JP2017218783A - Door opening/closing device for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To allow a door to be opened or closed with an easy operation without the need of touching the door.SOLUTION: When detection and authentication of a remote control key is performed in a detection area, a predetermined irradiation pattern is radiated by an irradiation device, an irradiation region of the irradiation device is imaged by an imaging device and person detection is performed depending on whether or not the irradiation pattern can be recognized from the acquired imaged image (S100-S130). Then, when a person is detected in a region A out of the irradiation region (S140), a door is opened at a low speed (S170, S180), and when a person is detected in a region B out of the irradiation region (S150), the door is opened at a high speed (S200, S210). The irradiation device radiates (projects) the character "SLOW" and a pattern of the door opening time to the region A, and radiates the character "FAST" and the pattern of the door opening to the region B.SELECTED DRAWING: Figure 4

Description

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

  2. Description of the Related Art Conventionally, as this type of vehicle door opening and closing device, one that can open a door without touching a hand is known. For example, Patent Literature 1 and Patent Literature 2 disclose a device that automatically opens a door by detecting a movement (gesture) of a human hand in the vicinity of a vehicle door using a camera.

  Patent Document 3 discloses an apparatus including an irradiation device that illuminates a substantially same range as a gesture detection range with visible light.

JP 2010-13824 A JP 2005-120787 A JP 2013-7171 A

  However, none of the above-described techniques is always convenient because the operation is impossible unless the user knows in advance the movement of the hand to open the door.

  The main object of the vehicle door opening and closing device of the present invention is to provide a device that can open or close the door by a simpler operation without touching the door.

  The vehicle door opening and closing device of the present invention employs the following means in order to achieve the above-mentioned main object.

The first vehicle door opening and closing device of the present invention is:
A vehicle door opening and closing device for opening and closing a vehicle door,
An irradiation device for irradiating an image of a predetermined pattern in the vicinity of the own vehicle;
An imaging device for imaging an irradiation area of the irradiation device;
A recognition process for recognizing an irradiation image of the irradiation device from a captured image of the imaging device is performed, and the door operates in an opening direction or a closing direction based on the recognition processing result that the irradiation image is not recognized. A control device for controlling
It is characterized by providing.

  In the first vehicle door opening and closing device of the present invention, an image of a predetermined pattern is irradiated by the irradiation device in the vicinity of the own vehicle, and the irradiation area of the irradiation device is imaged by the imaging device. Then, recognition processing for recognizing the irradiation image of the irradiation device from the captured image of the imaging device is performed, and control is performed so that the door operates in the opening direction or the closing direction based on the fact that the irradiation image is not recognized as a result of the recognition processing. . Thereby, the user can open or close the door only by blocking the light from the irradiation device with a hand or a foot. As a result, it is not necessary to touch the door, and the door can be opened or closed by a simpler operation.

  In such a first vehicle door opening and closing device of the present invention, the irradiation region is partitioned into a plurality of regions, and the control device performs recognition processing for recognizing the irradiation image for each of the plurality of regions, and the irradiation Control may be performed so that the door operates in a different operation pattern depending on which of the plurality of regions is the region where the image is no longer recognized. In this way, the user can operate the door in a desired operation pattern depending on which region of light is blocked. In this case, the irradiation apparatus may irradiate a plurality of regions with images having different patterns. For example, if an image that clearly or suggests the door operation pattern such as “OPEN” or “CLOSE” is displayed, the door can be opened and closed by a more intuitive operation.

  In the first vehicle door opening and closing device of the present invention having a plurality of regions as the irradiation region, the plurality of regions include at least a first region and a second region, and the control device includes: When the region where the irradiation image is no longer recognized is the first region, the door moves in the opening direction or the closing direction at the first speed, and the region where the irradiation image is no longer recognized is the second region. In some cases, the door may be controlled to operate in the opening direction or the closing direction at a second speed higher than the first speed.

  Further, in the first vehicle door opening and closing device of the present invention having a plurality of regions as the irradiation region, the plurality of regions include at least a first region and a second region, and the control device includes: The door operates in the opening direction when the area where the irradiation image is no longer recognized is the first area, and the door is closed when the area where the irradiation image is no longer recognized is the second area. It is good also as what controls to operate | move to a direction.

  In the first vehicle door opening and closing device of the present invention, the control device controls the door to operate in an opening direction or a closing direction when the irradiation image is not recognized, and the door is in operation. The door operation may be controlled to stop when the irradiation image is changed from a state where the irradiation image is not recognized to a state where the irradiation image is recognized.

  In the first vehicle door opening and closing device of the present invention, prior to the recognition processing, the vehicle door opening / closing device includes registration means for capturing and registering an irradiation image of the irradiation device with the imaging device, and the control device includes the recognition device. As the processing, the registered irradiation image may be recognized from the captured image of the imaging device. In this way, it is possible to reduce erroneous recognition of the irradiated image regardless of the state of irradiation by the irradiation device.

The second vehicle door opening and closing device of the present invention is:
An imaging device having an imaging region in which a specific part of the vehicle is imaged;
Storage means for previously storing an image of the specific part as a registered image;
A recognition process for recognizing a registered image stored in the storage unit in a region where the specific part is imaged in the captured image of the imaging device is performed, and as a result of the recognition process, the registered image is no longer recognized. A control device for controlling the door to operate in an opening direction or a closing direction,
It is a summary to provide.

  In the second vehicle door opening and closing apparatus of the present invention, the imaging device is installed so that a specific part of the own vehicle is imaged, and an image of the specific part is stored in advance as a registered image. Then, a recognition process for recognizing a registered image is performed in a region where a specific part is imaged in the captured image of the imaging device, and the door is opened or closed based on the result of the recognition process that the registered image is no longer recognized. Control to operate. Thus, the user can open or close the door only by blocking the optical axis from the imaging device to a specific part of the own vehicle with a hand or a foot. As a result, it is not necessary to touch the door, and the door can be opened or closed by a simple operation. In addition, since recognition processing is performed only in a region where a specific part of the captured image is captured, erroneous recognition of the registered image can be suppressed.

It is a block diagram which shows the outline of a structure of the vehicle door opening / closing apparatus 10 of 1st Example. It is a block diagram which shows the electrical connection relation of the vehicle door opening / closing apparatus 10 of 1st Example. It is explanatory drawing which shows an example of an irradiation pattern. It is a flowchart which shows an example of a door opening / closing control routine. It is explanatory drawing which shows the mode of a person detection. It is a block diagram which shows the outline of a structure of the vehicle door opening / closing apparatus 10B of a modification. It is explanatory drawing which shows the irradiation pattern of a modification. It is a flowchart which shows the door opening / closing control routine of a modification. It is a flowchart which shows the door opening / closing control routine of a modification. It is explanatory drawing explaining the operation | movement pattern of the door for every detection pattern. It is a block diagram which shows the electrical connection relation of the vehicle door opening / closing apparatus 110 of 2nd Example. It is a flowchart which shows the door opening / closing control routine of 2nd Example. It is explanatory drawing explaining a detection area.

  The form for implementing this invention is demonstrated using an Example.

[First embodiment]
FIG. 1 is a block diagram showing an outline of the configuration of a vehicle door opening / closing device 10 as an embodiment of the present invention, and FIG. 2 shows an electrical connection relationship of the vehicle door opening / closing device 10 of the first embodiment. It is a block diagram.

  As shown in FIG. 1, the vehicle door opening and closing device 10 according to the embodiment is a flip-up type in which an upper end portion is attached to the rear portion of the vehicle body 1 via a hinge 4 and is rotatable up and down around the hinge 4 as a fulcrum. The door 2 is opened and closed. The vehicle door opening and closing device 10 is configured as a power door device that opens and closes the door 2 by expanding and contracting by a spindle motor 14 (see FIG. 2) incorporating a spindle 12 interposed between the vehicle body 1 and the door 2. In addition to the spindle 12, a door lock device 16 that locks and unlocks the door 2 in a closed state by driving a door lock motor 18 (see FIG. 2), and a remote control key 21 carried by the driver. Receiving device 20 (see FIG. 2) that receives a signal from the irradiation device, an irradiation device 22 that irradiates visible light around the door 2, an imaging device 24 that images an irradiation region of the irradiation device 22, and the like.

  The irradiation device 22 is composed of a light source, a film, an optical system, and the like, and is capable of irradiating (projecting) an image of a predetermined pattern on the road surface behind the door while being attached to the door 2 and closed. is there. FIG. 3 shows an example of an image (irradiation pattern) irradiated by the irradiation device 22. The irradiation region of the irradiation device 22 is divided into a region A and a region B, and images of different patterns are irradiated to the respective regions. In the first embodiment, as shown in FIG. 3, the region A is irradiated with the characters “SLOW” and a simple pattern indicating the door opening state (the pattern when the door is opened). ”And the picture when the door is opened.

  The imaging device 24 includes an imaging device such as an optical system and a CCD, and is attached to the door 2 so that the entire irradiation pattern irradiated to the road surface behind the door by the irradiation device 22 is included in the imaging region.

  The control device 30 is configured as a microprocessor centered on a CPU 31 and includes a ROM 32 for storing a processing program, a RAM 33 for temporarily storing data, an input / output port (not shown), and the like in addition to the CPU 31. A reception signal from the reception device 20 and an imaging signal from the imaging device 24 are input to the control device 30 via an input port. The illumination signal to the irradiation device 22 and the spindle motor 14 are input from the control device 30. The drive signal to the door, the drive signal to the door lock motor 18 and the like are output via the output port.

  The operation of the vehicular door opening / closing device 10 thus configured will be described. FIG. 4 is a flowchart showing an example of a door opening / closing control routine executed by the control device 30.

  When the door opening / closing control routine is executed, the control device 30 first determines whether the driver carrying the remote control key 21 enters the detection area formed by the receiving device 20 and the remote control key 21 is detected and authenticated. It is determined whether or not (step S100). When the driver carrying the remote control key 21 enters the detection area, the control device 30 inputs the ID code from the remote control key 21 via the receiving device 20, and collates the input ID code. If authenticated, the door lock motor 18 is controlled to automatically unlock the door 2. Further, the control device 30 controls the door lock motor 18 to automatically lock the door 2 when the driver carrying the remote control key 21 leaves the detection area.

  If it is determined that the remote control key 21 has been detected and authenticated within the detection area, the irradiation device 22 is controlled so that an image of a predetermined irradiation pattern (see FIG. 3) is irradiated toward the rear of the door (step S110). . In the process of step S110, ambient brightness may be detected by an illuminance sensor (not shown), and the illumination brightness of the irradiation device 22 may be changed according to the detected ambient brightness. And the imaging device 24 is controlled so that the image of an irradiation pattern is imaged, an irradiation pattern is extracted from the obtained captured image, and it registers into RAM33 (step S120). Here, extraction and registration of the irradiation pattern are individually executed in each of the region A and the region B. In the first embodiment, the character “SLOW” and the design pattern when the door is opened are registered in the area A, and the character “FAST” and the design pattern when the door is opened are registered in the region B. .

  When the irradiation pattern is registered, person detection for detecting a person (driver) by image recognition processing based on the captured image from the imaging device 24 is started (step S130). FIG. 5 shows how a person is detected in the detection area. The person detection is performed based on whether or not the irradiation pattern (registered pattern) registered in the RAM 33 can be recognized from the captured image. When the registered pattern can be recognized, it is determined that no person is detected (see FIG. 5A). When the irradiated light is blocked by an obstacle (human body) and the registered pattern cannot be recognized, it is determined that a person has been detected (see FIG. 5B). As described above, since the irradiation pattern is registered for each of the regions A and B, the human detection is performed for each of the regions A and B.

  Then, it is determined whether or not a person is detected in the area A (step S140) and whether or not a person is detected in the area B (step S150). When no person is detected in any of the areas A and B, it is determined whether or not the remote control key 21 is continuously detected (step S160). If it is determined that the remote control key 21 is detected, the process proceeds to step S140. Returning to the processing, if it is determined that the remote control key 21 is not detected, the door opening / closing control routine is terminated.

  When a person is detected in the area A, the spindle motor 14 is driven and controlled at a low speed so that the door 2 opens at a low speed (step S170). Then, the process of step S170 is repeated until the opening degree of the door 2 reaches a predetermined opening degree (step S180). When the opening degree of the door 2 reaches the predetermined opening degree, the opening operation of the door 2 is stopped. (Step S190), the door opening / closing control routine is terminated. As described above, since the irradiation pattern of the area A is a pattern including the characters “SLOW” and the pattern when the door is opened, if a person (driver) blocks the light that forms the irradiation pattern, It can be easily recognized that 2 is slowly opened.

  On the other hand, when a person is detected in the region B, the spindle motor 14 is driven and controlled at high speed so that the door 2 opens at high speed (step S200). Then, the process of step S200 is repeated until the opening degree of the door 2 reaches a predetermined opening degree (step S210). When the opening degree of the door 2 reaches the predetermined opening degree, the opening operation of the door 2 is stopped. (Step S190), the door opening / closing control routine is terminated. As described above, since the irradiation pattern of the region B is a pattern including the letters “FAST” and the pattern when the door is opened, if the person (driver) blocks the light forming the irradiation pattern, the door It can be easily recognized that 2 is opened quickly.

  The vehicle door opening and closing device 10 of the first embodiment described above irradiates a predetermined irradiation pattern by the irradiation device 22 when the remote control key 21 is detected and authenticated in the detection area, and the irradiation device 22 The imaging device 24 captures the irradiation area, and controls the door 2 to open when the irradiation pattern of the irradiation device 22 is not recognized from the obtained captured image. Accordingly, the driver carrying the remote control key 21 can open the door 2 by blocking the light from the irradiation device 22 with his body (hand or foot). As a result, the door 2 can be opened by a simple operation without touching the door 2.

  Further, the vehicle door opening and closing device 10 of the first embodiment divides the irradiation area of the irradiation device 22 into a plurality of areas (areas A and B), and the operation pattern varies depending on the area where a person is detected among the plurality of areas. Therefore, the person (driver) can operate the door 2 in different operation patterns depending on the position where the light from the irradiation device 22 is blocked.

  Furthermore, since the vehicle door opening / closing device 10 of the first embodiment displays the irradiation pattern irradiated by the irradiation device 22 as a display corresponding to the operation pattern of the door 2, the person (driver) forms the irradiation pattern. It is possible to easily recognize the pattern in which the door 2 operates when it is blocked.

  Further, the vehicle door opening and closing device 10 of the first embodiment images the irradiation pattern of the irradiation device 22 by the imaging device 24 before starting the human detection, and extracts and extracts the irradiation pattern of the irradiation device 22 from the captured image. The irradiated pattern is stored in the RAM 33 as a registered pattern. As a result, the irradiation pattern of the irradiation device 22 is distorted or colored depending on the road surface condition, as compared with the case where the irradiation pattern of the irradiation device 22 is stored in the ROM 32 or the like in advance and human detection is performed using the stored irradiation pattern. Even if the brightness of the light changes, it is possible to suppress erroneous recognition of the irradiation pattern.

  In the vehicle door opening and closing apparatus 10 according to the first embodiment, the irradiation area of the irradiation apparatus 22 includes the two areas A and B to which the different operation patterns of the door 2 are assigned. It is good also as what has three or more area | regions to which the pattern was allocated, and it is good also as having only one area | region as an irradiation area | region.

  In the vehicle door opening and closing device 10 of the first embodiment, the irradiation device 22 and the imaging device 24 are provided on the door 2, but as shown in the vehicle door opening and closing device 10B of the modified example of FIG. 22B and the imaging device 24B may be provided on the vehicle body 1 (for example, below the rear portion of the vehicle body 1). In this case, the position of the irradiation region of the irradiation device 22 and the position of the imaging region of the imaging device 24 do not change regardless of the opening / closing angle of the door 2, so that the door 2 is instructed to be opened or the door 2 is opened. The closure can be instructed from the state.

  For example, the vehicle door opening and closing apparatus 10B according to the modification can operate as follows. FIG. 7 is an explanatory view showing an irradiation pattern of a modification. As in the first embodiment, the irradiation area of the irradiation device 22B has the area A and the area B, and images of different patterns are irradiated to the respective areas. In the vehicle door opening / closing device 10B according to the modified example, as shown in FIG. 7, the region A is irradiated with the characters “OPEN” and a simple pattern indicating the door opening state (the pattern when the door is opened). B is assumed to be irradiated with the letters “CLOSE” and a simple picture indicating the state of closing the door (pattern when the door is closed). In the vehicle door opening / closing device 10B of the modification, the door opening / closing control routine of FIG. 8 is executed. In the door opening / closing control routine of FIG. 8, when a person is detected in the region A, the door 2 is opened at a predetermined speed until the opening degree of the door 2 reaches a set door opening degree (for example, a full opening degree). S180B is different from steps S200B and S210B in which the door 2 is closed at a predetermined speed until the opening degree of the door 2 reaches a set door opening degree (for example, a fully closed opening degree) when a person is detected in the region B. Except for this point, it is the same as the door opening / closing control routine of FIG. For this reason, the same step number is attached | subjected about the process same as the door opening / closing control routine of FIG. 4 among the processes of the door opening / closing control routine of FIG. Hereinafter, the door opening / closing control routine of FIG. 8 will be briefly described focusing on differences from the door opening / closing control routine of FIG.

  When the door opening / closing control routine of FIG. 8 is executed, the control device 30 detects and authenticates the remote control key 21 (step S100), and then irradiates an image of a predetermined irradiation pattern by the irradiation device 22. (Step S110), an irradiation pattern is extracted from the captured image obtained by imaging with the imaging device 24 and registered in the RAM 33 (Step S120), and human detection is started (Step S130).

  When human detection is started, it is determined whether or not a person is detected in area A (step S140) and whether or not a person is detected in area B (step S150). If no person is detected, the process returns to step S140 and is repeated until the remote control key 21 is not detected (step S160).

  When a person is detected in the area A, the spindle motor 14 is driven and controlled so that the door 2 opens at a predetermined speed (step S170B), and the opening degree of the door 2 reaches the set door opening degree (full opening degree). (Step S180B), the opening / closing operation of the door 2 is stopped (Step S190), and the door opening / closing control routine is ended.

  When a person is detected in the region B, the spindle motor 14 is driven and controlled so that the door 2 is closed at a predetermined speed (step S200B), and the opening degree of the door 2 reaches the set door opening degree (fully closed opening degree). Then (step S210B), the opening / closing operation of the door 2 is stopped (step S190), and the door opening / closing control routine is ended.

  According to the door opening / closing control routine of FIG. 8, not only the door 2 is opened but also the door 2 can be closed according to the position where the light from the irradiation device 22 is blocked. In this case, when a person is detected in the area A, the door 2 may be closed at a low speed, and when a person is detected in the area B, the door 2 may be closed at a high speed.

  In the vehicle door opening and closing device 10 of the first embodiment, the door 2 is operated with different operation patterns depending on the position where the light from the irradiation device 22 is blocked, but the operation pattern varies depending on how the light from the irradiation device 22 is blocked. The door 2 may be operated. FIG. 9 is a flowchart illustrating a modified door opening / closing control routine. The door opening / closing control routine of FIG. 9 performs steps S140C, S170C for opening the door 2 until the opening degree of the door 2 reaches the set door opening degree when the pattern 1 is detected as light blocking in the irradiation region. The opening operation of the door 2 during S180C and while the pattern 2 is detected when the pattern 2 is detected as a light blocking method in the irradiation area or until the opening degree of the door 2 reaches the full opening degree. 4 is the same as the door open / close control routine of FIG. 4 except that steps S150C, S200C, S205, and S210C are different. For this reason, the same step number is attached | subjected about the process same as the door opening / closing control routine of FIG. 4 among the processes of the door opening / closing control routine of FIG. Hereinafter, the door opening / closing control routine of FIG. 9 will be briefly described focusing on the differences from the door opening / closing control routine of FIG.

  When the door opening / closing control routine of FIG. 9 is executed, the control device 30 detects and authenticates the remote control key 21 (step S100), and then irradiates an image of a predetermined irradiation pattern by the irradiation device 22. (Step S110), an irradiation pattern is extracted from the captured image obtained by imaging with the imaging device 24 and registered in the RAM 33 (Step S120), and human detection is started (Step S130). In the door opening / closing control routine of FIG. 9, only one area is determined as the irradiation area of the irradiation device 22, and only one irradiation pattern is stored in the RAM 33. As in the door opening / closing control routine of FIG. 4, person detection is performed based on whether or not the irradiation pattern (registered pattern) stored in the RAM 33 can be recognized from the captured image, and no person is detected when the registered pattern is recognized. It is determined that the person is detected when the irradiated light is blocked by the human body and the registered pattern cannot be recognized. However, in the human detection of the door opening / closing control routine of FIG. 9, when the registered pattern cannot be recognized, the duration ΔT is measured, and the detection pattern is also determined by the length of the duration ΔT. In this example, the pattern 1 is detected by a pattern in which the registered pattern is recognized again before the duration ΔT becomes equal to or greater than a predetermined threshold Tset, and the pattern 2 is detected by a pattern whose duration ΔT is equal to or greater than the threshold Tset. It was supposed to be.

  When human detection is thus started, it is determined whether or not a person is detected in pattern 1 in the irradiation area (step S140C) and whether or not a person is detected in pattern 2 in the same irradiation area (step S150C). If no person is detected in any of the patterns 1 and 2, the process returns to step S140C and the process is repeated until the remote control key 21 is not detected (step S160).

  When a person is detected in pattern 1, the spindle motor 14 is driven and controlled to open the door 2 at a predetermined speed (step S170C). When the opening degree of the door 2 reaches the set door opening degree (step S180C), The opening / closing operation of the door 2 is stopped (step S190), and the door opening / closing control routine is ended.

  When a person is detected in pattern 2, the spindle motor 14 is driven and controlled so that the door 2 opens at a predetermined speed (step S200C), and whether or not the opening degree of the door 2 is a full opening degree (step S205). Whether or not a person is continuously detected in pattern 2 is determined (step S210C). If it is determined that the opening degree of the door 2 is not the fully open opening degree and the person is continuously detected in the pattern 2, the process returns to step S200C and the opening operation of the door 2 is continued. On the other hand, if it is determined that the opening degree of the door 2 is the fully open opening degree or if it is determined that the detection of the person in the pattern 2 is not detected, the opening / closing operation of the door 2 is stopped (step S190), and the door opening / closing control is performed. End the routine.

  FIG. 10 is an explanatory diagram illustrating a door operation pattern for each detection pattern. As shown in the figure, pattern 1 is a pattern in which a person is detected and measurement of duration ΔT is started (time T11), and no person is detected before duration ΔT reaches threshold Tset. When no person is detected (time T12), the opening operation of the door 2 is started. When the opening degree of the door 2 reaches the set door opening degree (time T13), the opening operation of the door 2 is stopped. On the other hand, the pattern 2 is a pattern in which a person is detected and measurement of the measurement time ΔT is started (time T21), and the measurement time ΔT is equal to or greater than the threshold Tset. In the pattern 2, the duration ΔT is equal to or greater than the threshold Tset. (Time T22), the opening operation of the door 2 is started. When no person is detected in the pattern 2, the opening operation of the door 2 is stopped (time T23).

  According to the door opening / closing control routine of FIG. 9, it is possible to open and close the door 2 with different operation patterns depending on the time for blocking the light from the irradiation device 22 (how to block the light).

  In addition to these, the door 2 may be opened or closed to different set door angles depending on the position (region) where the light from the irradiation device 20 is blocked or how the light is blocked. As described above, any operation pattern may be defined as long as the door 2 is opened and closed with different operation patterns depending on the position (region) where the light from the irradiation device 20 is blocked and how the light is blocked.

  In the door opening / closing control routine of FIG. 9, the irradiation device 22 has one irradiation region. However, the irradiation device 22 is divided into a plurality of regions, and the region that blocks light from the irradiation device 22 and the time that light is blocked (how to block light). Different operation patterns of the doors 2 may be assigned for each combination.

  In the vehicle door opening and closing device 10 of the first embodiment, before the start of human detection, the irradiation pattern of the irradiation device 22 is captured by the imaging device 24, and the irradiation pattern of the irradiation device 22 is extracted and registered from the captured image. However, the irradiation pattern of the irradiation device 22 may be stored in advance. In this case, the process of step S120 of the door opening / closing control routine of FIG. 4 may be omitted.

  In the vehicle door opening and closing device 10 of the first embodiment, characters and designs are projected from the irradiation device 22 onto the road surface near the door 2. However, the present invention is not limited to characters and designs, and any other pattern such as a symbol is used. It is good also as what irradiates.

[Second Embodiment]
Next, the vehicle door opening and closing device 110 according to the second embodiment will be described. FIG. 11 shows an outline of the configuration of the vehicle door opening and closing device 110 according to the second embodiment. The vehicle door opening and closing device 110 according to the second embodiment is provided with the imaging device 124 so that the irradiation device 22 is not provided and that the imaging region includes a part of the vehicle body 1 including the door 2 (lower portion of the vehicle body 1). Except for this point, the vehicle door opening / closing device 10 of the first embodiment is configured in the same manner. In the second embodiment, the imaging device 124 is installed so that the vicinity of the door handle of the door 2 is included in the imaging region. In the vehicle door opening and closing device 110 of the second embodiment, the door opening and closing control routine of FIG. 12 is executed. The door opening / closing control routine of FIG. 12 is different from the processes of steps S110 and S120 except that steps S300 for setting a detection area and step S310 for detecting a person in the detection area are added. 4 is the same as the door open / close control routine. For this reason, the same step number is attached | subjected about the process same as the door opening / closing control routine of FIG. 4 among the processes of the door opening / closing control routine of FIG. 12, Since the description overlaps, it abbreviate | omits.

  In the door opening / closing control routine of FIG. 12, a partial pattern of the vehicle body 1 imaged by the imaging device 124 is stored in advance in the ROM 32 as a registered pattern, and in step S300, the partial region of the vehicle body 1 is detected as a detection region. (See FIG. 13). In the door opening / closing control routine of FIG. 12, areas A and B are set as detection areas, and registered patterns are stored for the areas A and B, respectively. The human detection in step S310 is performed based on whether or not the registered pattern stored in the ROM 32 can be recognized from the captured image within the detection area. When the registered pattern can be recognized, it is determined that no person is detected, and imaging is performed. It is determined that a person has been detected when a part of the vehicle body 1 imaged by the device 124 (near the door handle) is blocked by the human body and the registered pattern cannot be recognized.

  According to the vehicle door opening and closing device 110 of the second embodiment, the imaging device 124 is installed so that a part of the vehicle body 1 (the lower part of the vehicle body 1) is imaged, and a pattern of a part of the vehicle body 1 is registered. As previously stored. The door 2 is opened and closed depending on whether or not the registered pattern is recognized in the detection area, with an area where a part of the vehicle body 1 is imaged in the captured image of the imaging device 124 as a detection area. Thereby, the door 2 can be opened and closed only by blocking the optical axis from the imaging device to a part of the vehicle body 1 with a hand or a foot. Further, by including the vicinity of the door handle of the door 2 in the imaging area of the imaging device 124, the person (driver) can open the door 2 without actually touching the door 2 only by bringing the hand close to the door handle. Can do. Furthermore, since human detection (recognition processing) is limited to a detection area in the captured image, erroneous recognition of the registered pattern can be suppressed.

  In the vehicle door opening and closing device 110 of the second embodiment, the door opening and closing control routine of FIG. 12 is executed by replacing the processing of steps S110 and S120 of the door opening and closing control routine of FIG. 4 with the processing of steps S300 and S310. However, the door opening / closing control routine in which the processing in steps S110 and S120 of the door opening / closing control routine in FIG. 8 is replaced with the processing in steps S300 and S310 may be executed, or the door opening / closing control routine in FIG. A door opening / closing control routine in which the process of S120 is replaced with the processes of steps S300 and S310 may be executed.

  The correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problems will be described. In the embodiment, the irradiation device 22 corresponds to the “irradiation device”, the imaging device 24 corresponds to the “imaging device”, and the control device 30 that executes the door opening / closing control routine corresponds to the “control device”. The RAM 33 corresponds to a “storage device”.

  The correspondence between the main elements of the embodiment and the main elements of the invention described in the column of means for solving the problem is the same as that of the embodiment described in the column of means for solving the problem. Therefore, the elements of the invention described in the column of means for solving the problems are not limited. That is, the interpretation of the invention described in the column of means for solving the problems should be made based on the description of the column, and the examples are those of the invention described in the column of means for solving the problems. It is only a specific example.

  As mentioned above, although the form for implementing this invention was demonstrated using the Example, this invention is not limited at all to such an Example, In the range which does not deviate from the summary of this invention, it is with various forms. Of course, it can be implemented.

  The present invention can be used in the manufacturing industry of vehicle door opening and closing devices.

  DESCRIPTION OF SYMBOLS 1 Vehicle body, 2 doors, 4 hinges, 10, 10B, 110 Vehicle door opening / closing device, 12 spindle, 14 spindle motor, 16 door lock device, 18 door lock motor, 20 receiving device, 21 remote control key, 22, 22B irradiation Device, 24, 24B, 124 imaging device, 30 control device, 31 CPU, 32 ROM, 33 RAM.

Claims (7)

A vehicle door opening and closing device for opening and closing a vehicle door,
An irradiation device for irradiating an image of a predetermined pattern in the vicinity of the own vehicle;
An imaging device for imaging an irradiation area of the irradiation device;
A recognition process for recognizing an irradiation image of the irradiation device from a captured image of the imaging device is performed, and the door operates in an opening direction or a closing direction based on the recognition processing result that the irradiation image is not recognized. A control device for controlling
A vehicle door opening and closing device comprising: The vehicle door opening and closing device according to claim 1,
The irradiation area is divided into a plurality of areas,
The control device performs a recognition process for recognizing the irradiation image for each of the plurality of regions, and the door operates in a different operation pattern depending on which of the plurality of regions is the region where the irradiation image is no longer recognized. A vehicle door opening and closing device characterized in that control is performed. The vehicle door opening and closing device according to claim 2,
As the plurality of regions, at least a first region and a second region,
When the region where the irradiation image is no longer recognized is the first region, the control device moves the door in the opening direction or the closing direction at a first speed, and the region where the irradiation image is no longer recognized. The vehicle door opening and closing apparatus characterized by controlling the door to operate in an opening direction or a closing direction at a second speed higher than the first speed when the area is in the second region. The vehicle door opening and closing device according to claim 2,
As the plurality of regions, at least a first region and a second region,
When the area where the irradiation image is no longer recognized is the first area, the control device operates in the opening direction, and when the area where the irradiation image is no longer recognized is the second area. A door opening and closing device for a vehicle, wherein the door is controlled to operate in a closing direction. The vehicle door opening and closing device according to any one of claims 1 to 4,
The control device controls the door to move in an opening direction or a closing direction when the irradiation image is no longer recognized, and the irradiation image is recognized from a state in which the irradiation image is not recognized during the operation of the door. The vehicle door opening and closing device is controlled so that the operation of the door is stopped when the state is changed to a state. The vehicle door opening and closing device according to any one of claims 1 to 5,
Prior to the recognition process, the image capturing apparatus includes a registration unit that captures and registers an irradiation image of the irradiation apparatus,
The said control apparatus recognizes the said registered irradiation image from the captured image of the said imaging device as the said recognition process. The vehicle door opening / closing apparatus characterized by the above-mentioned. A vehicle door opening and closing device for opening and closing a vehicle door,
An imaging device having an imaging region in which a specific part of the vehicle is imaged;
Storage means for previously storing an image of the specific part as a registered image;
A recognition process for recognizing a registered image stored in the storage unit in a region where the specific part is imaged in the captured image of the imaging device is performed, and as a result of the recognition process, the registered image is no longer recognized. A control device for controlling the door to operate in an opening direction or a closing direction,
A vehicle door opening and closing device comprising:

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