JP2017098669A - Remote control system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress occurrence of erroneous judgment.SOLUTION: A remote control system 1 includes an acceleration sensor 24 for detecting acceleration based on the movement of the portable device 2. On the basis of the detection value of the acceleration sensor 24, in a case where it is determined that the iterative operation of repeating the upward and downward movements for moving the heel up and down twice in a state where the user wears the toe on the ground with both feet aligned has been completed, the remote control system 1 remotely operates a sliding door 36. Then, a microcomputer 22 of a portable device 2 determines that the above-mentioned upward and downward movements have been made with the user's legs aligned based on the detection value of the acceleration sensor 24. An invalid period during which the detection result of the acceleration sensor 24 is temporarily invalidated is set after it is determined that the above-mentioned vertical movement has been performed with the first user's legs aligned.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a remote operation system.

  Conventionally, the movement of the portable device is detected by an acceleration sensor, and based on the detected value of the acceleration sensor, it is determined that there is a specific operation stored in advance in the portable device, and the operation completion is output from the portable device to the vehicle. A remote control system that remotely controls an in-vehicle device in response to an output has been proposed.

  For example, in the technique of Patent Document 1, a plurality of hitting operations of a portable device are reflected in door locking / unlocking control. In the technique of Patent Literature 1, specifically, the door is locked by two hitting operations, and the door is unlocked by three hitting operations.

JP 2010-275701 A

  When a large acceleration is detected instantaneously as in the hitting operation, it may be determined that the hitting operation has occurred even though there is no hitting operation due to the mobile device moving at that momentum. For example, if the user performs two hitting operations, it is determined that there was no hitting operation between the first and second hitting operations, and the user performed three hitting operations. It is misjudged that there was.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide a remote operation system that can suppress the occurrence of erroneous determination.

  A remote control system that solves the above problem includes a detection unit that detects a change in physical quantity based on the movement of a portable device, and a specific change is continuously detected multiple times as a change in physical quantity based on a detection result of the detection unit. On the condition, the controlled object is remotely operated. Such a remote control system includes a determination unit that determines whether a specific change is detected based on the detection result of the detection unit. Then, after determining that a specific change is detected, the determination unit temporarily invalidates the detection result of the detection unit.

  Here, when a user causes a movement in which a specific change is detected as a change in physical quantity to the portable device, it is conceivable that the momentum of the movement further causes movement in the portable device. However, the movement of the portable device thus generated is a movement unintended by the user, which is so-called noise.

  In that respect, according to the above configuration, when a movement in which a specific change is detected as a change in physical quantity occurs in the portable device, a specific change is made in the detection unit while the detection result of the detection unit is temporarily invalidated. Even if detected, the detection result can be invalidated. Therefore, it becomes possible to invalidate the detection result in the detection unit related to noise. Therefore, it is possible to suppress the occurrence of erroneous determination that it is determined that a specific change has been detected based on noise.

As a method of invalidating the detection result of such a detection unit, it can be realized by specifically setting an invalid period.
For example, in the case of realizing a remote operation system, if an operation that causes a specific change to be detected as a change in physical quantity is an operation that a user routinely causes in a portable device, the user's intention is hardly reflected. Such a problem is that when trying to realize a remote control system, an operation in which a specific change is detected as a change in physical quantity is not continuously caused by a user on a portable device, and this operation is repeated continuously. However, the concept of time is important.

  As in the above example, in an operation in which a user does not cause a specific change to be detected as a change in physical quantity on a daily basis and the operation is repeated continuously, the user is a human being. Considering this, there is a non-repeatable time. That is, it can be said that the specific change of the physical quantity that occurs within a non-repeatable time is naturally caused by noise.

  That is, when an invalid period is set, the invalid period is targeted for a minimum period of time during which the continuous operation is possible according to the continuous operation by the user who gives the mobile device a movement that causes a specific change continuously. It is desirable to set.

  Setting the invalid period based on the temporal concept as in the above configuration is effective from the viewpoint of suppressing the occurrence of misjudgment based on noise. Therefore, it is possible to more appropriately suppress the occurrence of erroneous determination based on noise.

  In the remote operation system, the movement of the portable device is caused by an impact given by the user, and the change in the physical quantity is preferably a change in speed accompanying the movement of the portable device.

  As in the above configuration, when the movement of the portable device is caused by an impact given by the user, it is possible to detect the change in speed (that is, acceleration) that is directly linked to the movement of the portable device, so that no noise is identified. However, a specific change based on noise is likely to appear after the appearance of the specific change. However, as described above, after the determination unit determines that a specific change is detected, the detection result of the detection unit can be temporarily invalidated, so that a specific change that is not noise is preferably detected. Will be able to. Therefore, the movement of the portable device to the remote operation system can be more suitably reflected, and the reliability of the remote operation system can be improved.

  According to the present invention, it is possible to suppress the occurrence of erroneous determination.

The front view which shows the schematic structure about a remote control system. The figure which shows the operation aspect for every step about specific operation. The chart figure which shows the appearance mode of the peak about the detected value of an acceleration sensor. The flowchart which shows the flow of an operation detection process. The chart figure which shows the appearance mode of the peak about the detected value of an acceleration sensor.

Hereinafter, an embodiment of a remote control system will be described.
As shown in FIG. 1, the remote operation system 1 can perform bidirectional wireless communication between the portable device 2 and the vehicle 3 and can perform unidirectional wireless communication with the portable device 2 as a transmission side. is there. For bidirectional wireless communication, LF (low frequency) band radio waves and UHF (ultrahigh frequency) band radio waves are used, and for unidirectional wireless communication, UHF band radio waves are used.

  The portable device 2 includes an LF reception circuit 21, a microcomputer 22, a UHF transmission circuit 23, and an acceleration sensor 24. The LF receiving circuit 21 can receive a request signal transmitted from the vehicle 3 as an LF band radio wave. When receiving the request signal, the LF reception circuit 21 generates a reception signal by electrical processing such as demodulating the signal, and outputs the reception signal to the microcomputer 22.

  The microcomputer 22 includes a nonvolatile memory 22a. An ID (identification) unique to the portable device 2 is stored in the memory 22a. When the reception signal is input from the LF reception circuit 21, the microcomputer 22 generates an original signal including the ID in order to respond to the request signal, and outputs the original signal to the UHF transmission circuit 23. The UHF transmission circuit 23 generates a response signal by electrical processing, such as modulating the original signal input from the microcomputer 22, and transmits the response signal to the outside of the portable device 2 as a radio wave in the UHF band.

  The acceleration sensor 24 is a medium for detecting a change in speed based on the movement of the portable device 2, that is, an acceleration, and outputs a detected value of the acceleration to the microcomputer 22. The acceleration sensor 24 is a triaxial sensor having three detection axes and is an example of a detection unit. The acceleration detected by the acceleration sensor 24 is an example of a change in physical quantity based on the movement of the portable device 2.

  When the detected value of the acceleration sensor 24 satisfies a predetermined condition, the microcomputer 22 determines that there is a specific operation (motion operation) stored in advance, and generates an original signal including a code indicating the operation completion and the ID. The original signal is generated and output to the UHF transmission circuit 23. In this case, the UHF transmission circuit 23 electrically processes the original signal and uses the operation completion signal indicating that the specific operation has been performed (completion of the specific operation) as a radio wave in the UHF band. Send to.

  The specific operation includes a stationary operation for about 1 second. This operation is defined as a preparation operation for confirming the user's operation intention. When a stationary motion of 1 second or longer is detected, an operation completion signal indicating completion of the preparation operation is transmitted from the portable device 2.

  The specific operation includes a repetitive operation in which the user continuously repeats an up-and-down operation for raising and lowering the heel while putting the toes on the ground with both feet aligned (repeated twice in the present embodiment). This operation is defined as the main operation for the user to communicate the intention to operate. When the repetitive motion is detected, an operation completion signal indicating completion of the main operation is transmitted from the portable device 2.

  In addition, the above-mentioned up-and-down operation in a state where both feet are aligned by the user is an operation that is difficult to be performed on a daily basis, for example, compared to an operation of putting one foot away from the ground. In the present embodiment, a repetitive operation that repeats an operation that is difficult to be performed on a daily basis is set as a main operation (specific operation).

  The vehicle 3 includes an LF transmitter 31, a UHF receiver 32, a verification ECU (Electronic Control Unit) 33, a hazard lamp 34, a buzzer 35, and a slide door 36. The LF transmitter 31 receives a control from the verification ECU 33 and transmits a request signal to an outdoor LF area whose distance from each door including the slide door 36 is about 1 meter or less. When the portable device 2 enters the outdoor LF area, a response signal is returned from the portable device 2 in response to the request signal. The UHF receiver 32 can receive an operation completion signal in addition to the response signal from the portable device 2.

  The verification ECU 33 includes a non-volatile memory 33a. In the memory 33a, the ID of the portable device 2 suitable for the vehicle 3 is registered as a reference ID. The verification ECU 33 transmits a request signal from the LF transmitter 31 in order to monitor the approach of the portable device 2. When the response signal is received by the UHF receiver 32 along with the transmission of the request signal, the verification ECU 33 performs verification with the reference ID for the ID included in the signal.

  The verification ECU 33 permits the doors to be unlocked when the IDs match, and turns on the hazard lamp 34 when receiving an operation completion signal indicating the completion of the preparation operation in this state.

  Further, when the verification ECU 33 continuously receives the operation completion signal indicating the completion of the main operation, the verification ECU 33 sounds the buzzer 35 while the hazard lamp 34 is continuously turned on, and then operates the actuator to open the slide door 36.

  As shown in FIG. 2, in the present embodiment, a user who has a portable device 2 with a built-in acceleration sensor 24 (shown as “G sensor” in the figure) is set by “preparation operation → main operation” in the outdoor LF area. When the operation is performed, the slide door 36 is automatically opened. There are three major steps before the sliding door 36 is automatically opened. In the following description, in the case of simply “user”, in principle, it is assumed that the portable device 2 incorporating the acceleration sensor 24 is possessed.

  Specifically, first, in Step 1, the user enters the outdoor LF area and performs a stationary operation. When a stationary motion of 1 second or longer is detected, an operation completion signal indicating completion of the preparation operation is transmitted from the portable device 2, and when this signal is received by the vehicle 3, the hazard lamp 34 is turned on. That is, the lighting of the hazard lamp 34 notifies the user that the preparation operation has been completed. If the preparation operation is not completed even if the user enters the outdoor LF area, the hazard lamp 34 is not turned on.

  Subsequently, in step 2, the user repeats the above-mentioned up-and-down motion twice with both feet aligned. When the repetitive motion is detected, an operation completion signal indicating the completion of the main operation is transmitted from the portable device 2, and when this signal is received by the vehicle 3, the lighting of the hazard lamp 34 from step 1 is continued. The buzzer 35 is sounded. That is, the lighting of the hazard lamp 34 accompanied by the ringing of the buzzer 35 notifies the user that the slide door will be opened thereafter. In addition, when the user performs the up-and-down motion only once with both feet aligned, and the main operation is not completed, the hazard lamp 34 that has been lit from step 1 is turned off. In this case, a user who intends to operate starts again from step 1 (preparation operation). Thereafter, in step 3, the hazard lamp 34 is turned off and the buzzer 35 stops sounding, and the slide door 36 is opened.

Here, a case where the detection value of the acceleration sensor 24 satisfies a predetermined condition will be described.
If the detection value of the acceleration sensor 24 reaches the determination threshold A or more and continues for the determination threshold time Ta or more after the determination of the preparation operation, the microcomputer 22 performs the above-described up-and-down movement in a state where both feet are aligned by the first user. Judge that there was. Note that the determination threshold time Ta is set to a time during which it is difficult for a user to make an erroneous determination with respect to other operations as a result of the user's repeated trials of the up and down motion with both feet aligned. In other words, when the user defines another motion instead of the up / down motion with both feet aligned, the determination threshold time Ta is set to an appropriate value based on the result of repeated trials of the other motion. .

  Then, after the microcomputer 22 determines that the vertical movement has been performed by the user with both feet aligned, the detected value of the acceleration sensor 24 again reaches the determination threshold A or more before the determination threshold time Tb elapses. In this state, if it continues for the determination threshold time Ta or longer, it is determined that the above-mentioned up-and-down movement in the state where both feet are aligned by the second user has been performed. In this case, the microcomputer 22 determines that the repetitive operation is completed, that is, the main operation is completed, assuming that the detection value of the acceleration sensor 24 satisfies a predetermined condition. The determination threshold time Tb is set to a time that can be appropriate as a continuous repetitive operation.

  For example, as shown in FIG. 3, when several acceleration peaks appear in response to a change in acceleration, depending on the acceleration peak below the determination threshold A that appears first, the above vertical movement by the user with both feet aligned may be It is not judged that there was. Depending on the acceleration peak that continues for a time T11 that is equal to or greater than the determination threshold A that appears next, it is determined that the first user has performed the up-and-down movement with both feet aligned. In the following description, an acceleration peak that continues for the determination threshold time Ta or more in a state where the determination threshold A or more is reached is referred to as an “effective acceleration peak”. An effective acceleration peak is an example of a specific change in physical quantity.

  The acceleration peak that appears next is an acceleration peak based on the acceleration generated in the portable device 2 due to the movement of the portable device 2 with the momentum of the vertical movement in the state where both feet are aligned by the first user. . The movement of the portable device 2 with the momentum of the above-described vertical movement with both feet aligned by the user in this way is a movement unintended by the user, which is so-called noise.

  In the example of FIG. 3, the third and fourth counting from the first acceleration peak (after the appearance of an effective acceleration peak that continues for a time T11 in which the value equal to or greater than the determination threshold A is equal to or greater than the determination threshold time Ta, The second and second acceleration peaks are noise-based acceleration peaks. Here, an acceleration peak based on noise less than the determination threshold A appears.

  Subsequently, after the appearance of an effective acceleration peak that continues for a time T11, an effective acceleration peak that continues for a time T12 that is equal to or greater than the determination threshold time Ta that appears when the time T21 elapses before the determination threshold time Tb elapses. Depending on the situation, it is determined that the above-mentioned up-and-down movement with both feet aligned by the user was performed, that is, that the repetitive movement was completed.

  When the mobile device 2 moves up and down with the mobile device 2 stored in a pocket, bag, etc., the mobile device 2 collides with the pocket or bag, etc., resulting in a shock (larger and shorter than other operations). The generated position is displaced in various directions, up and down and left and right. In this case, acceleration occurs in the portable device 2 while its position changes in various directions, up and down and left and right. In the above vertical movement, when the user has both feet aligned, the vertical and horizontal displacements of the portable device 2, that is, the acceleration is larger than when the user does not align both feet, that is, the repetitive motion. It is configured so that it is easy to determine that has been completed.

  However, when the user performs the up / down motion with both feet aligned, noise may appear immediately after the up / down motion. Unlike the example of FIG. 3, the acceleration peak based on such noise may appear continuously with a value equal to or greater than the determination threshold A for the determination threshold time Ta or more. Naturally, the acceleration peak based on the noise appears after the appearance of the effective acceleration peak and before the determination threshold time Tb elapses.

  Therefore, depending on the acceleration peak based on noise, it is determined that such vertical movement has been performed following the vertical movement in the state where both feet are aligned by the first user, and it is erroneously determined that the repetitive movement has been completed. There is a case.

  Therefore, in the present embodiment, the microcomputer 22 determines that the vertical movement is performed in the state where both feet are aligned by the first user based on the effective acceleration peak, and then the detection is the detection result of the acceleration sensor 24. An invalid period for temporarily invalidating the value can be set. The microcomputer 22 is an example of a determination unit.

  The microcomputer 22 sets the invalid period by performing an operation detection process described below. The microcomputer 22 performs the following operation detection process by performing a periodic process for each predetermined control period.

  As shown in FIG. 4, in the operation detection process, the microcomputer 22 determines whether or not the first effective acceleration peak has been detected after determining the preparation operation (S10). The determination threshold A is set to a value that makes it difficult for a user to make an erroneous determination with respect to other movements as a result of repeating the above-described vertical movement trial with both feet aligned. That is, when the user specifies another motion instead of the up / down motion while both feet are aligned, an appropriate value is set as the determination threshold A based on the result of repeated trials of the other motion.

  If the microcomputer 22 does not determine that the first effective acceleration peak has been detected (S10: NO), the microcomputer 22 returns to the process of S10 and determines whether or not the first effective acceleration peak has been detected. Note that the microcomputer 22 repeatedly performs the process of S10 until the user leaves the outdoor LF area after determining the preparation operation.

  On the other hand, when determining that the first effective acceleration peak has been detected (S10: YES), the microcomputer 22 sets an invalid period for “100 ms” immediately after this determination (S20). In S20, the microcomputer 22 detects an acceleration peak based on noise by not adopting the detection value (detection result) of the acceleration sensor 24 during the period when it is determined that the period is invalid (invalidation even if input). Do not. In S20, the microcomputer 22 initializes the value of the invalid period counter stored in the predetermined storage area of the memory 22a by setting a value of “0”. The invalid period counter is an index for determining the timing for canceling the invalid period setting. The invalid period counter is updated by incrementing (adding (+1)) every predetermined control cycle. The memory 22a also stores information indicating whether or not the invalid period is currently set.

  The invalid period is the minimum time required for the user to continuously perform the up / down motion with both feet aligned as a result of the user's trial of the up / down motion with both feet aligned. 100 ms "is set. In other words, in the invalid period, when the user defines another motion instead of the up / down motion with both feet aligned, an appropriate time is set based on the result of repeated trials of the other motion.

  Further, the invalid period of the present embodiment is set as a time (Ta ≦ 100 ms <Tb) that is equal to or longer than the determination threshold time Ta and shorter than the determination threshold time Tb. That is, if the acceleration peak based on noise has reached the determination threshold A or more but is less than the determination threshold time Ta, the second user may erroneously determine that the above-mentioned vertical movement was performed with both feet aligned. Is low. Therefore, the invalid period is set to the determination threshold time Ta or more. On the other hand, when the invalid period is equal to or longer than the determination threshold time Tb, it is impossible to detect that the second user has performed the up / down motion with both feet aligned. Therefore, the invalid period is set to a time shorter than the determination threshold time Tb. In other words, the invalid period is set as a time during which the microcomputer 22 can appropriately cover a situation in which an erroneous determination is caused by an acceleration peak based on noise.

  Next, the microcomputer 22 determines whether 100 ms has elapsed after setting the invalid period (S30). In S30, after setting the invalid period, the microcomputer 22 determines whether or not the value of the invalid period counter has reached a release count value corresponding to 100 ms. The release count value is set to “1000” when the control period is 100 μs.

  If the invalid period counter does not exceed the release count value (S30: NO), the microcomputer 22 increments the invalid period counter and returns to the process of S30 to determine whether 100 ms has elapsed. Note that the microcomputer 22 repeatedly performs the process of S30 until 100 ms elapses after the invalid period is set.

  On the other hand, when the invalid period counter exceeds the cancellation count value (S30: YES), the microcomputer 22 cancels the invalid period setting (S40). S30: Depending on the result of YES, it is determined that the invalid period of 100 ms has elapsed.

  Next, after canceling the invalid period setting, the microcomputer 22 determines whether or not the second effective acceleration peak is detected before the determination threshold time Tb elapses after the first effective acceleration peak is detected (S50). ). In S50, after detecting the first effective acceleration peak (S10: YES), the microcomputer 22 uses the Tb counter stored in the predetermined storage area of the memory 22a to determine whether or not the determination threshold time Tb has elapsed. Judging. The Tb counter is an index for determining whether or not the second effective acceleration peak is detected. As with the invalid period counter, the Tb counter is initialized by setting a value of “0” after the first effective acceleration peak is detected (S10: YES), and is incremented every predetermined control cycle (1 It is updated by addition (+1)).

  If the microcomputer 22 does not determine that the second effective acceleration peak has been detected even after the determination threshold time Tb has elapsed from the detection of the first effective acceleration peak (S50: NO), the microcomputer 22 returns to the process of S10 and returns to the first time. It is determined whether or not an effective acceleration peak is detected. If the microcomputer 22 does not detect an effective acceleration peak even after the determination threshold time Tb has elapsed since the detection of the first effective acceleration peak, the microcomputer 22 performs the above vertical movement only once with both feet aligned. If the main operation is not completed without performing the operation, the state is temporarily returned (reset) to the state after the determination of the preparation operation. Thereafter, the microcomputer 22 repeatedly performs the process of S10 until the user leaves the outdoor LF area.

  On the other hand, when the microcomputer 22 determines that the second effective acceleration peak is detected before the determination threshold time Tb has elapsed from the detection of the first effective acceleration peak (S50: YES), the repetitive operation is completed. And an operation completion signal indicating completion of the main operation is output (S60). Thereafter, the microcomputer 22 returns to the process of S10 and repeats the process of S10 until the user leaves the outdoor LF area.

As described above, according to the present embodiment, the following operations are achieved.
For example, unlike the example of FIG. 3, FIG. 5 is based on noise such that a value greater than or equal to the determination threshold A continues for the determination threshold time Ta before the determination threshold time Tb elapses after the appearance of a valid acceleration peak. This shows a situation in which an acceleration peak (third from the first acceleration peak) has appeared.

  In the case of the situation shown in the figure, unlike the present embodiment, if the invalid period setting (the processing of S20 to S40) is not provided, the above-described state in which both feet by the user are aligned by the acceleration peak based on noise is provided. Although the up / down motion is not performed, it is erroneously determined that the above-mentioned up / down motion in the state where both feet are aligned by the user after the first time (completion of the repetitive motion) is performed.

  In this regard, in the present embodiment, when the first effective acceleration peak is detected after the determination of the preparatory operation, the determination threshold is set in a state where the acceleration sensor 24 reaches the determination threshold A or more while the invalid period is set. Even if an acceleration peak that continues for time Ta or longer is detected, the detection result can be invalidated. Therefore, the detection result of the acceleration sensor 24 related to noise can be invalidated.

  For example, in the case of realizing the remote operation system 1, if the operation prescribed in the main operation that conveys the user's intention of operation is an operation that the user routinely causes the portable device 2, the user's intention is not easily reflected. is there. Such a problem is that when the remote operation system 1 is to be realized, the operation specified in the main operation is not repeated on the portable device 2 by the user on a daily basis, and this operation is repeated continuously. It is solved, but the concept of time is important.

  In the case of this embodiment, in the repetitive motion defined in the main operation, there is a time that cannot be repeated (less than 100 ms obtained as a result of repeated trials) considering that the user is a human being. That is, it can be said that the acceleration peak that continues within the determination threshold time Ta in a state where it reaches the determination threshold A or more that occurs within a non-repeatable time (less than 100 ms) naturally occurs based on noise.

  In other words, as in this embodiment, setting the invalid period based on the temporal concept for the minimum time (100 ms) in which the repetitive motion defined in the main operation is possible is an occurrence of misjudgment based on noise. It is effective from the viewpoint of suppression.

  In addition, when the movement of the portable device 2 is caused by an impact given by the user as in the present embodiment, it is possible to detect the acceleration that is directly connected to the movement of the portable device 2 and thereby avoid noise. However, after the effective change appears, an ineffective change (acceleration peak) based on noise tends to appear. However, since the microcomputer 22 can set the invalid period after determining that a valid acceleration peak has been detected as in the present embodiment, it is preferable to set the effective acceleration peak as an effective change that is not noise. Can be detected.

As described above, according to the present embodiment, the following effects can be achieved.
(1) When the first effective acceleration peak is detected after the preparation operation is determined, the detection result of the acceleration sensor 24 related to noise can be invalidated by setting the invalid period. Therefore, it is possible to suppress the occurrence of erroneous determination that it is determined that an acceleration peak that continues for the determination threshold time Ta or more is detected in a state where the determination threshold A or more is reached based on noise.

  (2) In this embodiment, the invalid period is set based on the temporal concept for the minimum time (100 ms) in which the repetitive motion defined in the main operation is possible, so that erroneous determination based on noise is generated. This is effective in terms of suppression, and it is possible to more appropriately suppress the occurrence of erroneous determination based on noise.

  (3) In the present embodiment, after detecting that an effective acceleration peak has been detected while detecting an acceleration that changes in direct connection with the movement of the portable device 2 caused by an impact given by the user. Since the invalid period is set, an effective acceleration peak can be suitably detected as an effective change that is not noise. Therefore, the movement of the portable device 2 to the remote operation system 1 can be more suitably reflected, and the reliability of the remote operation system 1 can be improved.

In addition, the said embodiment can also be implemented with the following forms which changed this suitably.
As the main operation, an operation different from the up / down operation may be set as long as the operation can be given to the portable device 2 by the user's operation. Further, the main operation may be set by combining the up / down motion and the different motion. Examples of the different operations include a user's knee bending operation (bending / extending operation) and an operation of the user hitting the portable device 2.

  In the main operation, an operation may be set in which the user repeats the up and down motion three times or more with both feet aligned. In this case, after detecting a valid acceleration peak, an invalid period may be set each time, or a case where an invalid period is set after detection and a case where an invalid period is not set are mixed. Good. However, it is desirable to set at least an invalid period after the first effective acceleration peak is detected.

  The change in physical quantity may be a change in acceleration based on the movement of the portable device 2, a magnetic change, a change in temperature, or the like. In this case, a sensor capable of detecting such a change in physical quantity may be used instead of the acceleration sensor 24. Depending on the content to be detected, a one-axis sensor or a two-axis sensor can be used as the acceleration sensor 24. Further, as the change in the physical quantity, focusing on the movement of the portable device 2 in the rotation direction, a change in angular velocity or a change in angular acceleration based on the movement in the rotation direction of the portable device 2 may be used. When paying attention to the movement of the portable device 2 in the rotational direction, a gyro sensor may be used instead of the acceleration sensor 24. In addition, in this case, a sensor in which the acceleration sensor 24 and the gyro sensor are combined, that is, a so-called motion sensor can be used.

  The period that is the target of the invalid period may be changed within a range that is equal to or longer than the minimum time (100 ms) required for the user to continuously perform the up-and-down movement with both feet aligned. In this case, the period that is the target of the invalid period may be set to a time shorter than the determination threshold time Tb. Note that, depending on the specifications of the remote control system 1, the period that is the target of the invalid period is within a range that is less than the minimum time (100 ms) required for the user to continuously perform the up-and-down movement with both feet aligned. It can also be changed.

  ・ The period that is the target of the invalid period is set by paying attention to noise, such as the maximum time required to ignore the influence of misjudgment due to noise as a result of repeated trials of noise generation. You may be made to do.

The period that is the target of the invalid period may be set to be longer than the determination threshold time Ta and shorter than the determination threshold time Tb.
After detecting the first effective acceleration peak, the detection value of the acceleration sensor 24 is invalidated until the detection value of the acceleration sensor 24 or the displacement (dispersion) of the detection value is reduced to a predetermined value or range. May be. Moreover, you may make it use this modification in combination with the said embodiment using the time concept.

  The invalid period may be set after the second effective acceleration peak is detected. This modified example is effective when another function is set, for example, by closing the slide door 36 by detecting the third effective acceleration peak continuously for the second time.

The invalid period may be set with an interval after the determination of S10: YES.
-Depending on the contents of the specific operation, an acceleration peak in which the continuation in a state where the detection value of the acceleration sensor 24 has reached the determination threshold A or more is less than the determination threshold time Ta (does not continue for the determination threshold time Ta or more) is effective acceleration peak You may make it.

The determination threshold time Tb may be a time set after the invalid period setting is canceled.
The determination of S10: YES or S50: YES may be determined as a specific change that the detected value of the acceleration sensor 24 is equal to or greater than the determination threshold A or reaches the maximum value. The requirement for the threshold time Tb may be omitted.

  -Instead of the microcomputer 22 of the portable device 2 judging the detection value of the acceleration sensor 24, the verification ECU 33 of the vehicle 3 receives the transmission signal from the portable device 2 as a judgment unit and judges the detection value of the acceleration sensor 24. It may be adopted.

The control target is not limited to the sliding door 36. The present invention may be applied to a remote control system such as opening a vehicle back door or a building door.
Next, a technical idea that can be grasped from the embodiment and the modification will be described.

  (A) The remote control system determines that a specific change has been detected when a change in speed equal to or greater than the determination threshold is detected continuously for a first determination threshold time or more based on the detection result of the detection unit. In addition, after determining that a specific change has been detected, if it is determined that the next specific change has been detected before the second determination threshold time has elapsed, it is determined that the specific change has been continuously detected. This can be realized using a determination unit. In this way, when the determination unit determines a specific change, by setting the invalid period to a time that is longer than the first determination threshold time (or longer than the first determination threshold time) and shorter than the second determination threshold time, It is possible to suitably cover situations in which the determination unit causes erroneous determination based on noise. Therefore, it is possible to suppress the occurrence of erroneous determination based on noise.

  DESCRIPTION OF SYMBOLS 1 ... Remote operation system, 2 ... Portable machine, 3 ... Vehicle, 22 ... Microcomputer, 24 ... Acceleration sensor, 33 ... Verification ECU, 36 ... Sliding door.

Claims (4)

A detection unit that detects a change in physical quantity based on the movement of the portable device is provided, and a control target is provided on the condition that a specific change is continuously detected a plurality of times as a change in the physical quantity based on a detection result of the detection unit. In a remote control system for remote control,
A determination unit that determines whether or not the specific change is detected based on a detection result of the detection unit;
The determination unit, after determining that the specific change has been detected, temporarily invalidates the detection result of the detection unit.   The remote control system according to claim 1, wherein the determination unit sets an invalid period for invalidating a detection result of the detection unit after determining that the specific change is detected.   The invalid period is set for a minimum time or more that allows the continuous operation according to a continuous operation by a user who gives the portable device a motion that continuously causes the specific change. The remote control system described in. The movement of the portable device is caused by an impact given by a user,
The remote control system according to any one of claims 1 to 3, wherein the change in the physical quantity is a change in speed associated with movement of the portable device.

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