JP5131546B2 - Door control device and method, and program - Google Patents

Description

  The present invention relates to a door control device and method, and a program, and more particularly, to a door control device and method that can move a door without touching a hand, and a program.

  2. Description of the Related Art Conventionally, there has been proposed an apparatus that performs control for opening a door so that the distance between the door and the user's hand is a predetermined distance without touching the vehicle door (see, for example, Patent Document 1).

JP 2005-324664 A

  However, a large amount of power is required to accurately follow the door so that the distance from the user's hand is constant, and the actuator that drives the opening and closing of the door is large and heavy. Or increase. For this reason, it is expected that it is difficult to actually mount the vehicle on a vehicle. Therefore, when using an actuator with low power so that it can be mounted on a vehicle, the door cannot sufficiently follow the movement of the user's hand, and the door cannot be opened as desired by the user, It is conceivable that a situation such as a collision will occur.

  Moreover, in the invention described in Patent Document 1, the timing for stopping the operation of opening the door is not clarified.

  This invention is made | formed in view of such a condition, and enables it to move a door reliably as desired, without touching a hand.

  The door control device according to the first aspect of the present invention includes a hand detection means for detecting the shape and movement of a hand in the vicinity of the door of the vehicle, and the shape of the hand in the vicinity of the door after the predetermined first shape. When the hand moves in the direction of opening the door, it moves in the direction of opening the door according to the movement of the hand, and when the shape of the hand is different from the first shape, the door is stopped. Door control means for controlling movement.

  In the door control device according to the first aspect of the present invention, the shape and movement of the hand in the vicinity of the door of the vehicle is detected, and after the shape of the hand in the vicinity of the door becomes the predetermined first shape, When the hand moves in the opening direction, the door is moved in the opening direction in accordance with the movement of the hand, and when the shape of the hand is different from the first shape, the door is stopped.

  Therefore, the door can be opened and stopped as desired without touching the hand.

  The hand detection means and the door control means are constituted by, for example, a CPU (Central Processing Unit) or an ECU (Electronic Control Unit).

  The door control means can further control the movement of the door so that the door is stopped when the speed at which the hand moves in the opening direction becomes less than a predetermined speed.

  Thereby, when the movement of the hand is slowed or stopped, the door can be kept open and can be prevented from colliding with the hand.

  The door control means can further control the movement of the door so that the door is stopped when the speed at which the hand moves cannot be measured.

  Thereby, when the movement of the hand is not known, the door can be kept open and can be prevented from colliding with the hand.

  The door control means can control the movement of the door so as to stop the door when the shape of the hand becomes the predetermined second shape.

  Thereby, the timing which stops a door can be shown more clearly, and a door can be stopped at a more suitable timing.

  The door control means can further control the speed at which the door is opened according to the speed at which the hand moves in the direction in which the door opens.

  As a result, the door can be opened reliably at a desired speed without touching the hand.

  The door control means further includes a mechanism for closing the door in accordance with the movement of the hand when the hand moves in the direction in which the door is closed after the shape of the hand in the vicinity of the door becomes the predetermined second shape. When the hand is moved and the shape of the hand is different from the second shape, the movement of the door can be controlled to stop the door.

  As a result, the door can be closed or stopped as desired without touching the hand.

  The door control means can further control the speed at which the door is closed according to the speed at which the hand moves in the direction in which the door is closed.

  As a result, the door can be reliably closed at a desired speed without touching the hand.

  The door control method or program according to the first aspect of the present invention includes a hand detection step for detecting the shape and movement of a hand in the vicinity of a vehicle door, and the shape of the hand in the vicinity of the door is a predetermined first shape. After that, if the hand moves in the opening direction, move the door in the opening direction according to the movement of the hand, and stop the door when the hand shape is different from the first shape A door control step for controlling the movement of the door.

  In the door control method or program according to the first aspect of the present invention, the shape and movement of the hand in the vicinity of the door of the vehicle is detected, and after the shape of the hand in the vicinity of the door becomes the predetermined first shape, When the hand moves in the opening direction, the door is moved in the opening direction according to the movement of the hand, and the door is stopped when the shape of the hand is different from the first shape.

  Therefore, the door can be opened and stopped as desired without the user touching it.

  This hand detection step and door control step are executed by, for example, a CPU (Central Processing Unit) or an ECU (Electronic Control Unit).

  The door control device according to the second aspect of the present invention includes a hand detection means for detecting the shape and movement of the hand in the vicinity of the door of the vehicle, and the shape of the hand in the vicinity of the door after the predetermined first shape. When the hand moves in the direction of opening the door, the door is moved in the direction of opening according to the movement of the hand, and the speed of opening the door is changed stepwise according to the speed of the hand moving in the direction of opening of the door. Door control means for controlling the movement of the door.

  In the door control device according to the second aspect of the present invention, the shape and movement of the hand in the vicinity of the door of the vehicle is detected, and after the shape of the hand in the vicinity of the door becomes the predetermined first shape, When the hand moves in the opening direction, the door is moved in the opening direction according to the movement of the hand, and the opening speed of the door changes in a stepped manner according to the speed at which the hand moves in the opening direction.

  Therefore, the door can be reliably opened at a desired speed without touching the hand.

  The hand detection means and the door control means are constituted by, for example, a CPU (Central Processing Unit) or an ECU (Electronic Control Unit).

  The door control means further includes a mechanism for closing the door in accordance with the movement of the hand when the hand moves in the direction in which the door is closed after the shape of the hand in the vicinity of the door becomes the predetermined second shape. The movement of the door can be controlled so that the speed of closing the door is changed stepwise according to the speed of the hand moving in the direction of closing the door.

  As a result, the door can be reliably closed at a desired speed without touching the hand.

  This door control means can control the door to close to the end when the speed at which the hand moves in the closing direction exceeds a predetermined speed, regardless of the shape and movement of the hand thereafter. it can.

  Thereby, a door can be closed more easily, without touching.

  The door control method or program according to the second aspect of the present invention includes a hand detection step for detecting the shape and movement of a hand in the vicinity of a vehicle door, and the shape of the hand in the vicinity of the door is a predetermined first shape. After that, if the hand moves in the direction in which the door opens, it moves in the direction to open the door according to the movement of the hand, and the speed of opening the door in a stepped manner according to the speed at which the hand moves in the direction in which the door opens. And a door control step for controlling to change.

  In the door control method or program according to the second aspect of the present invention, after the shape and movement of the hand in the vicinity of the door of the vehicle is detected and the shape of the hand in the vicinity of the door becomes the predetermined first shape, When a hand moves in the direction in which the door opens, the door is moved in the direction in which the door opens in accordance with the movement of the hand, and the speed at which the door opens in a stepped manner according to the speed at which the hand moves in the direction in which the door opens. .

  Therefore, the door can be reliably opened at a desired speed without touching the hand.

  This hand detection step and door control step are executed by, for example, a CPU (Central Processing Unit) or an ECU (Electronic Control Unit).

  The door control device according to the third aspect of the present invention includes a hand detection means for detecting the shape and movement of the hand in the vicinity of the door of the vehicle, and the shape of the hand in the vicinity of the door after the predetermined first shape. When the hand moves in the direction of opening the door, it moves in the direction of opening the door according to the movement of the hand, and after the hand shape becomes the predetermined second shape in the vicinity of the door, the hand moves in the direction of closing the door. Door control means for controlling the movement of the door so as to move the door in the closing direction in accordance with the movement of the hand.

  In the door control device according to the third aspect of the present invention, the shape and movement of the hand in the vicinity of the door of the vehicle is detected, and after the shape of the hand in the vicinity of the door becomes the predetermined first shape, When the hand moves in the opening direction, the door is moved in the opening direction according to the movement of the hand, and after the shape of the hand becomes a predetermined second shape in the vicinity of the door, the hand moves in the direction in which the door is closed. The door is moved in the closing direction according to the movement of the hand.

  Therefore, the door can be opened and closed as desired without touching the hand.

  The hand detection means and the door control means are constituted by, for example, a CPU (Central Processing Unit) or an ECU (Electronic Control Unit).

  The door control method or program according to the third aspect of the present invention includes a hand detection step for detecting the shape and movement of a hand in the vicinity of the door of the vehicle, and the shape of the hand in the vicinity of the door is a predetermined first shape. After that, when the hand moves in the opening direction, the door is moved in the opening direction according to the movement of the hand, and the shape of the hand in the vicinity of the door becomes the predetermined second shape, and then the door is closed. And a door control step for controlling the movement of the door so as to move the door in a closing direction according to the movement of the hand.

  In the door control method or program according to the third aspect of the present invention, after the shape and movement of the hand in the vicinity of the door of the vehicle is detected and the shape of the hand in the vicinity of the door becomes the predetermined first shape, When the hand moves in the opening direction, the door is moved in the opening direction according to the movement of the hand, and after the shape of the hand becomes a predetermined second shape in the vicinity of the door, the hand is moved in the closing direction. Is moved in the direction that the door closes according to the movement of the hand.

  Therefore, the door can be opened and closed as desired without touching the hand.

  This hand detection step and door control step are executed by, for example, a CPU (Central Processing Unit) or an ECU (Electronic Control Unit).

  As described above, according to the first aspect of the present invention, the door can be opened without touching the hand. In particular, according to the first aspect of the present invention, the door can be opened and stopped reliably as desired without touching the hand.

  According to the second aspect of the present invention, the door can be opened without touching the hand. In particular, according to the second aspect of the present invention, the door can be reliably opened at a desired speed without touching the hand.

  According to the third aspect of the present invention, the door can be opened and closed without touching the hand. In particular, according to the third aspect of the present invention, the door can be opened and closed as desired without being touched.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a block diagram showing an embodiment of a door control system to which the present invention is applied. A door control system 1 in FIG. 1 is a system that controls the movement of a door of a vehicle (hereinafter also referred to as a host vehicle) in which the door control system 1 is provided. The door control system 1 includes sensor units 11-1 to 11-4, cameras 12-1 to 12-4, authentication information acquisition units 13-1 to 13-4, a control unit 14, and door opening / closing mechanism units 15-1 to 15-15. -4 and the door lock mechanism parts 16-1 to 16-4.

  In addition, the door control system 1 of FIG. 1 has shown the example in case the vehicle currently installed is 4 doors and controls the motion of all the doors. The sensor unit 11-1, the camera 12-1, the authentication information acquisition unit 13-1, the door opening / closing mechanism unit 15-1, and the door lock mechanism unit 16-1 are for controlling the door of the driver's seat. Yes, the sensor unit 11-2, the camera 12-2, the authentication information acquisition unit 13-2, the door opening / closing mechanism unit 15-2, and the door lock mechanism unit 16-2 are for controlling the door of the passenger seat. Yes, the sensor unit 11-3, the camera 12-3, the authentication information acquisition unit 13-3, the door opening / closing mechanism unit 15-3, and the door lock mechanism unit 16-3 for controlling the right door of the rear seat The sensor unit 11-4, the camera 12-4, the authentication information acquisition unit 13-4, the door opening / closing mechanism unit 15-4, and the door lock mechanism unit 16-4 control the door on the left side of the rear seat. Is for.

  Each of the sensor units 11-1 to 11-4 includes a sensor such as a distance sensor or an object detection sensor. Each of the sensor units 11-1 to 11-4 detects the presence / absence of an object and the distance from the door in the vicinity of the corresponding door. The sensor units 11-1 to 11-4 supply signals indicating detection results to the object detection unit 31 and the hand detection unit 33 of the control unit 14. Hereinafter, when it is not necessary to individually distinguish the sensor units 11-1 to 11-4, they are simply referred to as the sensor unit 11.

  The cameras 12-1 to 12-4 each shoot an area in the vicinity of the corresponding door under the control of the hand detection unit 33 of the control unit 14. The cameras 12-1 to 12-4 supply the captured images to the hand detection unit 33. Hereinafter, when it is not necessary to distinguish the cameras 12-1 to 12-4 individually, they are simply referred to as cameras 12. Although FIG. 1 shows an example in which one camera is provided for one door, a plurality of cameras may be provided for one door.

  Each of the authentication information acquisition units 13-1 to 13-4 acquires authentication information for performing user authentication, and supplies the acquired authentication information to the authentication unit 32 of the control unit 14. The authentication information includes, for example, an authentication radio wave transmitted from the key body in a keyless entry system, a smart entry (trademark) system, an intelligent key (registered trademark) system, or an image of a face or fingerprint. Biological information such as is adopted. Hereinafter, when it is not necessary to individually distinguish the authentication information acquisition units 13-1 to 13-4, they are simply referred to as the authentication information acquisition unit 13.

  The authentication information acquisition unit 13 is not necessarily provided at each door depending on the type and nature of the authentication information. For example, when only the driver authentication is performed, the authentication information acquisition unit 13 may be provided only on the door of the driver's seat. For example, when authentication information is transmitted by radio waves, one authentication information acquisition unit 13 may be provided at a position where the authentication information transmitted from the vicinity of each door can be received.

  The control unit 14 includes, for example, a CPU (Central Processing Unit), an ECU (Electronic Control Unit), a memory, and the like, and controls the movement of the door of the host vehicle. The control unit 14 is configured to include an object detection unit 31, an authentication unit 32, a hand detection unit 33, and a door control unit 34.

  The object detection unit 31 detects the approach of an object to each door of the host vehicle based on the signal from the sensor unit 11. When the approach of the object is detected, the object detection unit 31 supplies information indicating the door where the approach of the object is detected to the hand detection unit 33 and the door control unit 34.

  The authentication unit 32 performs user authentication based on the authentication information acquired by the authentication information acquisition unit 13. When the user authentication is successful, the authentication unit 32 supplies information indicating the door that has been successfully authenticated to the hand detection unit 33 and the door control unit 34. In addition, when it is not necessary to particularly distinguish the door on which user authentication has been performed, the authentication unit 32 supplies information indicating only that the user authentication has been successful to the hand detection unit 33 and the door control unit 34.

  Based on the signal from the sensor unit 11 and the image from the camera 12, the hand detection unit 33 moves the user's hand in the vicinity of each door of the vehicle (the shape of the hand, the moving direction and the speed, etc.), and The position of the user's hand relative to the door is detected. The hand detection unit 33 supplies information indicating the detection result to the door control unit 34.

  The door control unit 34 controls the movement of the door of the host vehicle by controlling the door opening / closing mechanism unit 15 and the door lock mechanism unit 16 based on the movement and position of the user's hand detected by the hand detection unit 33. To do. Moreover, the door control part 34 acquires the information which shows the state of each door of the own vehicle from the door opening / closing mechanism part 15 and the door lock mechanism part 16, and supplies it to the hand detection part 33 as needed.

  Each of the door opening / closing mechanism sections 15-1 to 15-4 is configured by a mechanism component (for example, an actuator or the like) for opening and closing the corresponding door. Hereinafter, the door opening / closing mechanism sections 15-1 to 15-4 are simply referred to as the door opening / closing mechanism section 15 when it is not necessary to distinguish them individually.

  Each of the door lock mechanism units 16-1 to 16-4 is configured by a mechanism component (for example, a latch component) for opening and closing the door lock of the corresponding door. Hereinafter, when it is not necessary to distinguish the door lock mechanism parts 16-1 to 16-4 from each other, they are simply referred to as the door lock mechanism part 16.

  Note that the number of combinations of the sensor unit 11, the camera 12, the authentication information acquisition unit 13, the door opening / closing mechanism unit 15, and the door lock mechanism unit 16 varies depending on the number of doors controlled by the door control system 1. Further, it is not always necessary for the door control system 1 to control the movement of all the doors of the vehicle, and only the movement of the necessary door (for example, the door of the driver's seat) may be controlled.

  Next, an example of the installation position of the camera 12-1 for the driver's seat door will be described with reference to FIGS.

  First, with reference to FIG. 2 thru | or FIG. 7, the example of the installation position of the camera 12-1 in case the door of a driver's seat is a hinge door opened and closed to the outward direction of a vehicle body is demonstrated. In the case of a hinged door, the range around the door handle on the outside of the door is almost perpendicular to the door opening / closing direction so that the user's hand can always be photographed as the door opens and closes. It is desirable to install the camera 12-1 at a position where photographing can always be performed.

  For example, in FIGS. 2 and 3, the camera 12-1 (see FIG. 2) is placed inside a door mirror 54 that is installed outside the window frame 52 in front of the door 51 that is a hinge door so as to photograph the direction indicated by the arrow A 1. This shows an example in which (not shown) is installed. That is, regardless of the movement of the door 51, the camera 12-1 always moves from the front to the rear of the door 51 from a direction substantially perpendicular to the door opening / closing direction A <b> 2 and a direction substantially horizontal to the ground. You can shoot. Accordingly, it is possible to always take an image of a region T1 behind the door 51 and in the vicinity of an external door handle (not shown) where the user moves his hand when opening and closing the door 51.

  2 is a schematic diagram when the door 51 is viewed from the outside, and FIG. 3 is a schematic diagram when the door 51 is viewed from above. 2 and 3, the right direction is the front of the vehicle. Further, in FIG. 3, the portion 51 </ b> A is outside the door 51 and the portion 51 </ b> B is inside the door 51 with the window 53 interposed therebetween. In FIG. 3, the window frame 52 is not shown.

  4 and 5 show an example in which the camera 12-1 is installed on the vehicle inner side of the window frame 52 in front of the door 51 so as to photograph the direction indicated by the arrow A11. In other words, the camera 12-1 moves from the direction almost perpendicular to the opening / closing direction A <b> 2 of the door 51 and the direction almost horizontal to the ground through the window 53 regardless of the movement of the door 51. You can always shoot from the front to the back. Therefore, it is possible to always photograph the area T1 in the vicinity of the door 51.

  4 is a schematic diagram when the door 51 is viewed from the outside as in FIG. 2, and FIG. 5 is a schematic diagram when the door 51 is viewed from above as in FIG. 3. 4 and 5, the illustration of the door mirror 54 is omitted, and the camera 12-1 is shown in a size larger than the actual size. In FIG. 3, the window frame 52 is not shown.

  In addition, even if the user's hand moves in accordance with the opening / closing of the door 51, if the angle of view of the camera 12-1 is wide enough to capture the user's hand, the camera can be photographed in a direction close to the arrow A11, for example. You may make it install 12-1 on the dashboard of the own vehicle.

  6 and 7 show an example in which the camera 12-1 is installed on the inner side of the upper side of the window frame 52 behind the door 51 so as to photograph the direction indicated by the arrow A21. That is, regardless of the movement of the door 51, the camera 12-1 always shoots from the inside to the outside of the door 51 through the window 53 so as to look down from the vicinity of the ceiling in the vehicle in a direction substantially perpendicular to the ground. be able to. Therefore, it is possible to always photograph the area T1 in the vicinity of the door 51.

  6 is a schematic diagram when the door 51 is viewed from the outside as in FIG. 2, and FIG. 7 is a schematic diagram when the door 51 is viewed from the rear. In order to make the drawing easier to understand, the illustration of the door mirror 54 is omitted in FIG. 6, and the camera 12-1 is shown in a larger size than the actual size in FIGS. 6 and 7.

  On the other hand, when the door of the driver's seat is a sliding door that opens and closes in the front-rear direction of the vehicle, as in the case of the hinged door, the door can be always photographed so that the user's hand moves as the door opens and closes. It is desirable to install the camera at a position where the image can be always taken from a direction substantially perpendicular to the door opening / closing direction, with the range around the door handle on the outside of the door as the center.

  For example, FIGS. 8 and 9 show an example in which the camera 12-1 is installed on the lower side of the window frame 72 in front of the door 71, which is a sliding door, and on the vehicle interior so as to photograph the direction indicated by the arrow A32. Show. In other words, regardless of the movement of the door 71, the camera 12-1 opens the door 51 from the direction substantially perpendicular to the opening / closing direction A <b> 31 of the door 71 and the direction substantially horizontal to the ground via the window 73. You can always shoot from the inside to the outside. Accordingly, it is possible to always take an image of a region T31 in front of the door 71 and in the vicinity of the door handle (not shown) outside, which moves the user when opening and closing the door 71.

  8 is a schematic diagram when the door 71 is viewed from the outside, and FIG. 9 is a schematic diagram when the door 71 is viewed from above. 8 and 9, the right direction is the front of the vehicle. Further, in FIG. 9, the portion 71 </ b> A is outside the door 71 and the portion 71 </ b> B is inside the door 71 across the window 73. In order to make the drawings easier to understand, in FIGS. 8 and 9, the camera 12-1 is shown in a size larger than the actual size. In FIG. 9, the window frame 72 is not shown.

  In addition, even if the user's hand moves in accordance with the opening / closing of the door 71, when the angle of view of the camera 12-1 is sufficiently wide to capture the user's hand, for example, a direction close to the shooting direction A31 can be shot. The camera 12-1 may be installed on the ceiling of the vehicle.

  Also in the case of a sliding door, the camera 12-1 can be installed on the inner side of the upper side of the window frame 72 of the door 71, as in the example shown in FIGS. However, since the position of the door handle is different between the slide door and the hinge door, in the case of the slide door, it is desirable to install the camera 12-1 in front of the door 71.

  The above is an example of the installation position of the camera 12-1. The camera 12-1 is installed at another position where the user's hand can be always photographed as the door is opened and closed (for example, the camera 12- Or the like. In the above description, an example is given only for the door of the driver's seat, but it is desirable that the camera 12 be installed according to the same policy for the doors of other seats.

  Next, door control processing executed by the door control system 1 will be described with reference to the flowcharts of FIGS. In order to make the explanation easier to understand, a case where the door 111 of the driver's seat of the vehicle 101 in which the door control system 1 is installed is controlled will be described with reference to FIGS. 13 to 15 and FIG. FIGS. 13 to 15 and FIG. 20 show the vehicle 101 as viewed from above, and the upward direction in the figure is the forward direction of the vehicle 101.

  In step S1, the authentication unit 32 determines whether authentication information has been input. If it is determined that the authentication information has not been input, the process proceeds to step S2.

  In step S <b> 2, the object detection unit 31 determines whether an object has approached the door 111. Specifically, the object detection unit 31 returns to step S1 when the sensor unit 11-1 does not detect the presence of an object in the detection area A101 in the vicinity of the door 111 shown in FIG. . The detection area A101 is set, for example, within a predetermined distance (for example, 30 cm) from the approximate center of a door handle (not shown) of the door 111.

  In addition, in the vehicle 101 in which the door control system 1 is installed, the door 111 can be opened and closed without touching the hand, and therefore, it is assumed that the door handle is not provided. In this case, it is possible to open and close the door without making the user feel uncomfortable by setting the detection area as a center area where the door handle is normally provided in a normal vehicle.

  Thereafter, the processing in steps S1 and S2 is repeatedly executed until it is determined in step S1 that authentication information has been input or in step S2 that it is determined that an object has approached the door 111.

  On the other hand, in step S <b> 2, when the presence of an object is detected in the detection area A <b> 101 of the door 111 by the sensor unit 11-1, the object detection unit 31 determines that the object has approached the door 111. The hand detection unit 33 and the door control unit 34 are notified that the object has approached, and the process proceeds to step S3.

  In step S3, the door control unit 34 determines whether or not the door lock is locked. That is, the door control unit 34 confirms the door lock state of the door 111 based on information from the door lock mechanism unit 16-1, and determines whether the door lock of the door 111 is locked. If it is determined that the door lock of the door 111 is locked, the process returns to step S1, and the processes after step S1 are executed. Thereby, when the door lock is locked, user authentication is required before opening the door 111, and security is ensured.

  On the other hand, if it is determined in step S3 that the door lock of the door 111 is not locked, the door control unit 34 notifies the hand detection unit 33 that the door lock of the door 111 is not locked, and the process is step. Proceed to S5.

  On the other hand, when the authentication information acquisition unit 13-1 acquires the authentication information in step S1 and the acquired authentication information is supplied to the authentication unit 32, the authentication unit 32 determines that the authentication information has been input, and the process is as follows. Proceed to step S4.

  In step S4, the authentication unit 32 determines whether the user authentication is successful. Specifically, the authentication unit 32 checks whether or not the acquired authentication information belongs to a legitimate user. If the authentication information is not that of a legitimate user, the authentication unit 32 determines that user authentication has failed, and the processing is step S1. Returning to step S1, the processes after step S1 are executed.

  On the other hand, in step S4, the authentication unit 32 determines that the user authentication is successful when the acquired authentication information is that of a legitimate user, and determines that the user authentication is successful at the door 111 and the door detection unit 33 and the door. The control unit 34 is notified, and the process proceeds to step S5.

  In step S <b> 5, the hand detection unit 33 starts the hand 102 detection process. Specifically, the hand detection unit 33 starts capturing of the camera 12-1, and starts acquiring the captured image. Then, the hand detection unit 33 starts detecting the shape and movement of the hand in the vicinity of the door 111 using a predetermined method based on the acquired image. More specifically, the hand detection unit 33 has a hand shape indicating a predetermined shape (hereinafter referred to as an open shape) indicating an intention to open the door 111 and a predetermined shape indicating an intention to close the door 111 (hereinafter referred to as a close). Detection of the shape and the other) and the speed and direction of movement of the hand. Further, the hand detection unit 33 starts detecting the position of the hand with respect to the door 111 based on the acquired image and the signal from the sensor unit 11-1. And the hand detection part 33 starts supply to the door control part 34 of the information which shows a detection result.

  Note that the method by which the hand detection unit 33 detects the shape, movement, and position of the user's hand is not limited to a specific method, and it is desirable to apply a method that can be detected more accurately, quickly, and easily. .

  In addition, the open type and the closed type may be set to any shape, but it is desirable to set the shape so that the user can operate intuitively. For example, the open shape is set to a shape close to the case where the hand 102 is actually opened by touching the door 111 (for example, the shape of grasping the door handle as shown in FIG. 14), and the closed shape is actually the hand. It is desirable to set a shape close to that when the door 102 is closed by touching the door 111 (for example, a shape in which a hand is spread to push the door).

  In step S <b> 6, the hand detection unit 33 determines whether or not a hand is approaching the door 111. For example, as illustrated in FIG. 13, when the hand detection unit 33 detects the hand 102 in the detection area A101 of the door 111, the hand detection unit 33 determines that the hand is approaching the door 111, and the process proceeds to step S7. .

  In addition, since it is assumed that a certain amount of time is required until the user brings the hand 102 closer to the door 111 after performing user authentication, the first step after it is determined in step S4 that the user authentication is successful. In the process of S6, it is desirable to perform the determination with a certain amount of time.

  In step S <b> 7, the door control unit 34 determines whether the shape of the hand 102 is a closed shape based on the information from the hand detection unit 33. If it is determined that the shape of the hand 102 is not a closed shape, the process proceeds to step S8.

  In step S <b> 8, the door control unit 34 determines whether the shape of the hand 102 is an open shape based on information from the hand detection unit 33. If it is determined that the shape of the hand 102 is not an open shape, the process returns to step S6, and it is determined in step S6 that the hand is not approaching the door 111, or the shape of the hand 102 is closed in step S7. The processes of steps S6 to S8 are repeatedly executed until it is determined that the shape is a shape, or until it is determined in step S8 that the shape of the hand 102 is an open shape.

  On the other hand, if it is determined in step S8 that the shape of the hand 102 is an open shape, the process proceeds to step S9.

  In step S <b> 9, the door control unit 34 determines whether the distance between the hand 102 and the door 111 is less than a predetermined threshold based on the information from the hand detection unit 33. If it is determined that the distance between the hand 102 and the door 111 is equal to or greater than the predetermined threshold, the process returns to step S6, and the processes after step S6 are executed. That is, even if the shape of the hand 102 is changed to an open shape at a position away from the door 111 by a predetermined distance or more, the gesture is ignored.

  On the other hand, if it is determined in step S9 that the distance between the hand 102 and the door 111 is less than the predetermined threshold, the process proceeds to step S10.

  In step S10, the door control unit 34 determines whether the door 111 is fully open based on information from the door opening / closing mechanism unit 15-1. If it is determined that the door 111 is fully opened, the door 111 cannot be opened any more, so the process returns to step S6, and the processes after step S6 are executed.

  On the other hand, if it is determined in step S10 that the door 111 is not fully opened, the process proceeds to step S11.

  In step S11, it is determined whether or not the door lock of the door 111 is locked as in the process of step S3. If it is determined that the door lock of the door 111 is locked, the process proceeds to step S12.

  In step S12, the door control unit 34 unlocks the door lock. That is, the door control unit 34 controls the door lock mechanism unit 16-1 to unlock the door lock of the door 111. Thereafter, the process proceeds to step S13.

  On the other hand, when it determines with the door lock of the door 111 not being locked in step S11, the process of step S12 is skipped and a process progresses to step S13.

  In step S <b> 13, the door control unit 34 controls the speed at which the door 111 is opened according to the speed at which the hand 102 moves in the opening direction of the door 111. Specifically, when the user opens the door 111, for example, as shown in FIG. 15, the user moves the hand 102 in the direction in which the door 111 opens while keeping the shape of the hand 102 open. The door control unit 34 controls the door opening / closing mechanism unit 15-1 to move the door 111 in the opening direction according to the movement of the hand 102, and according to the speed at which the hand 102 moves in the opening direction. The speed at which 111 is opened is controlled.

  Here, with reference to FIG. 16 thru | or FIG. 19, the example of the control method of the speed which opens the door 111 is demonstrated. 16 to 19 are graphs showing the relationship between the moving speed of the hand 102 and the opening speed of the door 111. The horizontal axis indicates the moving speed of the hand 102 in the opening direction of the door 111 (hereinafter simply referred to as the hand 102). The vertical axis indicates the speed at which the door 111 is opened (hereinafter also simply referred to as the speed of the door 111).

  For example, as shown in FIG. 16, it is conceivable to control the speed of the door 111 in proportion to the speed of the hand 102. In this case, since the speed of the door 111 follows the speed of the hand 102, the user can open the door 111 more intuitively and in a form closer to the intention. In this case, the speed of the door 111 is made to follow the speed of the hand 102, but it is not always necessary to control the distance between the hand 102 and the door 111 to be constant.

  Also, for example, as shown in FIG. 17, until the speed of the hand 102 reaches a predetermined speed, the speed of the door 111 is controlled to be proportional to the speed of the hand 102 as in FIG. When the speed of the hand 102 becomes equal to or higher than a predetermined speed, it is conceivable to perform control so that the speed of the door 111 is not further increased. In this case, for example, when the door 111 opens too quickly and the movement of the hand 102 is suddenly stopped, it is possible to prevent the door 111 from hitting the hand 102 without stopping in time. .

  Further, for example, as shown in FIG. 18, when the speed of the hand 102 is less than a predetermined speed, the door 111 is not moved, and when the speed of the hand 102 is equal to or higher than the predetermined speed, the door 111 is moved at a constant speed. It is conceivable to control it so that it can be opened with. In this case, since the control of the door 111 is simplified, the door opening / closing mechanism unit 15-1 can be configured simply and can be reduced in size and weight. This method is particularly effective when the user does not feel a sense of incongruity even if the door does not follow the speed of the hand 102, such as a sliding door.

  Further, for example, as shown in FIG. 19, the speed of the door 111 is controlled stepwise according to the speed of the hand 102, in other words, the door 111 becomes faster according to the speed of the hand 102. As described above, it is conceivable to change the speed of the door 111 in a staircase pattern. In this case, the control of the door 111 can be simplified as compared with the method shown in FIGS. 16 and 17, and the movement of the door 111 is compared with the movement of the hand 102 as compared with the method shown in FIG. Can be made to follow. The control method in FIG. 18 can also be considered as one of the control methods in FIG. 19 in that the door speed changes stepwise.

  Returning to FIG. 11, in step S <b> 14, the door control unit 34 determines based on the information from the hand detection unit 33 whether the speed at which the hand 102 moves cannot be measured. If it is determined that the moving speed of the hand 102 can be measured, the process proceeds to step S15.

  In step S <b> 15, the door control unit 34 determines whether or not the shape of the hand 102 is different from the open shape based on the information from the hand detection unit 33. If it is determined that the shape of the hand 102 remains open, the process proceeds to step S16.

  In step S <b> 16, the door control unit 34 determines whether the speed at which the hand 102 moves in the opening direction of the door 111 is less than a predetermined speed based on the information from the hand detection unit 33. If it is determined that the speed at which the hand 102 moves in the opening direction of the door 111 is equal to or higher than the predetermined speed, the process proceeds to step S17.

  In step S <b> 17, the door control unit 34 determines whether or not the door 111 is fully opened based on information from the door opening / closing mechanism unit 15-1. If it is determined that the door 111 is not fully opened, the process returns to step S13, and it is determined in step S14 that the speed of movement of the hand 102 cannot be measured, or the shape of the hand 102 is opened in step S15. It is determined that the shape is different from the shape, or it is determined in step S16 that the speed at which the hand 102 moves in the opening direction of the door 111 is less than a predetermined speed, or the door 111 is fully opened in step S17. Until it is determined, the processes of steps S13 to S17 are repeatedly executed.

  On the other hand, if it is determined in step S17 that the door 111 is fully opened, the process proceeds to step S18.

  If it is determined in step S16 that the speed at which the hand 102 moves in the direction in which the door 111 opens is less than the predetermined speed, the process proceeds to step S18. For example, when the speed at which the door 111 is opened is controlled according to the graphs shown in FIGS. 16 and 17, if the speed at which the hand 102 moves in the opening direction of the door 111 becomes 0 or less, the process proceeds to step S18. move on. Further, when the speed at which the door 111 is opened is controlled according to the graph shown in FIG. 18, when the speed at which the hand 102 moves in the opening direction of the door 111 becomes less than Va, the process proceeds to step S18. Furthermore, when the speed at which the door 111 is opened is controlled according to the graph shown in FIG. 19, when the speed at which the hand 102 moves in the opening direction of the door 111 becomes less than Vb, the process proceeds to step S18.

  If the speed component in the direction in which the door 111 opens is less than the predetermined speed even if the hand 102 moves in a direction other than the direction in which the door 111 opens (for example, the vertical direction) at a predetermined speed or more, the process is stepped. Proceed to S18. Of course, when the hand 102 is moving in the direction opposite to the direction in which the door 111 opens, that is, in the direction in which the door 111 is closed, the process proceeds to step S18.

  Furthermore, for example, as shown in FIG. 20, when the user opens the hand 102 and the shape of the hand 102 is different from the open shape, in step S <b> 15, the shape of the hand 102 is changed to the open shape. It is determined that the shapes are different, and the process proceeds to step S18.

  If it is determined in step S14 that the speed at which the hand 102 moves cannot be measured, the process proceeds to step S18. This is the case, for example, when the user's hand 102 goes out of the shooting range of the camera 12-1 or when the user hides the hand 102 from the camera 12-1.

  In step S <b> 18, the door opening / closing mechanism unit 15-1 stops the movement of the door 111 based on the control of the door control unit 34. That is, the door opening / closing mechanism unit 15-1 stops opening the door 111.

  Thereafter, the process returns to step S6, and the processes after step S6 are executed. Therefore, the user continues to open the door 111 by moving the hand 102 in the open shape and moving the door 111 in the opening direction, and closes the door 111 by moving the hand 102 in the closed shape and moving the door 111 in the closing direction. be able to.

  On the other hand, if it is determined in step S7 that the shape of the hand 102 is the closed shape, the process proceeds to step S19.

  In step S19, as in the process of step S9, it is determined whether or not the distance between the hand 102 and the door 111 is less than a predetermined threshold value. When it is determined that the distance between the hand 102 and the door 111 is greater than or equal to a predetermined threshold, the process returns to step S6, and the processes after step S6 are executed. That is, even if the shape of the hand 102 is a closed shape at a location more than a predetermined distance from the door 111, the gesture is ignored.

  On the other hand, when it is determined in step S19 that the distance between the hand 102 and the door 111 is less than the predetermined threshold, the process proceeds to step S20.

  Note that the threshold values in the processes of steps S9 and S19 may be set to the same value or different values. For example, in order to prevent the hand 102 from colliding with the door 111 when the door 111 is closed, it is conceivable to set the threshold value in step S19 to a value larger than the threshold value in step S9.

  In step S20, the door control unit 34 determines whether or not the door 111 is open based on information from the door opening / closing mechanism unit 15-1. If it is determined that the door 111 is closed, the door 111 does not need to be closed, so the process returns to step S6 and the processes after step S6 are executed.

  On the other hand, if it is determined in step S20 that the door 111 is open, the process proceeds to step S21.

  In step S <b> 21, the door control unit 34 determines whether the speed at which the hand 102 moves in the direction in which the door 111 is closed is equal to or higher than a predetermined threshold based on the information from the hand detection unit 33. If it is determined that the speed at which the hand 102 moves in the direction in which the door 111 is closed is less than the predetermined threshold, the process proceeds to step S22.

  In step S22, the door control unit 34 controls the speed at which the door 111 is closed according to the speed at which the hand 102 moves in the direction in which the door 111 is closed. Specifically, when closing the door 111, for example, the user moves the hand 102 in a direction in which the door 111 is closed while keeping the shape of the hand 102 closed. The door control unit 34 controls the door opening / closing mechanism unit 15-1 to move the door 111 in the closing direction in accordance with the movement of the hand 102, and in accordance with the speed at which the hand 102 moves in the closing direction of the door 111. The speed at which 111 is closed is controlled.

  The speed at which the door 111 is closed may be controlled by a method similar to the speed at which the door 111 is opened as described above with reference to FIGS. However, as will be described later, unlike the case where the door 111 is opened, when the speed at which the hand 102 moves in the direction in which the door 111 closes exceeds a predetermined threshold value, the shape and movement of the hand 102 thereafter are related. Instead, the door 111 is closed to the end.

  In step S23, as in the process of step S14 in FIG. 11, it is determined whether or not the speed of movement of the hand 102 can be measured, and if it is determined that the speed of movement of the hand 102 can be measured, Advances to step S24.

  In step S <b> 24, the door control unit 34 determines whether the shape of the hand 102 is different from the closed shape based on the information from the hand detection unit 33. If it is determined that the shape of the hand 102 remains the closed shape, the process proceeds to step S25.

  In step S <b> 25, the door control unit 34 determines whether the speed at which the hand 102 moves in the direction in which the door 111 is closed is less than a predetermined speed based on information from the hand detection unit 33. If it is determined that the speed at which the hand 102 moves in the direction in which the door 111 is closed is equal to or higher than the predetermined speed, the process proceeds to step S26.

  In step S <b> 26, the door control unit 34 determines whether the door 111 is closed based on information from the door opening / closing mechanism unit 15. If it is determined that the door 111 is not closed, the process returns to step S21. In step S21, it is determined that the speed at which the hand 102 moves in the direction in which the door 111 is closed is equal to or greater than a predetermined threshold value, or step S23. In step S24, it is determined that the moving speed of the hand 102 cannot be measured, or in step S24, it is determined that the shape of the hand 102 is different from the closed shape. In step S25, the door 111 is closed. Steps S21 to S26 are repeatedly executed until it is determined that the speed at which the hand 102 moves is less than the predetermined speed or until it is determined in step S26 that the door 111 is closed.

  On the other hand, if it is determined in step S26 that the door 111 is closed, the process proceeds to step S27.

  If it is determined in step S25 that the speed at which the hand 102 moves in the direction in which the door 111 is closed is less than the predetermined speed, the process proceeds to step S27. If the speed component in the direction in which the door 111 closes is less than the predetermined speed even if the hand 102 moves in a direction other than the direction in which the door 111 closes (for example, the vertical direction) at a predetermined speed or more, the process is a step. Proceed to S27. Of course, when the hand 102 is moving in the direction opposite to the direction in which the door 111 is closed, that is, in the direction in which the door 111 is opened, the process proceeds to step S27.

  If it is determined in step S24 that the shape of the hand 102 is different from the closed shape, the process proceeds to step S27.

  Furthermore, if it is determined in step S23 that the speed at which the hand 102 moves cannot be measured, the process proceeds to step S27.

  In step S <b> 27, the door opening / closing mechanism unit 15-1 stops the movement of the door 111 based on the control of the door control unit 34. That is, the door opening / closing mechanism unit 15-1 stops closing the door 111.

  Thereafter, the process returns to step S6, and the processes after step S6 are executed. Therefore, the user continues to open the door 111 by moving the hand 102 in the open shape and moving the door 111 in the opening direction, and closes the door 111 by moving the hand 102 in the closed shape and moving the door 111 in the closing direction. be able to.

  On the other hand, if it is determined in step S21 that the speed at which the hand 102 moves in the direction in which the door 111 is closed is equal to or greater than a predetermined threshold, the process proceeds to step S28.

  In step S <b> 28, the door opening / closing mechanism unit 15-1 closes the door 111 to the end based on the control of the door control unit 34. That is, by moving the hand 102 at a speed equal to or higher than a predetermined threshold in the direction in which the door 111 is closed, the door 111 is pressed strongly with a hand regardless of the shape and movement of the hand 102 and the door 111 is moved by its inertia. As with closing, the door 111 is automatically closed to the end.

  Thereafter, the process returns to step S6, and the processes after step S6 are executed. Therefore, the user can continue to open the door 111 by moving the hand 102 in the open shape and moving the door 111 in the opening direction.

  On the other hand, if it is determined in step S6 that the hand is not approaching the door 111, the process proceeds to step S29.

  In step S29, the hand detection unit 33 ends the hand detection process. Specifically, the hand detection unit 33 stops the photographing of the camera 12 and stops its own detection process. Thereafter, the process returns to step S1, and the processes after step S1 are executed.

  In addition, although the example which controls the motion of the door 111 of a driver's seat was shown in the above description, it is possible to control a motion by the same process also about another door.

  As described above, the door can be reliably opened and closed as desired by the user by an intuitive operation without touching the door. In addition, the user can clearly indicate the timing for starting and stopping the door, and can open and close the door at an appropriate timing. Furthermore, since the door is not opened and closed simply by bringing a hand close to the door, it is possible to prevent the door from being opened and closed unintentionally. In addition, since the door speed is controlled only according to the speed of the hand, and the control to keep the distance between the hand and the door constant is not performed, the structure of the mechanical parts that open and close the door is simplified and compact. And weight reduction. Furthermore, since the door stops when it becomes impossible to measure the moving speed of the hand 102, safety is improved.

  In addition, in the above explanation, when the shape of the hand is changed to a shape other than the open shape while the door is opened, or when the shape of the hand is changed to a shape other than the closed shape while the door is closed. For example, when the shape of the hand is changed to a predetermined shape (hereinafter referred to as a stop shape) indicating the intention of stopping the door, the movement of the door is stopped. Good. Thereby, the timing which stops opening and closing of a door can be shown more clearly, and a door can be stopped at a more suitable timing. In addition, the door shape can be kept open even if the hand shape is other than the open shape or stop shape while the door is open, and the hand shape is closed while the door is closed. The door can be kept open even if the shape is other than the stop shape.

  Further, when the shape of the hand becomes a stop shape while the door is being opened, the door may be opened until just before the hand as long as it does not hit the hand.

  Furthermore, not only when closing the door, but also when opening the door, if the speed of the hand exceeds a predetermined threshold, the door can be fully opened, You may make it open to the position of.

  Further, the amount of opening the door may be controlled according to the shape and movement of the hand. For example, when the hand is closed and rotated, the door may be opened a little, and thereafter the door may be opened according to the movement of the hand as usual. This makes it easier to open the door a little. Also, for example, the amount of opening of the door is determined according to the initial speed and / or amount of movement of the hand when the hand is moved in the opening direction, or both, and the door is opened by the determined amount. Good. Thereby, the user can open the door by a desired amount without continuing to move his / her hand in a state where there is no touch of the door.

  Further, the window may be opened or closed according to a component in which the hand moves in a direction perpendicular to the door.

  Also, when opening the hinged door, control the door to be opened from the point where the hand is separated from the door by a predetermined distance after the hand is open so that the door does not hit the hand. Also good.

  Furthermore, the movement of the door may be stopped when the hand touches the door.

  In the case of a hinged door, various sensors are used to detect obstacles outside the door, and when the door is likely to hit an obstacle while the door is being opened, The movement may be stopped.

  Furthermore, not only the type of door but also various types of sensors are used to detect the pinching of the door, and the possibility of pinching a part of the human body or an obstacle while the door is closed is detected. In such a case, the movement of the door may be stopped.

  Further, the power for driving the door opening / closing mechanism is controlled in accordance with the inclination of the vehicle so as to detect the inclination of the vehicle using an inclination sensor or the like so that the speed at which the door opens and closes does not change depending on the inclination of the vehicle. It may be.

  Furthermore, in the above description, an example is shown in which the user moves his / her hand near the door handle to open / close the door, but the door is opened / closed according to the movement of the user's hand near the door other than near the door handle. May be.

  The present invention can also be applied to, for example, a door control system that controls the movement of doors other than vehicle doors (for example, doors of other vehicles, doors of buildings, etc.).

  The series of processes described above can be executed by hardware or can be executed by software. When a series of processing is executed by software, a program constituting the software executes various functions by installing a computer incorporated in dedicated hardware or various programs. For example, it is installed from a program recording medium in a general-purpose personal computer or the like.

  FIG. 21 is a block diagram illustrating a configuration example of hardware of a computer that executes the above-described series of processing by a program.

  In a computer, a CPU (Central Processing Unit) 301, a ROM (Read Only Memory) 302, and a RAM (Random Access Memory) 303 are connected to each other by a bus 304.

  An input / output interface 305 is further connected to the bus 304. The input / output interface 305 includes an input unit 306 including a keyboard, a mouse, and a microphone, an output unit 307 including a display and a speaker, a storage unit 308 including a hard disk and a nonvolatile memory, and a communication unit 309 including a network interface. A drive 310 that drives a removable medium 311 such as a magnetic disk, an optical disk, a magneto-optical disk, or a semiconductor memory is connected.

  In the computer configured as described above, the CPU 301 loads the program stored in the storage unit 308 to the RAM 303 via the input / output interface 305 and the bus 304 and executes the program, for example. Is performed.

  The program executed by the computer (CPU 301) is, for example, a magnetic disk (including a flexible disk), an optical disk (CD-ROM (Compact Disc-Read Only Memory), DVD (Digital Versatile Disc), etc.), a magneto-optical disk, or a semiconductor. It is recorded on a removable medium 311 which is a package medium composed of a memory or the like, or provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital satellite broadcasting.

  The program can be installed in the storage unit 308 via the input / output interface 305 by attaching the removable medium 311 to the drive 310. Further, the program can be received by the communication unit 309 via a wired or wireless transmission medium and installed in the storage unit 308. In addition, the program can be installed in advance in the ROM 302 or the storage unit 308.

  The program executed by the computer may be a program that is processed in time series in the order described in this specification, or in parallel or at a necessary timing such as when a call is made. It may be a program for processing.

  Further, in the present specification, the term “system” means an overall apparatus composed of a plurality of apparatuses and means.

  Furthermore, the embodiments of the present invention are not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present invention.

It is a block diagram which shows one Embodiment of the door control system to which this invention is applied. It is a figure which shows the example of the installation position of a camera. It is a figure which shows the example of the installation position of a camera. It is a figure which shows the other example of the installation position of a camera. It is a figure which shows the other example of the installation position of a camera. It is a figure which shows the further another example of the installation position of a camera. It is a figure which shows the further another example of the installation position of a camera. It is a figure which shows the further another example of the installation position of a camera. It is a figure which shows the further another example of the installation position of a camera. It is a flowchart for demonstrating the door control process performed by a door control system. It is a flowchart for demonstrating the door control process performed by a door control system. It is a flowchart for demonstrating the door control process performed by a door control system. It is a figure for demonstrating the specific example of the operation | movement which opens a door. It is a figure for demonstrating the specific example of the operation | movement which opens a door. It is a figure for demonstrating the specific example of the operation | movement which opens a door. It is a figure which shows the example of speed control of a door. It is a figure which shows the other example of speed control of a door. It is a figure which shows the further another example of speed control of a door. It is a figure which shows the further another example of speed control of a door. It is a figure for demonstrating the specific example of the operation | movement which opens a door. And FIG. 11 is a block diagram illustrating an example of a configuration of a computer.

Explanation of symbols

1
11-1 to 11-4 Sensor unit 12-1 to 12-4 Camera 13-1 to 13-4 Authentication information acquisition unit 14 Control unit 15-1 to 15-4 Door opening / closing mechanism unit 16-1 to 16-4 Door Lock mechanism part 31 Object detection part 32 Authentication part 33 Hand detection part 34 Door control part

Claims (17)

Hand detection means for detecting the shape and movement of the hand in the vicinity of the door of the vehicle;
After the shape of the hand in the vicinity of the door becomes the predetermined first shape, when the hand moves in the opening direction, the door is moved in the opening direction according to the movement of the hand, Door control means for controlling movement of the door so as to stop the door when the shape of the hand is different from the first shape. The door control means further controls the movement of the door to stop the door when the speed at which the hand moves in a direction in which the door opens is less than a predetermined speed. Door control device. The door control device according to claim 1, wherein the door control unit further controls the movement of the door so as to stop the door when it becomes impossible to measure the moving speed of the hand. The door control device according to claim 1, wherein the door control means controls the movement of the door to stop the door when the shape of the hand becomes a predetermined second shape. The door control device according to claim 1, wherein the door control unit further controls a speed at which the door is opened according to a speed at which the hand moves in a direction in which the door opens. The door control means is further configured to respond to the movement of the hand when the hand moves in a direction in which the door is closed after the shape of the hand becomes a predetermined second shape in the vicinity of the door. 2. The door control device according to claim 1, wherein when the door is moved in a closing direction and the shape of the hand is different from the second shape, the movement of the door is controlled to stop the door. 3. The door control device according to claim 6, wherein the door control unit further controls a speed at which the door is closed according to a speed at which the hand moves in a direction in which the door is closed. In the door control method of the door control device,
A hand detection step for detecting hand shape and movement in the vicinity of the vehicle door;
After the shape of the hand in the vicinity of the door becomes the predetermined first shape, when the hand moves in the opening direction, the door is moved in the opening direction according to the movement of the hand, A door control method comprising: a door control step for controlling movement of the door so as to stop the door when a hand shape is different from the first shape. A hand detection step for detecting hand shape and movement in the vicinity of the vehicle door;
After the shape of the hand in the vicinity of the door becomes the predetermined first shape, when the hand moves in the opening direction, the door is moved in the opening direction according to the movement of the hand, When the shape of the hand is different from the first shape, the computer causes the computer to execute processing including a door control step of controlling movement of the door so as to stop the door. Hand detection means for detecting the shape and movement of the hand in the vicinity of the door of the vehicle;
After the shape of the hand in the vicinity of the door becomes the predetermined first shape, when the hand moves in the opening direction, the door moves in the opening direction according to the movement of the hand, Door control means for controlling the movement of the door so as to change the speed of opening the door in a staircase pattern according to the speed of movement of the hand in the opening direction of the door. The door control means is further configured to respond to the movement of the hand when the hand moves in a direction in which the door is closed after the shape of the hand becomes a predetermined second shape in the vicinity of the door. The movement of the door is controlled so that the speed of closing the door is changed stepwise according to the speed of movement of the hand in the direction of closing the door while moving the door in the closing direction. Door control device. The door control means controls the door to be closed to the end regardless of the shape and movement of the hand after that when the speed at which the hand moves in a direction in which the door is closed exceeds a predetermined speed. The door control device according to claim 11. In the door control method of the door control device,
A hand detection step for detecting hand shape and movement in the vicinity of the vehicle door;
After the shape of the hand in the vicinity of the door becomes the predetermined first shape, when the hand moves in the opening direction, the door moves in the opening direction according to the movement of the hand, A door control step of controlling the movement of the door so as to change the speed of opening the door in a stepped manner in accordance with the speed of movement of the hand in the opening direction of the door. A hand detection step for detecting hand shape and movement in the vicinity of the vehicle door;
After the shape of the hand in the vicinity of the door becomes the predetermined first shape, when the hand moves in the opening direction, the door moves in the opening direction according to the movement of the hand, A program that causes a computer to execute processing including: a door control step of controlling movement of the door so as to change the speed of opening the door in a stepped manner according to the speed of movement of the hand in the opening direction of the door. Hand detection means for detecting the shape and movement of the hand in the vicinity of the door of the vehicle;
After the shape of the hand in the vicinity of the door becomes the predetermined first shape, when the hand moves in the opening direction, the door is moved in the opening direction according to the movement of the hand, When the hand moves in the direction in which the door is closed after the shape of the hand in the vicinity of the door becomes the predetermined second shape, the door is moved in the closing direction in accordance with the movement of the hand. A door control device that controls door movement. In the door control method of the door control device,
A hand detection step for detecting hand shape and movement in the vicinity of the vehicle door;
After the shape of the hand in the vicinity of the door becomes the predetermined first shape, when the hand moves in the opening direction, the door is moved in the opening direction according to the movement of the hand, When the hand moves in the direction in which the door is closed after the shape of the hand in the vicinity of the door becomes the predetermined second shape, the door is moved in the closing direction in accordance with the movement of the hand. A door control method comprising: a door control step for controlling the movement of the door. A hand detection step for detecting hand shape and movement in the vicinity of the vehicle door;
After the shape of the hand in the vicinity of the door becomes the predetermined first shape, when the hand moves in the opening direction, the door is moved in the opening direction according to the movement of the hand, When the hand moves in the direction in which the door is closed after the shape of the hand in the vicinity of the door becomes the predetermined second shape, the door is moved in the closing direction in accordance with the movement of the hand. A program for causing a computer to execute a process including a door control step for controlling the movement of the door.

Images