JP2002180744A - Opening/closing body control device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an opening/closing body control device for a vehicle, which has a window opening function being excellent in suitability and convenience. SOLUTION: According to the opening/closing body control device, after locking or unlocking a door, it is determined at a step S183 that an object approaching or touching the vehicle of his own is the authentic user, based on an image picked-up by an image pickup camera of a rear lateral alarm system. Therefore, at steps S190 and S192, if the user carrying a portable device with him approaches or touches the vehicle of his own, a predetermined door or window automatically opens.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for detecting the approach or contact of a person to an opening / closing body of a vehicle from an image captured by an image capturing camera. The present invention relates to a vehicle opening / closing body control device that controls opening / closing of a vehicle opening / closing body while recognizing that an authorized user is present nearby.

[0002]

2. Description of the Related Art Conventionally, in an automobile, for example, a driver or the like does not lock or unlock a key cylinder with a predetermined key, and operates a predetermined switch on a portable terminal (hereinafter referred to as a portable device). Is performed, a control unit (hereinafter referred to as an in-vehicle device) provided in the vehicle is locked / locked in response to a predetermined radio wave transmitted in response to the operation.
A so-called keyless entry system for unlocking has been widely used.

As an application of such a keyless entry system, Japanese Patent Application Laid-Open No. Hei 8-199882 discloses that a door lock is unlocked in response to a switch operation in a portable device, and the switch operation is continued for a predetermined time. Further, a system capable of automatically performing the opening operation of the power window has been proposed.

[0004]

According to the above-mentioned conventional keyless entry system, the user can put his / her luggage through the window before getting into the vehicle interior, so that the user trying to get into the vehicle can use both hands. Convenience when carrying luggage can be improved. However, in order to open the window in the keyless entry system, the operation switch of the portable device must be continuously operated in the vicinity of the vehicle, which is inconvenient when the user holds heavy luggage in both hands. It is expected to feel.

In order to improve the convenience by reducing the operation of the portable device by the user, for example, Japanese Unexamined Patent Application Publication No.
No. 270285, the portable device is provided with only an operation switch for turning on / off a predetermined radio signal transmission. When the predetermined radio signal is received by the on-vehicle device, the on-vehicle device receives the electric field of the radio signal. A so-called smart keyless entry system that locks and unlocks according to the magnitude of the strength has been proposed, and an automatic opening function of a power window according to the automatic unlocking function of such a smart keyless entry system is added. However, simply combining these two functions will inadvertently open a window irrespective of the user's intention, which is a problem in crime prevention and in rainy weather.

The present invention has been made in view of the above problems, and an object of the present invention is to provide an opening / closing body control device for a vehicle having an opening / closing body opening function excellent in security and convenience.

[0007]

In order to achieve the above object, a vehicle opening / closing body control device according to the present invention is a vehicle opening / closing body control device provided with control means for controlling opening / closing of a vehicle opening / closing body. An image capturing camera provided at a door or a front side of the vehicle to detect an image behind and behind the vehicle, for controlling lane change. Alternatively, when the contact is detected, the opening / closing body corresponding to the approached or contacted position is opened.

Further, a vehicle opening / closing body control device according to the present invention automatically transmits a predetermined authentication signal, and receives the transmitted authentication signal to control opening / closing of the vehicle opening / closing body. An opening / closing body control device for a vehicle, comprising: an imaging camera configured to detect an image around the vehicle, wherein the control unit includes a legitimate user near the vehicle by receiving the authentication signal. If the approach or contact of the person to the opening / closing body is detected from the captured image while recognizing that the opening / closing body is in contact, the opening / closing body corresponding to the approached or contacted position is opened.

Preferably, the apparatus further comprises a portable device for automatically transmitting a predetermined authentication signal, wherein the control means determines that a legitimate user is present near the vehicle by receiving the authentication signal. If the approach or contact of a person to the opening / closing body is detected from the captured image while the recognition is being performed, the opening / closing body corresponding to the approached or contacted position is opened.

[0010] Preferably, when the vehicle is stopped or the ignition switch is turned off, the imaging accuracy of the imaging camera is increased and the imaging area is enlarged as compared with when the vehicle is running or when the ignition switch is turned on.

Preferably, the opening / closing body is a slide door, and the control means detects, from a captured image, the approach or contact of a person to the rear of the slide door.
The opening operation is prohibited.

Preferably, the opening / closing body is a hinge door, and the control means detects whether a person is present on the side of the hinge door from a captured image, or detects whether a person approaches or contacts the side of the hinge door. If detected, the opening operation is prohibited.

Preferably, the opening / closing member is a slide door and a hinge door, and the control means determines that a person exists on the side of the slide door from the captured image, or that a person moves to the side of the hinge door from the captured image. When the approach or contact is detected, only the slide door is opened.

[0014] Preferably, the control means detects a receiving direction of the authentication signal, and opens only the opening / closing body corresponding to the receiving direction.

[0015]

As described above, according to the first aspect of the present invention, there is provided a vehicle opening / closing body control device including a control means for controlling opening / closing of a vehicle opening / closing body. When the approach or contact is detected, by opening the opening / closing body corresponding to the approach or contact position,
When the user holds luggage in both hands or the like, the luggage can be placed in the vehicle prior to opening the door, thereby improving convenience such as when getting into the vehicle with luggage in a small parking lot. it can.

According to the second aspect of the present invention, there is provided a portable device for automatically transmitting a predetermined authentication signal, and a control means for receiving the transmitted authentication signal and controlling the opening and closing of the opening / closing body of the vehicle. An opening / closing body control device for a vehicle, wherein while receiving an authentication signal, while recognizing that a legitimate user is present near the vehicle, the approach or contact of a person from the captured image to the opening / closing body is detected. If detected, the opening / closing body corresponding to the approached or contacted position is opened, so that when the user holds the luggage in both hands, the luggage can be placed in the vehicle prior to opening the door. This makes it possible to improve convenience when the user gets into the vehicle with luggage in a parking space with a small space.

According to the third aspect of the present invention, there is further provided a portable device for automatically transmitting a predetermined authentication signal. Upon receiving the authentication signal, the portable device recognizes that a legitimate user is present near the vehicle. If the approach or contact of a person to the opening / closing body is detected from the captured image while the user is in operation, the user holds the baggage in both hands by opening the opening / closing body corresponding to the approached or contacted position. In some cases, the luggage can be placed in the vehicle prior to opening the door, and the convenience when the user gets into the vehicle with the luggage in a parking space with a small space can be improved.

According to the fourth aspect of the present invention, when the vehicle is stopped or the ignition switch is turned off, the imaging accuracy of the imaging camera is increased as compared with when the vehicle is running or when the ignition switch is turned on, and the imaging area is enlarged. As a result, the existing system can be used to accurately recognize the object.

According to the fifth aspect of the present invention, the opening / closing body is a slide door, and when the approach or contact of a person to the rear of the slide door is detected from the captured image, the opening operation is prohibited. The collision between the sliding door and a person when the door is opened can be avoided.

According to the sixth aspect of the present invention, the opening / closing body is a hinged door, and the presence or absence of a person on the side of the hinged door, or the approach or contact of the person on the side of the hinged door is detected from the captured image. Then, by prohibiting the opening operation, it is possible to avoid collision between the hinged door and a person when the door is opened.

According to the seventh aspect of the present invention, the opening / closing body is a slide door and a hinge door, and a person exists on the side of the slide door from the captured image, or a person approaches or approaches the hinge door. When the contact is detected, by operating only the slide door, a collision between the slide door or the hinge door and the person when the door is opened can be avoided.

According to the eighth aspect of the present invention, the receiving direction of the authentication signal is detected, and only the opening / closing body corresponding to the receiving direction is opened, so that, for example, the user carrying the portable device approaches the own vehicle. In this state, when another person comes into contact with a window or door far from the window or door close to the user, it is possible to prevent the window or door from being opened.

[0023]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment in which a keyless entry system according to the present invention is applied to an automobile, which is a typical vehicle, will be described in detail with reference to the accompanying drawings.

The embodiment described below is an example as a means for realizing the present invention, and the present invention can be applied to a modification or a modification of the following embodiment without departing from the gist thereof. . [First Embodiment] First, a hardware configuration of a keyless entry system according to the present embodiment will be described.

FIG. 1 is a block diagram showing a device configuration of a portable device according to the first embodiment.

In the portable device 1A shown in FIG.
It is a door lock switch capable of executing locking of an automobile door. Reference numeral 13 denotes a door unlock switch capable of unlocking the door of the vehicle. Reference numeral 14 denotes a window opening switch that allows a user to open a window and / or a door of the vehicle by using the portable device 1A. 15 is
It is a window closing switch capable of closing a window and / or a door of the vehicle. 16 transmits a predetermined wireless signal corresponding to the operation of these operation switches, and among the wireless signals received from the outside, only a wireless signal from an on-vehicle device (on-vehicle device 2A described later) mounted on the vehicle. This is a general transceiver that can demodulate the signal. 17
Is a buzzer. Reference numeral 18 denotes a display using a small liquid crystal display or the like. Reference numeral 19 denotes a power switch for turning on / off the power of the portable device 1A. And 11 is
The microcomputer includes a CPU, a ROM, a RAM, an interface circuit, and the like, and controls operations of these blocks by executing a control program stored in advance.

FIG. 2 is a block diagram showing the device configuration of the vehicle-mounted device according to the first embodiment.

In the vehicle-mounted device 2A shown in FIG.
This is a general transceiver capable of transmitting a predetermined radio signal and demodulating only a radio signal from a predetermined mobile device 1A registered in advance among radio signals received from outside. 2
Reference numeral 3 denotes a door lock detection sensor that detects a locked / unlocked state of a door lock of the vehicle. Reference numeral 24 denotes a key cylinder contact switch for detecting an operation state of a key cylinder provided on a door of the vehicle. Reference numeral 25 denotes an ignition switch. Reference numeral 26 denotes a door handle switch for detecting an operation state of a door handle provided on an outer panel of the vehicle door. Reference numeral 31 denotes a door lock actuator that operates a door lock of the vehicle. Reference numeral 32 denotes a power window motor provided on the door of the vehicle for opening and closing a power window and / or a door opening / closing motor having a reversing function for opening and closing a slide door or a hinge door. Reference numeral 33 denotes an imaging camera including a CCD line sensor for imaging the rear side of the vehicle. Reference numeral 34 denotes a buzzer and a speaker. Reference numeral 35 denotes a headlight and a hazard lamp. Reference numeral 36 denotes a display using a liquid crystal display or the like for displaying a navigation screen, an imaging screen behind and behind, and the like. Reference numeral 21 denotes a microcomputer that includes a CPU, a ROM, a RAM, an interface circuit, and the like, and controls the operation of each of these blocks by executing a control program stored in advance.

In the keyless entry system composed of the portable device 1A and the on-vehicle device 2A, a field constituting a radio signal transmitted and received between the transceiver 16 and the transceiver 22 includes a general field. It contains header information and footer information of the format, error correction information, and a predetermined identification number (ID) that can identify each component.

Next, various signals transmitted and received between the portable device 1A and the vehicle-mounted device 2A will be described.

FIG. 3 is a diagram showing transmission / reception signals in the keyless entry system according to the first embodiment. The communication procedure for causing the door lock actuator 31 to perform an unlocking operation is roughly classified into the following.
And a communication procedure for opening the window and / or the door by the power window motor or the door opening / closing motor 32.

Next, the basic configuration of each signal constituting these communication procedures will be described.

When a request signal for a certain operation is transmitted from the portable device 1A, the vehicle-mounted device 2A transmits a challenge signal in response to the request signal, and the portable device 1A responds to the challenge signal with a response signal. Send. The in-vehicle device 2A that has received the response signal executes the operation requested by the portable device 1A and transmits a confirmation signal for reporting the completion of the operation.

Here, the challenge signal and the response signal are signals transmitted and received for ensuring the security function, and the vehicle-mounted device 2A includes a different random number each time it receives a request signal corresponding to a switch operation. Send a challenge signal. Upon receiving the challenge signal, the portable device 1A performs a predetermined operation using a random number included in the received signal to create an encryption code, and sends a response signal including the created encryption code to the vehicle-mounted device 2A. Then, the on-vehicle device 2A performs a predetermined operation similar to that of the portable device 1A by using the random number transmitted as the challenge signal to create an encryption code, and uses the created encryption code in the received response signal. The request signal received this time is determined to be a wireless signal from the legitimate (paired) portable device 1A only when the comparison result matches,
An operation according to the request signal is performed.

Since the user can easily visually confirm that the window or door has been opened, a confirmation signal is not transmitted after the window or door is opened or closed in the vehicle-mounted device 2A. May be.

Next, a control process performed by the controller 11 of the portable device 1A and a control process performed by the controller 21 of the vehicle-mounted device 2A will be described. <Portable Device 1A> FIGS. 4 and 5 are flowcharts showing a control process of the portable device 1A in the first embodiment.

Referring to FIG.
3: The power switch 19 of the portable device 1A is in an on state (a state in which the switch is left on for a predetermined time may be detected).
Is determined (step S1), and if this determination is NO
When the power switch 19 is off, it is determined whether the door unlock switch 13 has been operated (step S).
3) If YES (the power switch 19 is turned on), it is determined whether a predetermined time (for example, about 1 second) has elapsed since the last time the unlock signal was transmitted (step S2).

Step S4: When it is determined that the predetermined time has elapsed in step S2, or when the operation of the door unlock switch 13 is detected in step S3, the above-described unlock request signal is transmitted. Therefore,
In the present embodiment, the unlock request signal is automatically transmitted at a predetermined time period and is transmitted when the door unlock switch 13 is operated.

Steps S5 and S6: It is determined whether or not the above-described unlock challenge signal has been received (step S5). If the determination is NO (when the signal is not received), the process proceeds to step S7, and the determination is YES. At this time (when the signal is received), an unlock response signal corresponding to the challenge signal is transmitted (Step S).
6).

Steps S7 and S8: It is determined whether or not the above-described unlock confirmation signal has been received (step S7).
7) When the determination is NO (when the signal is not received), the process proceeds to step S9, and when the determination is YES (when the signal is received), the unlocking operation is performed by the vehicle-mounted device 2A. In order to notify the user carrying the portable device 1A of this fact, a predetermined guidance is displayed on the display 18 and the buzzer 17 is operated a predetermined number of times (for example, twice) (step S8).

Steps S9 to S11: It is determined whether or not the door lock switch 12 has been operated (step S9). If the determination is NO (when the signal is not received), the process proceeds to step S12, and YES ( When the switch is operated), the above-described lock request signal is transmitted (step S10), and the transmission of the periodically transmitted unlock request signal is prohibited for a predetermined time (for example, about 5 seconds).

Steps S12 and S13: It is determined whether or not the above-described lock challenge signal has been received (step S12). If the determination is NO (when the signal is not received), the process proceeds to step S14, and if the determination is YES. When (the signal is received), a lock response signal corresponding to the challenge signal is transmitted (step S13).

Steps S14 and S15: It is determined whether the above-mentioned lock confirmation signal has been received (step S1).
4) When the determination is NO (when the signal is not received), the process proceeds to step S16, and when the determination is YES (when the signal is received), the locking operation is performed by the vehicle-mounted device 2A. Is displayed on the display 18 and the buzzer 17 is operated a predetermined number of times (for example, once) to notify the user carrying the portable device 1A (step S15).

Steps S16 to S19: The operation state of the window / door open / close switch 31 is detected (step S16), and it is determined whether the operation state is on (step S17). When the switch is on, the timer starts counting time (step S18), and when NO (the switch is off), it is determined whether the count value of the timer is smaller than a predetermined value (step S19).

Steps S20 to S22: Window close switch 15 or door unlock switch 13
Is determined (step S20). If the determination is NO (the switches 13 and 15 are operated), a window open signal is transmitted at predetermined time intervals (eg, about 1 second) (step S22). If YES (there is no operation of the switches 13 and 15), the timer is reset (step S21), and the process proceeds to step S5.

Steps S23 and S24: It is determined whether or not the above-described window opening challenge signal has been received (step S23). If the determination is NO (when the signal is not received), the process proceeds to step S25, and YES
(When the signal is received), a window opening response signal corresponding to the challenge signal is transmitted (step S24), and the process proceeds to step S25.

Step S25, Step S26: It is determined whether or not the above-described window / door open confirmation signal has been received (Step S25). If the determination is NO (when the signal is not received), the process proceeds to Step S27. YES
(When the signal is received), a predetermined number is displayed on the display 18 to notify the user carrying the portable device 1A that the opening operation of the window and / or the door has been performed in the vehicle-mounted device 2A. Is displayed and the buzzer 17 is operated a predetermined number of times (for example, four times) (step S26).

Step S27, Step S28: It is determined whether or not the above-described window / door closing confirmation signal has been received (Step S27). When the determination is NO (when the signal is not received), the process returns. At this time (when the signal is received), the portable device 1A notifies that the opening operation of the window and / or the door has been performed in the vehicle-mounted device 2A.
Display 18 to notify the user carrying the
Is displayed, and the buzzer 17 is operated a predetermined number of times (for example, three times) (step S28). <In-Vehicle Device 2A> FIGS. 6 and 7 are flowcharts showing a control process of the in-vehicle device 2A in the first embodiment.

In the figure, step S29: The state of the ignition switch 25 is detected, and the judgment is YES.
If the switch is off, the process proceeds to step S30. If the determination is NO and the switch is on,
Proceed to step S53.

Step S31: It is determined whether or not the ignition switch 25 has just been turned off. If the determination is YES and immediately after the ignition switch 25 has been turned off, the process proceeds to step S32. If the determination is NO and the ignition switch 25 has not been immediately turned off, the process proceeds to step S31.

Step S31: The detection direction, the detection accuracy, the detection distance range, and the detection angle of the imaging camera 33 used in the rear side warning system described later can detect an object (regular user) approaching or touching the door outer surface. (As shown in FIG. 15, the area W2 which is wide in the vertical direction and short in the rear direction with respect to the own vehicle is changed to be detectable).

Steps S32 and S33: It is determined whether or not the above-described unlock request signal has been received (step S32). If the determination is NO (when the signal is not received), the process proceeds to step S34, and the determination is YES. At this time (when the signal is received), an unlock challenge signal corresponding to the request signal is transmitted (step S3).
3).

Steps S34 and S35: It is determined whether the above-mentioned lock request signal has been received (step S3).
4) When the determination is NO (when the signal is not received), the process proceeds to step S36, and when the determination is YES (when the signal is received), the lock challenge signal corresponding to the request signal is transmitted. (Step S35).

Steps S36 and S37: It is determined whether or not the above-described window / door open request signal has been received (step S36). If the determination is NO (when the signal is not received), the process proceeds to step S38. YES
(When the signal is received), a window / door opening challenge signal corresponding to the request signal is transmitted (step S37).

Steps S38 and S39: By detecting the state of the key cylinder contact switch 24,
It is determined whether the lock operation or the unlock operation by the user's key operation has been performed. If the lock operation is detected by these determinations, the process proceeds to step S45. If the unlock operation is detected, the process proceeds to step S47. If no operation has been detected, the process proceeds to step S42.

Step S40, Step S41: It is determined whether or not the above-described unlock response signal has been received (Step S40). If the determination is NO (when the signal is not received), the process proceeds to Step S42, and the determination is YES. At this time (when the signal is received), it is determined whether the electric field strength of the response signal is higher than a predetermined second level (<first level) (step S41). When the determination in step S41 is YES (when the electric field strength of the response signal is higher than the second level), the process proceeds to step S47 to perform the door unlock operation, and N
If O (when the electric field strength of the response signal is smaller than the second level), the process proceeds to step S42.

Step S42: It is determined whether or not the above-described lock response signal has been received. If the determination is NO (when the signal is not received), the process proceeds to step S43, and if the determination is YES (when the signal is received). ), The process proceeds to step S45.

Steps S43 and S44: The electric field intensity is set to a predetermined second level (<first level) within a predetermined time.
It is determined whether or not the above unlock response signal has been received again (step S43). When the determination is NO (when the signal is not received), the process proceeds to step S45, and Y
In the case of ES (when the signal is received), it is determined whether a lock response signal is received after the unlock response signal (step S44). When the determination in step S44 is YES (when the lock response signal is received after the unlock response signal), the process proceeds to step S45 to perform the door locking operation, and when NO (when the unlock response signal is not When the lock response signal is not received later), the process proceeds to step S47.

Steps S45 and S46: The door lock actuator 31 performs the door lock operation (step S45), and the door lock detection sensor 23
When it is detected that the door lock has been completed by detecting the state (1), the above-mentioned lock confirmation signal is transmitted (step S46), and the fact that the door lock operation has been performed by the vehicle-mounted device 2A is carried by the portable device 1A. The horn 34 or the hazard lamp 35 is operated or turned on a predetermined number of times (for example, once) in order to notify the user who is performing the operation, and the process proceeds to step S4.
Go to 9.

Steps S47 and S48: The door lock actuator 31 performs the door unlock operation (step S47), and the door lock detection sensor 2
When the completion of the door unlock is detected by detecting the state of No. 3, the unlock confirmation signal described above is transmitted (step S48), and the fact that the door lock operation has been performed by the in-vehicle device 2A is indicated by the portable device. Horn 34 or hazard lamp 3 to notify the user carrying 1A
5 is operated or turned on a predetermined number of times (for example, twice), and the process proceeds to step S49. The door unlocking operation in step S47 is performed by detecting the approach of the user by an infrared sensor or the like in addition to the door unlocking operation by the key cylinder.
The detection may be performed after the user's intention to get on the vehicle is determined.

Step S49: As will be described later with reference to FIG. 30, when an authorized user approaches or comes into contact with the own vehicle based on the image captured by the image capturing camera 33 corrected in step S31, the window and / or the door are opened. An automatic opening operation process for automatically performing the opening operation is executed.

Step S50, Step S51: It is determined whether or not the above-described window / door open response signal has been received (step S50). It is determined whether a response signal has been received (step S51).

Step S52: When the determination in step S51 is NO (when the window / door open response signal has been received, but the signal is not detected even after a predetermined time has elapsed), the portable device 1A is onboard equipment 2A
When the window and / or door is open at this time, the power window / door opening motor 32 is operated to close the window and / or door. The horn 3 transmits a window / door closing confirmation signal and notifies the user carrying the portable device 1A of the horn 3
4 or hazard lamp 35 a predetermined number of times (for example, 3 times)
Operate or light and return.

Step S53: When the determination in step S51 is YES (when the signal is detected again before the predetermined time has elapsed after receiving the window / door open response signal), the portable device 1A is connected to the vehicle-mounted device. When the window and / or door is currently closed, the window and / or door motor 32 is operated to open and fully open the window and / or door motor 32 to indicate that the window and / or door is present near the periphery of 2A. If so, a window / door open confirmation signal is transmitted, and the horn 34 or the hazard lamp 35 is operated or turned on a predetermined number of times (for example, four times) to notify the user carrying the portable device 1A, and the process returns. .

Step S54: It is determined whether the ignition switch 25 has been turned on last time, and this determination is YES.
If so, the process proceeds to step S54, and if this determination is NO and if it is off last time, the process proceeds to step S55.

Step S55: Since the ignition switch 25 has been turned on last time and the rear side alarm system has been activated, the detection direction, detection accuracy, detection distance range, and detection angle of the imaging camera 33 are returned to the previous settings. (Figure 1
As shown in FIG. 5, an area W1 that is narrower in the vertical direction and longer in the rear direction with respect to the host vehicle is changed to be detectable.

Step S56: It is determined whether the vehicle is running, and if this determination is YES and the vehicle is running, step S5
Then, if the determination is NO and the vehicle is not running, the process returns.

In step S57, as will be described later, an obstacle existing behind the host vehicle is detected, and a rear-side obstacle warning process for warning the driver is executed.

According to the above-described first embodiment, when the ignition switch 25 is turned off, the object approaching or contacting the own vehicle is determined by the authorized user from the image captured by the imaging camera 33 of the rear side warning system. Judge,
If the window / door open switch 14 is operated on the portable device 1A, a predetermined door or window can be opened only by the user carrying the portable device 1A approaching the own vehicle (the onboard device 2A). This allows the user to place the luggage in the car prior to opening the door, for example, when the user is holding luggage in both hands, thereby improving the convenience of getting into the car with the luggage in a small parking lot. Can be improved. In the above-described embodiment, the transmission time of the window open response signal from the portable device 1A is set to the predetermined time. However, if the transmission of the signal can be stopped by manual operation, the transmission time is the same as the unlock request signal. The transmission may be continued periodically.

In the present embodiment, the window to be opened is not specified, and the present invention is applicable to any door window of a motor vehicle (including a type including a power window in a hatch-type rear door), or Although a system configuration that can be set arbitrarily may be used, considering the convenience of a driver who will often carry the portable device 1A, it is most likely that the window provided at the rear door of the driver's seat door is opened. Convenience is improved.

In the first embodiment, when the loading of the luggage or the like is completed and the user carrying the portable device 1A moves away from the own vehicle (vehicle-mounted device 2A), steps S49 to S51 in FIG. Since windows and / or doors are automatically closed by the processing, security can be improved. As described above, the window and the door are automatically closed when the user moves away from the vehicle. Therefore, the window close switch 15 may not be provided in the portable device 1A. It is provided to improve convenience, because it may be necessary to open it. [Second Embodiment] Next, a second embodiment based on the keyless entry system according to the first embodiment will be described. In the following description, the same configuration as that of the first embodiment will not be described repeatedly, and the description will focus on the characteristic portions of the present embodiment.

In the first embodiment, when the user carrying the portable device 1A approaches the host vehicle (vehicle-mounted device 2A), the window / door open switch 14 is switched on the portable device 1A.
Is operated, the window and / or door opening operation is performed. However, in the second embodiment, when an authorized user carrying the portable device 1A performs a door handle operation, the door lock and the door are opened. It is configured to perform an unlocking operation and an opening and closing operation of a window and / or a door. Therefore, each door is provided with a door handle switch 26 so that it is possible to determine which door the authorized user has operated, and furthermore, the door on which the door handle switch 26 is turned on (or a predetermined A door lock actuator 31 and a power window / door opening / closing motor 32 are provided to open and close a door having a positional relationship.

Accordingly, the portable device 1 according to the second embodiment
The hardware configuration of FIG. 1A is the same as that of the first embodiment shown in FIG.
However, an on / off signal of the door handle switch 26 is input to the vehicle-mounted device 2A.

FIG. 8 is a diagram showing transmission / reception signals in the keyless entry system according to the second embodiment. What is different from FIG. 3 in the first embodiment is that the power window / door opening / closing motor 32 further The difference is that a communication procedure to close the window has been added. This case also includes transmission and reception of a challenge signal, a response signal, and a confirmation signal from the viewpoint of security.

Next, a control process performed by the controller 11 of the portable device 1A and a control process performed by the controller 21 of the vehicle-mounted device 2A will be described. <Portable Device 1A> FIGS. 9 and 10 are flowcharts showing a control process of the portable device 1A in the second embodiment.

In the figure, steps S61 to S72: step S3 in the first embodiment described above.
Is substantially the same as the processing from step S15 to step S15.
In the present embodiment, since the unlock request signal is transmitted only when the door unlock switch 13 is turned on, the process corresponding to step S1 and step S2 is not included, and the process corresponding to step S11 is also included accordingly. There is no difference.

Steps S73 and S74: The operation state of the window / door open switch 14 is detected (step S73), and it is determined whether or not the detected operation state is on (step S74). When the operation state of the switch is ON, step S75
If NO (the operation state of the switch is OFF), the flow proceeds to step S79.

Steps S75 and S76: The timer starts counting time (step S75), and transmits a window / door open request signal (step S76), and step S7.
Go to 7.

Steps S77 to S79: According to the operation state of the door unlock switch 13, the timer is reset when the switch is on (step S79), and when the switch is off, the count of the timer is smaller than a predetermined count value. It is determined whether it is smaller (Step S7)
8).

Steps S80 and S81: It is determined whether a window / door opening challenge signal has been received (step S80). If the determination is NO (when the signal is not received), the process returns to step S77, and the determination is YES. At this time (when the signal is received), a window / door open response signal corresponding to the challenge signal is transmitted (step S81).

Steps S82 to S84: The operation state of the window / door closing switch 15 is detected (step S82), and it is determined whether or not the detected operation is on (step S83). If the operation state is OFF, the process proceeds to step S85 and Y
If ES (the operation state of the switch is ON), a window / door closing request signal is transmitted (step S8).
4).

Steps S85 and S86: It is determined whether a window / door closing challenge signal has been received (step S85). If the determination is NO (when the signal is not received), the process proceeds to step S25 in FIG. , YE
In the case of S (when the signal is received), a window / door closing response signal corresponding to the challenge signal is transmitted (step S86).

Thereafter, step S25 described with reference to FIG.
-The same processing as step S28 is executed. <In-vehicle device 2A> FIGS. 11 and 12 are flowcharts showing control processing of the in-vehicle device 2A in the second embodiment.

In the figure, step S89: The state of the ignition switch 25 is detected. If the detected state is off, the process proceeds to step S90. If the detected state is on, the process proceeds to steps S54 to S57 described in FIG. The same processing is performed.

Step S90: It is determined whether or not the ignition switch 25 has just been turned off. If it has just been turned off, the process proceeds to step S92.
Go to 91.

Step S91: The same processing as in step S31 of FIG. 6 is executed.

Steps S92 to S95: It is determined whether the state of the door lock actuator 31 is the door lock state based on the detection state of the door lock detection sensor 23 (step S92), and the determination is NO (unlocked state). If so, the process proceeds to step S96, and if YES (locked state), it is determined whether or not the door handle switch 26 has been operated to operate the door handle (step S9).
3). If the determination in step S93 is NO (no operation of the door handle), the process proceeds to step S96, and if the determination is YES (operation of the door handle), an unlock challenge signal is transmitted (step S94), and a window / door opening challenge signal is transmitted. (Step S9)
5).

Steps S96 to S103: FIG.
It is determined whether or not each request signal for unlocking, locking, window and / or door opening has been received, and a corresponding challenge signal is transmitted when it has been received, and further, step S102 When the reception of the window / door closing request signal is detected, the window / door closing challenge signal is transmitted (step S103).

Steps S104 to S108: Similar to steps S38 to S42 in FIG. 6, it is determined whether or not the lock operation or the unlock operation by the user's key operation has been performed, and the unlock response signal and the lock response signal are output. Determine whether it has been received.

Steps S109 to S114: Similar to steps S45 to S50 in FIG. 7, the door lock operation and the transmission of the confirmation signal, the horn 34 or the hazard lamp 35 are operated or turned on a predetermined number of times, or the door unlock operation. After the transmission of the confirmation signal, the automatic opening operation process is performed, and it is determined whether a window / door opening response signal has been received. Proceed to S115.

Step S115: It is determined whether a window / door close response signal has been received. If it is determined that the window / door close response signal has been received, the process proceeds to step S116. If not, the process returns.

Steps S116 and S117: Similar to steps S52 and S53 in FIG. 7, the operation of opening and closing the window is performed, and the process returns.

According to the above-described second embodiment, when an authorized user carrying the portable device 1A operates the door handle, the door lock / unlock operation and the opening / closing operation of the window and / or the door are performed. Therefore, when the authorized user is holding luggage in both hands, it is possible to place luggage in the car before opening the door, making it convenient when boarding luggage with luggage in a small parking lot. Can be improved.

In the above-described second embodiment, the window is opened when the door handle is operated. However, the present invention is not limited to this configuration, and the operation of a switch such as a side mirror provided at an inconspicuous position may be performed. Alternatively, a body pressing operation by a user against a door handle or the like may be detected and used as a trigger for a window opening operation. [Third Embodiment] Next, a keyless entry system that performs a door lock and a door unlock operation only by operating the door lock switch 12 and the door unlock switch 13 of the portable device 1A carried by an authorized user will be described. In the following description, the same configuration as that of the first embodiment will not be described repeatedly, and the description will focus on the characteristic portions of the present embodiment.

The third embodiment is different from the first and second embodiments in that a radio signal is automatically transmitted from the portable device 1A at a predetermined time period when the power switch 19 is turned on. Since the power is always supplied and the lock / unlock operation is performed only in response to the operation of the door lock switch 12 or the unlock switch 13 of the portable device 1A, the power switch 19 shown in FIG.

The control process performed by the controller 11 of the portable device 1A and the control process of the
And the control process performed by the control unit will be described. <Portable Device 1A> FIGS. 13 and 14 are flowcharts showing a control process of the portable device 1A according to the third embodiment.

In the figure, steps S121 to S133: The same processing as steps S3 to S15 in FIG. 4 is performed.

Steps S134 to S138: The state of the window / door open switch 14 is detected (step S134). When the window / door open switch 14 is operated, a window / door open request signal is transmitted (step S135). When the window / door open challenge signal is received together with step S136),
A window / door open response signal corresponding to the challenge signal is transmitted (step S137, step S1).
38).

Steps S139 to S142: When the window / door close switch 15 is operated,
A window / door closing request signal is transmitted (step S1)
When a window / door closing challenge signal is received together with the window / door closing challenge signal (step S140, step S140), a window / door closing response signal corresponding to the challenge signal is transmitted (step S141, step S142).

Steps S143 to S146: Processing similar to steps S25 to S28 in FIG. 4 is performed.

The operation of the in-vehicle device 2A is the same as that in the flowchart of FIG.

In the above-described third embodiment, the same effects as in the first and second embodiments can be obtained. [Backward Obstacle Warning System] Next, the configuration and control of the rear side obstacle warning system in the above-described first to third embodiments will be described. <Hardware Configuration of Rear Side Obstacle Warning System> FIG. 15 shows an automobile 101 equipped with a rear side obstacle warning system, and an object O such as another vehicle positioned diagonally left and right behind the host vehicle. (See FIG. 18, FIG. 25 and FIG. 26) and the position is displayed on the display 36.

As shown in FIG. 1, 102 is an automobile 101
103, a vehicle compartment formed at approximately the center of the front and rear of the vehicle body 102; 104, an engine room formed at the front end of the vehicle body 1; 105, an instrument panel disposed at the front end of the vehicle compartment 103; Denotes a package tray at the rear end of the vehicle compartment 103, and 107 denotes left and right door mirrors. Then, as shown in FIG. 16, the rear side obstacle warning system includes left and right rear side imaging cameras 33 for measuring the distance to the object O, and output signals of the imaging cameras 33, respectively. And a display 36 that receives a signal from the controller 21 and displays information on the distance between the subject vehicle and the object O detected by the rear side imaging camera 33 on a CRT, liquid crystal, or the like. It has.

As shown in FIG. 28, the display 36 has a rear view portion 132 of the host vehicle, which is an image of the rear view of the host vehicle 101, and a left rear side and a right rear on the lower left and right sides of the rear rear portion 132, respectively. A display screen 13 displaying left and right segment rows 133 arranged so as to extend substantially vertically one by one in correspondence with a lateral obstacle.
1a, and each of the segment rows 133 includes, for example, eight substantially trapezoidal segments 134 that are individually turned on and off. The two segment rows 133 are arranged in an inclined manner so as to approach each other from the lower side far from the host vehicle rear view portion 132 to the upper side which is closer to the lower side, and the left and right width of the segment 134 in each segment row 133 is , The width is wide on the lower side far from the rear view portion 132 of the vehicle and narrows toward the upper side near the rear view portion 132 of the vehicle. That is, on the display screen 131a, when the host vehicle is viewed from behind, the image of the rear obstacle is displayed in perspective.

As shown in FIG.
In the state in which each of the left and right door mirrors 107 faces obliquely rearward, the detection direction, the detection accuracy, the detection distance range, and the detection angle thereof are narrower in the up-down direction with respect to the own vehicle and are longer in the rearward direction. , Which is changeable to an area W2 which is wide in the vertical direction and short in the rear direction. The area W1 is set when the rear side obstacle warning system is activated, and the area W2 is set during an automatic opening operation process described later. Further, the controller 21 is arranged in the passenger compartment 103 and the display 36 is arranged in the instrument panel 105.

As shown in FIG. 18, each of the imaging cameras 33 includes a pair of upper and lower CCD chips 111 arranged in a vertical direction at a predetermined distance, and lenses 112 arranged corresponding to the CCD chips 111, respectively. And Each CCD chip 111 converts a CCD line composed of a number of CCDs arranged along a window direction, which is a vertical direction, into a line direction (horizontal direction) orthogonal to the window direction.
A multi-stage line-type CCD is arranged in multiple stages, and each of the CCD chips 111 passes through a lens 112 through a mirror (half mirror) of a door mirror 107 within an angle θ1 in a vertical direction and an angle in a horizontal horizontal direction. An image of the object O or the like in the range of θ2 (see FIGS. 23 and 26) is captured as luminance information. That is, the pair of CCD chips 111 constitute a plurality of detection sensors in which element lines composed of a plurality of light receiving elements arranged along the window direction are arranged in multiple stages in a line direction orthogonal to the window direction. are doing.

As shown in FIG. 17, each of the imaging cameras 33
Are respectively connected to a distance measuring circuit 116 in the controller 21. Each of the distance measuring circuits 116 includes a parallax calculator 117 for calculating the parallax (phase difference) of the object image between the two CCD chips 111, and a distance calculator for calculating a distance to the object O based on a signal from the parallax calculator 117. And a part 118. 19 and FIG.
As shown in FIG. 0, the image captured as luminance by each CCD chip 111 is converted into a CCD image in the line direction (horizontal direction).
Each line is divided into n lines, and each line is divided into m windows in the window direction (vertical direction), so that substantially the entire image is composed of m × n regions E. The parallax between the same areas E in the image obtained by the CCD chip 111 is obtained, and the object O
Calculate the distance to.

That is, the images captured as luminance by both CCD chips 111 are as shown in FIG. 19, but the images of both CCD chips 111 are the same at the same line position (line i in the illustrated example). As shown in the figure, the two CCD chips 111 are displaced in the vertical direction to generate a parallax.
Measure up to. This principle will be described with reference to FIG. In FIG. 22, O1 and O2 are the lens centers, and Q
1 and Q2 are points where the optical axis of each lens intersects the CCD chip 111, and P1 and P2 are imaging points. That is, the triangles P · O1 · Q and the triangles O1 · P1 · Q1 and the triangles P · O2 · Q and the triangles O2 · P2 ·
Since Q2 are similar to each other, the distance from the imaging camera (lens 112) to the object O is a, the distance between the centers of both lenses 112 is B (constant), and the focal length of the lens 112 is f (constant). ), Assuming that the shift amounts of the object images from the lens centers in both CCD chips 111 are b1 and b2, respectively, a · b1 / f = Ba−b2 / f. (B1 + b2) is obtained. That is, the distance a to the object O can be measured by the parallax (phase difference) of the object image between the two CCD chips 11.

G (white point) in FIGS. 19 and 20
Are ranging points (ranging points) arranged in a vertical and horizontal lattice so as to correspond to the CCD of the CCD chip 111, and the ranging points G are included in each area E. In addition, each CCD
The window in the line is divided so that a part of the window overlaps the adjacent window, and the same distance measuring point G is included in an area E adjacent in the vertical direction (window direction). Further, O ′ is an image of the object.

Further, as shown in FIG.
A plurality of lines formed by dividing the image captured as luminance by the chip 111 for each line
The line position for measuring a short distance outside of 1 is a small number, while the line position for measuring a long distance on the center side in the vehicle width direction is a large number, and the center position in the vehicle width direction from the outside line. The numbers are numbered in such a way that the numbers increase in order toward the line.

As shown in FIG. 17, the controller 21
The object recognition unit recognizes a fixed object O (other vehicle) based on two-dimensional distance data in the vertical and horizontal directions obtained based on the sensor 33, that is, a signal from each distance measurement circuit 116. 120 are provided. In the object recognition unit 120, an object registration unit 120a for registering the recognized object O
A center of gravity setting unit 120b for setting the center of gravity of the object O registered by the object registration unit 120a; and an object position recognition for recognizing the position or movement of the object O based on the center of gravity set by the center of gravity setting unit 120b. A part 120c is provided. Then, the object recognizing unit 120 outputs a display signal to the display 36 based on the recognition result of the object O (particularly, the position or movement of the object O recognized by the object position recognizing unit 120c).

The controller 21 has a vehicle speed sensor 11 for detecting the traveling speed v (vehicle speed) of the vehicle 101.
3 and an output signal of a steering angle sensor 114 that detects the steering angle θH of the host vehicle 101.

Further, the controller 21 includes a white line removal unit 122 for removing distance data such as a white line or a number on the road surface from the distance data of each measured area, and a controller for removing a range unnecessary for recognizing the object O. First to exclude located distance data
And comparing the distance data of each measured area with eight neighboring areas (8 adjacent point processing), and assigning the number of effective points to the second range cut sections 123 and 124.
An adjacent point processing unit 125, a line distance calculation unit 126 that calculates a line representative distance by performing weighting calculation for each line using the number of effective points, and a plurality of object detection positions corresponding to the respective line representative distances. An envelope setting unit 127 that sets an envelope such that the position on the horizontal plane is included from the outside in the vehicle width direction based on the position on the horizontal plane.

The white line removing unit 122 performs a white line removing process, and executes the first range cutting unit 123 and the eight adjacent point processing unit 12.
5 and the line distance calculation unit 126 performs the first line data processing. That is, the first range cut unit 123 removes the distance data located in a range considered unnecessary when setting the envelope, and leaves the distance data (extracted).
The line representative distance is calculated from the distance data.

The envelope setting section 127 performs an envelope setting process based on the line representative distance to set an envelope, and the second range cut section 124 and the 8 adjacent point processing section 125
And the line distance calculation unit 126 performs the second line data processing. That is, of the distance data extracted by the first range cut unit 123 and the removed distance data, distance data at a position inside the envelope in the vehicle width direction is extracted, and the extracted line data is used again. Calculate the distance.

The object recognizing section 20 performs object data processing based on the newly calculated line representative distance to recognize the object O, and displays information on the distance between the recognized object O and the vehicle 101 on the display 36. To be displayed.

The above-described white line removal processing operation is to remove the data detecting the road surface (actually, the road surface itself is not detected because the contrast is low, and white lines and the like on the road surface are detected). .

As shown in FIG. 24, the first line data processing includes a range cut processing in the first range cut section 123, an eight adjacent point processing in the eight adjacent point processing section 125,
The line distance calculation unit 126 includes a weight calculation process, and these processes are performed in this order.

The range cut processing in the first range cut section 123 is performed to remove unnecessary distance data when performing the envelope setting processing in the envelope setting section 127.

FIG. 25 illustrates the range cut range Z1 in the vertical direction excluded by the first range cut unit 123, and FIG. 26 illustrates the range cut range Z2 in the horizontal direction. The distance data at the positions at Z1 and Z2 are removed and the range cut range Z
Only the distance data at a position in the area where the distance between the first and the second Z2 is reduced is extracted. In FIG. 26, F is the vehicle 101
M is a white line on the road surface F that sets the vehicle traveling lane on the road, F1 is a roadside zone installed on both sides of the road, and H is an implant.

As shown in FIG. 27, the 8-neighboring point processing operation of the eight-neighboring point processing unit 25 is performed by using distance data of a certain area E (i, j) (distance data extracted by the first range cut unit 123). ) Is determined for the distance data of the eight adjacent regions R1 to R8 adjacent thereto. <Back Side Obstacle Detection Control> FIG. 29 is a flowchart showing the back side obstacle detection processing of this embodiment.

In the figure, step S171: The relative position (distance or direction) of an obstacle present on the rear side of the host vehicle is calculated based on the image on the rear side of the host vehicle taken by the image pickup camera 33. . The left and right imaging cameras 33
For each of the above, the relative position of the obstacle may be detected by triangulation, and correction may be performed according to the relative speed.

Step S172: It is determined whether or not the relative position of the obstacle is within a predetermined area with respect to the own vehicle.
If the vehicle is within the predetermined region with respect to the ES, the process proceeds to step S173. If the determination is NO and the vehicle is outside the predetermined region, the process returns because the obstacle is not close enough to warn the driver.

Step S173: Since the obstacle is close enough to warn the driver, the relative position of the obstacle with respect to the own vehicle is displayed on the display 36 (see FIG. 28).

Step S174: It is determined whether there is a lane change operation by the driver in the direction where the obstacle exists, based on the blinker operation, the steering angle, and the like.
If the driver intends to change lanes in S, the process proceeds to step S175. If the determination is NO and the driver does not intend to change lanes, the obstacle is not approaching enough to warn the driver. I do.

Step S175: The buzzer 34 warns that an obstacle exists in the lane change direction. [Automatic opening operation processing] Next, the automatic opening operation processing in the above-described first to third embodiments will be described.

FIG. 30 is a flowchart showing the automatic opening operation processing of the first to third embodiments.

In the figure, step S181: An automatic opening condition setting process described later is executed.

Step S182: The window / door opening / closing permission flag set in the automatic opening condition setting process is determined. If the flag is set to 1 in this determination, the process proceeds to step S183, and in this determination, If the flag has been reset to zero, return.
The window / door opening / closing permission flag is set to 1 when a window or door opening operation condition is satisfied.

Step S183: The relative position (distance or direction) of the object (body or limb of the regular user) approaching or in contact with the own vehicle based on the image captured by the image capturing camera 33.
Is calculated. Note that the relative position of the obstacle may be detected by triangulation for each of the left and right imaging cameras 33, but in this case, it is necessary to continuously detect the obstacle for a predetermined time.

Step S184: In order to confirm the intention of the legitimate user to open the window or the door (since there is a case in which the legitimate user has merely taken an image of the hand of the legitimate user without the intention to open the window or the door), the confirmation is made for a predetermined time or more. It is determined whether the relative position of the object cannot be recognized. If the determination is YES and the recognition is not possible, the process proceeds to step S186. If the determination is NO and the recognition is possible, the process proceeds to step S185.

Step S185: It is determined whether or not the object recognized by the captured image can be confirmed as a legitimate user by checking the face of the legitimate user or the like. If the decision is YES and the legitimate user can be confirmed For example, the process proceeds to step S189, and if this determination is NO and cannot be confirmed, the process proceeds to step S186.

Step S186: It is determined whether or not the window / door has been opened by this program. If the determination is YES and there is an opening operation, the flow advances to step S187.
If this determination is NO and there is no opening operation, the routine returns.

Step S187: Misplacement of the key is detected, and if this determination is YES and there is a misplacement of the key,
Return to prevent the key from being locked in the car,
If this determination is NO and the key is not left, the process proceeds to step S188.

Step S188: If the window / door opening / closing permission flag is set to 1 and the window and / or door is being opened, no key is left behind and the window and / or door is currently open. The corresponding window and / or door by operating the power window / door opening / closing motor 32;
Alternatively, all windows and / or doors are closed, and when they are fully closed, a window / door close confirmation signal is transmitted, and in order to notify the user carrying the portable device 1A,
The horn 34 or the hazard lamp 35 is operated or turned on a predetermined number of times (for example, three times), and the process returns.

Step S189: It is determined whether the relative position of the object is in the same direction as the direction of receiving the signal from the portable device 1A.
If this determination is NO and the direction is not the same, the process returns.
This process is performed, for example, when the user carrying the portable device 1A is close to the vehicle and another person comes into contact with a window or door that is far from the window or door close to the user. This is to prevent that.

Step S190: It is determined whether or not the relative position of the object is close to or in contact with the window.
The process proceeds to step S191. If the determination is NO and the window is not approaching or in contact with the window, the process proceeds to step S192.

Step S191: If the window and / or door is open at the present time, the corresponding window and / or door is opened by operating the power window / door opening / closing motor 32. Send a door open confirmation signal,
In order to notify the user carrying the portable device 1A, the horn 34 or the hazard lamp 35 is turned on a predetermined number of times (for example, 4
Activate or light.

In step S192, it is determined whether the relative position of the object is close to or in contact with the door. If this determination is YES and if it is close to or in contact with the door, the flow proceeds to step S193, and if this determination is NO. If not close to or in contact with the door, return.

Step S193: The door type is determined.
If it is determined that the door is a sliding door, step S1
Proceeding to 94, if it is determined that the door is a hinged door, step S1
Go to 96. If it is determined in step S193 that the door is a hinge door, the process may return to step S196 without proceeding to step S196.

Step S194: It is determined whether or not a part of the object (such as a legitimate user's hand) is in the opening direction of the sliding door.
If this determination is YES and the sliding door is in the opening direction, the hand may be pinched when the sliding door is opened. Therefore, the process returns. If this determination is NO and the sliding door is not in the opening direction, the process proceeds to step S195. move on.

Step S195: It is determined whether or not the object (the body of the authorized user) is in the opening direction of the sliding door. If this determination is YES and the sliding door is in the opening direction, there is a possibility of collision when the sliding door is opened. So return,
If this determination is NO and the slide door is not in the open direction,
Proceed to step S198.

Step S196: It is determined whether or not the object is in the opening direction of the hinge door. If the determination is YES and the object is in the opening direction of the hinge door, there is a possibility of collision when the hinge door is opened. If it is not in the hinge door opening direction, the process proceeds to step S197.

Step S197: It is determined whether or not the object is at the front of the hinge door. If this determination is YES and the object is at the front of the hinge door, it returns because the luggage and the like are not jammed even if the hinge door is opened. , This decision is N
If it is not at the front of the hinge door at O, step S198
Proceed to.

Step S198: If the window and / or door is in the closed state at the present time, the corresponding window and / or door is opened by operating the power window / door opening / closing motor 32. / Send a door open confirmation signal,
In order to notify the user carrying the portable device 1A, the horn 34 or the hazard lamp 35 is turned on a predetermined number of times (for example, 4
Activate or light.

In the above flowchart, the processing from step S184 to step S189 may be omitted, or these steps may be executed in an appropriate combination.

According to the above-described automatic opening operation processing, after the door is locked or unlocked, the object approaching or in contact with the own vehicle can be determined from the image captured by the imaging camera 33 of the rear side warning system. Since the user is determined to be a user and the user carrying the portable device 1A simply comes close to or comes into contact with the vehicle (the in-vehicle device 2A), a predetermined door or window can be automatically opened. When holding the vehicle, it is possible to place the luggage in the vehicle prior to opening the door, so that it is possible to improve the convenience of, for example, getting into the vehicle together with the luggage in a parking space with a small space. [Automatic opening condition setting processing] Next, the automatic opening condition setting processing in the automatic opening operation processing will be described with reference to first to seventh examples. <First Example> FIG. 31 is a flowchart showing a first example of the automatic opening condition setting process shown in FIG.

The automatic opening condition setting process of the first example is applicable to the first to third embodiments.

As shown in the figure, in step S201, it is determined whether the door is locked or not.
In step 202, the window / door opening / closing permission flag is reset to zero, and if unlocked, the process proceeds to step S203.

In step S203, it is determined whether a window / door open response signal whose electric field strength is equal to or higher than a predetermined third level (> first level) has been received within a predetermined time. If it is not received, the process proceeds to step S202, and if YES (when the signal is received), the window / door open / close permission flag is set to 1 in step S204.

In the first example, step S203 may be omitted if the authorized user can be recognized by the imaging camera or the like. <Second Example> FIG. 32 is a flowchart showing a second example of the automatic opening condition setting process shown in FIG.

The automatic opening condition setting process of the second example can be applied to the first to third embodiments.

As shown in the figure, in step S211 it is determined whether or not a window / door open response signal whose electric field strength is equal to or higher than a predetermined third level (> first level) is received within a predetermined time. If NO (when the signal is not received), the process proceeds to step S212 to reset the window / door open / close permission flag to zero, and YES
(When the signal is received), step S2
Proceed to 13.

In step S213, the window /
After receiving the door open response signal, it is determined whether a lock response signal of a predetermined level or more has been received.
(When the signal is not received), step S2
In step S212, the window / door opening / closing permission flag is set to 1, and if YES (when the signal is received), the flow proceeds to step S212 to reset the window / door opening / closing permission flag to zero. <Third Example> FIG. 33 is a flowchart showing a third example of the automatic opening condition setting process shown in FIG.

The automatic opening condition setting process of the third example is applicable to the first to third embodiments. Note that when applied to the third embodiment, it is necessary to operate a door unlock switch.

As shown in the figure, it is determined in step S221 whether or not the door is locked.
In step 222, the window / door opening / closing permission flag is reset to zero, and if unlocked, the process proceeds to step S223.

In step S223, it is determined whether an unlock response signal whose electric field strength is equal to or higher than a predetermined third level (> first level) has been received within a predetermined time, and when the determination is NO (the signal is not received). In step S222, the flow advances to step S222 to set the window / door opening / closing permission flag to zero, and if YES (when the signal is received), the flow advances to step S224 to set the window / door opening / closing permission flag to 1. I do.

In the third example, as in the first example, if an authorized user can be recognized by an imaging camera or the like, step S223 may be omitted. <Fourth Example> FIG. 34 is a flowchart showing a fourth example of the automatic opening condition setting process shown in FIG.

The automatic opening condition setting process of the fourth example is applicable to the first to third embodiments. Note that when applied to the third embodiment, it is necessary to operate a door unlock switch.

As shown in the figure, in step S231, it is determined whether or not an unlock response signal whose electric field strength is equal to or higher than a predetermined third level (> first level) is received within a predetermined time. At this time (when the signal is not received), the process proceeds to step S232 to reset the window / door open / close permission flag to zero, and when YES (when the signal is received), the process proceeds to step S233.

In step S233, after receiving the unlock response signal, it is determined whether a lock response signal of a predetermined third level (> first level) or higher has been received.
When the determination is NO (when the signal is not received), the process proceeds to step S234 to set the flag to 1, and when the determination is YES (when the signal is received),
Proceeding to step S232, the window / door open / close permission flag is reset to zero. <Fifth Example> FIG. 35 is a flowchart showing a fifth example of the automatic opening condition setting process shown in FIG.

The automatic opening condition setting process of the fifth example is applicable to the third embodiment. Note that when applied to the third embodiment, it is necessary to operate a door unlock switch.

As shown in the figure, it is determined in step S241 whether the door is locked or not.
Proceeding to 242, the window / door open / close permission flag is reset to zero, and if unlocked, step S22.
Proceeding to 3, the window / door open / close permission flag is set to 1. <Sixth Example> FIG. 36 is a flowchart showing a sixth example of the automatic opening condition setting process shown in FIG.

The automatic opening condition setting process of the sixth example is applicable to the first and second embodiments.

As shown in the figure, in step S251, an unlock request signal is transmitted.

In step S252, it is determined whether an unlock response signal whose electric field strength is equal to or higher than a predetermined third level (> first level) has been received within a predetermined time, and if the determination is NO (the signal is not received). In step S253, the flow advances to step S253 to set the window / door opening / closing permission flag to zero, and if YES (when the signal is received), the flow advances to step S254 to set the window / door opening / closing permission flag to 1. I do.

In the case of the sixth example, step S252
Even if the determination in step is YES, the unlocking need not be performed. <Seventh Example> FIG. 37 is a flowchart showing a seventh example of the automatic opening condition setting process shown in FIG.

The automatic opening condition setting processing of the seventh example can be applied to the second embodiment.

As shown in the figure, in step S261, a window / door open request signal is transmitted.

In step S262, it is determined whether or not a window / door open response signal having an electric field strength of a predetermined level or more has been received within a predetermined time. If the determination is NO (if the signal is not received), the process proceeds to step S263. Go ahead and set the window / door open / close permission flag to zero,
If YES (when the signal is received), the process proceeds to step S264 to set the window / door open / close permission flag to 1.

In the case of the seventh example, step S262 is executed.
Even if the determination is YES, it is prohibited to immediately open the window and / or door.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a device configuration of a portable device according to a first embodiment.

FIG. 2 is a block diagram illustrating a device configuration of the vehicle-mounted device according to the first embodiment.

FIG. 3 is a diagram showing transmission / reception signals in the keyless entry system according to the first embodiment.

FIG. 4 is a flowchart illustrating a control process of the portable device 1A according to the first embodiment.

FIG. 5 is a flowchart illustrating a control process of the portable device 1A according to the first embodiment.

FIG. 6 is a flowchart illustrating a control process of the vehicle-mounted device 2A according to the first embodiment.

FIG. 7 is a flowchart illustrating a control process of the vehicle-mounted device 2A according to the first embodiment.

FIG. 8 is a diagram showing transmission / reception signals in the keyless entry system according to the second embodiment.

FIG. 9 is a flowchart illustrating a control process of a portable device 1A according to the second embodiment.

FIG. 10 is a flowchart illustrating a control process of a portable device 1A according to the second embodiment.

FIG. 11 is a flowchart illustrating a control process of an in-vehicle device 2A according to the second embodiment.

FIG. 12 is a flowchart illustrating a control process of an in-vehicle device 2A according to the second embodiment.

FIG. 13 is a flowchart illustrating control processing of the portable device according to the third embodiment.

FIG. 14 is a flowchart illustrating a control process of a portable device according to the third embodiment.

FIG. 15 is a perspective view showing an automobile 101 equipped with a rear side obstacle warning system.

FIG. 16 is a main block diagram of a rear side warning system.

FIG. 17 is a functional block diagram of the rear side warning system.

FIG. 18 is a diagram illustrating a method of measuring a distance to an object using an imaging camera.

FIG. 19 is a diagram showing an image captured by a CCD chip.

FIG. 20 is a diagram illustrating a method of dividing a line in an image captured by a CCD chip in a window direction to divide an area.

FIG. 21 is a diagram illustrating a state in which images obtained by upper and lower CCD chips are displaced on the same line to cause parallax.

FIG. 22 is a diagram for explaining the principle of measuring the distance to an object using upper and lower CCD chips.

FIG. 23 shows C in an image obtained by a CCD chip.
It is a top view which shows the ranging direction of a CD line.

FIG. 24 is a flowchart conceptually showing first line data processing.

FIG. 25 is a side view showing a vertical range cut area.

FIG. 26 is a plan view showing a range cut area in the horizontal direction.

FIG. 27 is a diagram showing an arrangement of eight adjacent regions adjacent to the region.

FIG. 28 is a diagram showing a rear side obstacle warning screen.

FIG. 29 is a flowchart illustrating a rear side obstacle detection process according to the present embodiment.

FIG. 30 is a flowchart illustrating an automatic opening operation process according to the first to third embodiments.

FIG. 31 is a flowchart showing a first example of the automatic opening condition setting process shown in FIG. 30.

FIG. 32 is a flowchart showing a second example of the automatic opening condition setting process shown in FIG. 30.

FIG. 33 is a flowchart showing a third example of the automatic opening condition setting process shown in FIG. 30.

FIG. 34 is a flowchart showing a fourth example of the automatic opening condition setting process shown in FIG. 30.

FIG. 35 is a flowchart showing a fifth example of the automatic opening condition setting process shown in FIG. 30.

FIG. 36 is a flowchart showing a sixth example of the automatic opening condition setting process shown in FIG. 30.

FIG. 37 is a flowchart showing a seventh example of the automatic opening condition setting process shown in FIG. 30.

[Explanation of symbols]

 Reference Signs List 1A Portable device 2A On-board device 11, 21 Controller 12 Door lock switch 13 Door unlock switch 14 Window open switch 15 Window close switch 16, 22 Transceiver 17, 34 Buzzer 18, 36 Display 23 Door lock detection sensor 24 Key cylinder contact switch 25 Ignition switch 26 Door handle switch 31 Door lock actuator 32 Power window / door opening / closing motor 33 Imaging camera 36 Display 101 Automobile (own vehicle)

──────────────────────────────────────────────────の Continued on the front page (51) Int.Cl. ⁷ Identification symbol FI Theme coat ゛ (Reference) E05B 49/00 E05B 49/00 K 65/20 65/20 F term (Reference) 2E052 AA09 BA06 CA06 EA02 EA15 EB01 EC02 GA06 GA07 GB01 LA02 2E250 AA21 BB08 BB12 DD06 EE09 FF23 FF24 FF27 FF36 HH02 JJ01 JJ03 JJ22 KK03 LL01 LL17 MM01 MM03 PP15 SS01 SS04 SS05 SS08 SS11 TT03 UU02 UU03 VV01

Claims (8)

[Claims] 1. An opening / closing body control device for a vehicle, comprising a control means for controlling the opening / closing of the opening / closing body of the vehicle. An imaging camera for supporting lane change is provided, and when the control unit detects approach or contact of a person to the opening / closing body from the captured image, the opening / closing body corresponding to the approached or contacted position is opened. An opening / closing body control device for a vehicle. 2. A vehicle opening / closing body control device comprising: a portable device for automatically transmitting a predetermined authentication signal; and control means for receiving the transmitted authentication signal and controlling opening / closing of the vehicle opening / closing body. And an imaging camera for detecting an image around the vehicle, wherein the control unit performs imaging while recognizing that a legitimate user is present near the vehicle by receiving the authentication signal. An opening / closing body control device for a vehicle, wherein when an approach or contact of a person to the opening / closing body is detected from an image, the opening / closing body corresponding to the approached or contacted position is opened. 3. A portable device for automatically transmitting a predetermined authentication signal, wherein the control unit recognizes that a legitimate user is present near the vehicle by receiving the authentication signal. 2. The vehicle according to claim 1, wherein if the approach or contact of a person to the opening / closing body is detected from the captured image while the vehicle is in operation, the opening / closing body corresponding to the approached or contacted position is opened. Opening and closing body control device. 4. When the vehicle is stopped or an ignition switch is turned off, an image pickup area is enlarged by increasing the image pickup accuracy of the image pickup camera as compared with when the vehicle is running or when an ignition switch is turned on. The vehicle opening / closing body control device according to claim 1 or 3, wherein: 5. The sliding door according to claim 1, wherein the control means prohibits an opening operation of the sliding door when the approaching or contacting of the sliding door rear part is detected from the captured image. The vehicle opening / closing body control device according to claim 1 or 3, wherein: 6. The hinged door, wherein the control means detects from a captured image that a person is present on the side of the hinge door, or that a person approaches or contacts the hinge door. The opening / closing body control device for a vehicle according to claim 1 or 3, wherein the opening operation is prohibited. 7. The sliding door and the hinge door, wherein the control means determines that a person exists on the side of the slide door from a captured image, or that a person approaches or contacts the hinge door. The opening / closing body control device for a vehicle according to claim 1 or 2, wherein only the sliding door is operated to open when the detection is made. 8. The vehicle opening / closing body control device according to claim 2, wherein the control means detects a receiving direction of the authentication signal and opens only the opening / closing body corresponding to the receiving direction.