition unit, 132 person recognition unit, 133 moving direction calculation unit, 134 distance calculation unit, 135 suspicious person determination unit, 141 person determination unit, 142 storage unit

Claims (13)

A vehicle automatic door opening device for automatically opening a vehicle door,
A first detection unit for detecting that the authority holder has entered a predetermined first range of the vehicle;
A second detection unit for detecting that a person has entered a predetermined second range of the vehicle;
A control unit that executes a normal process of automatically opening the door when the first detection unit detects that the authority holder has entered the first range;
Equipped with
Even when the control unit detects that the authority holder is within the first range by the first detection unit, the control unit determines that a person other than the authority holder is detected by the second detection unit. An automatic door opening device for a vehicle, which executes a restriction process for restricting the automatic door opening when it is detected that the vehicle enters the second range. The first detection unit detects that the authority holder enters the first range when a key possessed by the authority holder enters the first range. The automatic door opening device for the vehicle described. The first detection unit includes a first person determination unit that determines whether or not a person shown in a captured image of the surroundings of the vehicle is the authority holder.
When the first person determination unit determines that the person shown in the captured image is the authority holder, it is detected that the authority holder is within the first range. Item 1. An automatic door opening device for a vehicle according to item 1 or 2. The second detection unit includes a second person determination unit that determines whether or not the person reflected in the captured image of the surroundings of the vehicle is a registered person who is a previously registered person,
When the second person determination unit determines that the person shown in the captured image is not the registered person, it is detected that the person is within the second range. The automatic door opening device for a vehicle according to any one of 1. When the second detection unit detects that the obstacle exists within the second range based on the information received from the obstacle sensor that detects the obstacle, the person is within the second range. The automatic door opening device for a vehicle according to any one of claims 1 to 3, which detects entry. When the second detection unit detects that the moving direction of the obstacle is a predetermined direction based on the information received from the obstacle sensor, the person has entered the second range. The automatic door opening device for vehicles according to claim 5. The second detection unit detects that the person is the second person when the distance between the person and the authority holder is greater than or equal to a predetermined threshold distance based on the information received from the obstacle sensor. The automatic door opening device for a vehicle according to claim 5 or 6, which detects that the vehicle has entered the range.   8. The automatic door opening device for a vehicle according to claim 1, wherein the limiting process includes a process of not automatically opening the door until a touch sensor of the door is touched.   9. The limiting process includes a process of automatically opening the door when it is detected that the authority holder is within a predetermined third range smaller than the first range. The automatic door opening device for a vehicle according to any one of 1.   10. The vehicle automatic door opening device according to claim 1, wherein the restriction process includes issuing a warning.   The vehicle automatic door opening device according to any one of claims 1 to 10, further comprising a storage unit that stores information for determining that the person is a registered person who is a previously registered person.   The vehicle automatic door-opening device according to claim 11, wherein the information includes information about a person shown in a captured image obtained by capturing the interior of the vehicle. On the computer,
A first detection step of detecting that the authority holder has entered a predetermined first range of the vehicle;
A second detection step of detecting that a person has entered a predetermined second range of the vehicle;
A control step of executing a normal process of automatically opening the door of the vehicle when it is detected by the first detection step that the authority holder has entered the first range;
Run
In the control step, even when it is detected by the first detection step that the authority holder is within the first range, a person other than the authority holder is detected by the second detection step. A program for executing a restriction process for restricting the automatic door opening when it is detected that the opening is within the second range.