KR100887688B1 - Door control device by the hand shape - Google Patents

Abstract

A door control device is provided to prevent the malfunction of door and to open the door far away from the vehicles. A door control device comprises an automatic control means(50) which opens and closes the door by electro-driving, an image photographing means(10) which makes a film of the side or the behind of the vehicles and watched, a first detection means(20) detecting the hand of man from the image taken, a third detection means detecting the face of the man corresponding to the hand detected from the image taken, a face data registration means memorizing face data of the man registered in advance, a face data matching means comparing the face data of the man registered in advance with the face data of the man detected.

Description

Door opening and closing control device by hand shape {Door Control Device by the Hand Shape}

The present invention relates to an automatic door opening and closing device for a vehicle, and more particularly, to an apparatus for controlling the opening and closing of a door by using an image captured by a camera mounted on a vehicle.

The automatic door opening and closing control technology of the vehicle is a method of electrically opening and closing the slide door, the back door or the trunk by operating a switch installed near the door handle or the door handle, or by operating the switch of the wireless remote control carried by the user. In general, a method of electrically opening and closing the back door or the trunk has been practically used.

In addition, the following patents are disclosed.

Japanese Patent Laid-Open No. 2005-315024 relates to a vehicle controller, which photographs a user with a camera outside the vehicle and automatically opens a door or window near the space inside the vehicle from the presence or absence of luggage.

Japanese Patent Laid-Open No. 2002-180744 relates to a vehicle open / close control device, which automatically opens a predetermined door or window when a person photographed with a side surveillance camera is near or in contact with the vehicle after the door is locked / unlocked. .

Japanese Patent Laid-Open No. 2003-138817 relates to a keyless entry system for a vehicle, a personal identification method, and a personal identification system. When a user extends a hand to a door handle in a vehicle peripheral monitoring device, an iris is photographed by a small camera for registration. If it could, unlock the door.

Japanese Patent Laid-Open No. 2006-328932 automatically opens the door when it is assumed that the vehicle side is staying near the vehicle for a request signal periodically transmitted.

In the above-mentioned practical technology, if the door handle or the switch operation near the door handle is not completely close to the vehicle, the operation is impossible, and if the user moves away from the vehicle, the user cannot operate the switch. Since the handheld wireless remote control is operated by hand, there is an inconvenience in that it cannot be operated by hands free.

The above-mentioned patent proposes an automatic opening by hands-free using image shooting, not by the user's intention, but by a guess, so the possibility of controlling against the user's intention is very high. There were many proposals for, but no suggestions for automatic closing.

The present invention has been made in order to solve the above-described problems, the door opening and closing by a hand shape that can realize the opening and closing or locking / unlocking of the door without operating the object at the same time, remotely, without the price increase Its purpose is to provide a control device.

Door opening and closing control apparatus according to the present invention for achieving the above object is a means for automatically opening and closing the slide door, back door or trunk, the image recording means for monitoring the side or rear of the vehicle, and the shooting And means for detecting the hand of a person from an image, characterized in that opening and closing control of the door is performed by recognizing the operation of the hand.

According to the present invention, the following effects can be obtained.

First, without raising the price basically, the user can open and close the door with only a waving shape without any device operation or device.

Second, the door can be opened and closed even if the vehicle is not completely close to the vehicle and is somewhat away from the vehicle.

Third, the user can clearly determine the intention to open or close the door by shaking the hand, and thus prevent the door from malfunctioning. Can contribute more.

Fourth, the operation authority can be restricted to a specific person by adding face authentication to the opening / closing determination condition of the door or adding unique ID matching between the portable unit and the vehicle side.

Fifth, battery rise (over-discharge) can be prevented by using unique ID matching between the portable unit and the vehicle side as a system starting condition such as a camera.

Sixth, when the user shakes his hand to give a command (hand shape), the vehicle side can check whether it can be received.

Hereinafter, the configuration and operation of the present invention will be described with reference to the accompanying drawings.

Hereinafter, the 'door' includes both a slide door or a back door and a trunk mounted on a vehicle and opened and closed by electric control.

FIG. 1 is a block diagram of a door opening and closing control device according to a first embodiment of the present invention, and FIG. 2 is an exemplary vehicle-mounted view of the image photographing means shown in FIG.

As shown, the image capturing means (10) consisting of a rear-view camera 14 for parking support provided in the rear of the vehicle (1) or a side-monitoring camera (12) installed on the side of the vehicle (1), such as a door mirror. And palm detection means 20 for analyzing the image data photographed by the image photographing means 10 to detect the shape of a human hand, and movement direction detection means 30 for detecting the movement direction of the detected palm. And an open / close command determining means (40) for judging the open / close command from the moving direction of the palm and the current open / closed state of the door (60), and a command from the open / close command determining means (40). Automatic opening and closing means 50 for opening and closing the door 60, and the opening and closing state detection means 70 for detecting the current opening and closing state of the door 60 and inputting to the opening and closing command determination means 40.

The present invention utilizes the automatic opening and closing means 50 and the image photographing means 10, and includes means 20 and 30 for detecting the shape of a human hand, more specifically, the shape of a palm, from the photographed image. Recognizing a hand shape in which a user moves a hand in a direction in which the door 60 is to be operated is to control the opening and closing of the door 60.

That is, as shown in the flowchart of FIG. 3, when the palm detection means 20 determines the detection of the shape of the hand (S302), the door 60 is opened and closed in the open / close state detection means 70. If it is determined (S304), after the operation of the door 60 is stopped by the automatic opening and closing means 50 (S312), the moving direction of the hand in the moving direction detecting means 30 is forward (direction of closing the door) or rearward ( It is determined whether the door is open direction (S306).

When the direction of movement of the hand is backward, when the door 60 is determined to be closed by the opening / closing state detection means 70 (S308), the door 60 is opened by the automatic opening / closing means 50 to be opened ( S310).

When the movement direction of the hand is forward, if it is determined that the door 60 is opened in the opening / closing state detecting means 70 (S322), the door 60 is closed by the automatic opening / closing means 50 (S324). ).

The present invention utilizes the equipment of a vehicle that employs an electric door opening and closing function or a vehicle periphery monitoring function. In order to implement the present invention, it is not necessary to additionally provide dedicated hardware, and only the image processing software needs to be added. Without being able to open and close the door 60 automatically.

In step S302 of detecting the shape of the palm of FIG. 3, when five fingers are identified on the premise that the direction of the palm is facing upward, a person close to the vehicle is recognized as clearly pointing the hand toward the vehicle. It is determined that the shape of the palm is detected.

Specifically, as shown in FIG. 4A, when the five fingers are clearly recognized as feature point extraction, it is determined that the shape of the palm is detected, and as shown in FIG. It is determined that the shape of the palm is detected only when five fingers are clearly recognized within the range of ± 45 ° or less in the vertical direction, and the direction of the hand is within ± 45 ° or less in the vertical direction.

By detecting the palm shape as described above, the palm is detected to prevent the door opening and closing even if there is no intention to open or close the door.

When it is detected that the palm detected in step S306 of FIG. 3 is moved, considering the opening / closing state of the current door 60 in steps S308 and S322, and then operating in the same direction as the moving direction of the palm in steps S310 and S324. If this is possible, the opening / closing control of the door 60 is performed.

In FIG. 5A, when the palm is recognized and the right movement of the palm is recognized, the door 60 is moved to the right and opened when the door 60 is closed.

When the palm is recognized in FIG. 5B and the left movement of the palm is recognized, the door is moved to the left side 60 to close when the door 60 is opened.

In FIG. 5C, when the palm is recognized after the palm is recognized, the palm 60 is moved upward to open the door 60 in the closed state.

When the palm is recognized in FIG. 5D and the palm is moved downward, the door 60 is moved downward to close the door 60 while the door 60 is open.

In step S306 of detecting the moving direction of the palm of FIG. 3, it is determined that a person who is close to the vehicle clearly commands the vehicle with the moving direction, the moving distance, and the moving speed as the determination conditions.

Specifically, when opening and closing the door 60 in the left and right direction in Figure 6a, the minimum physical quantity that causes a reaction to the horizontal movement direction of the palm is limited within the range of ± 45 ° or less in the horizontal direction.

In the case of opening and closing the door 60 and the trunk / back door in FIG. 6B, the minimum physical quantity that reacts to the vertical movement direction of the palm is limited within a range of ± 45 ° or less in the vertical direction.

In FIG. 6C and FIG. 6D, the minimum physical quantity that reacts to the movement distance of the palm is limited to a distance range of 50% (baseline) of the palm width or palm height.

6C and 6D, when the movement distance of the palm moves within the reference line (50%), the movement is not recognized.

And the minimum physical quantity that reacts to the movement speed of the palm is limited to 0.025 m / s to 0.2 m / s.

Thus, by detecting the moving direction of the palm on the basis of the moving direction, the moving distance, and the moving speed as the determination condition, the palm is detected to prevent the door opening and closing control even if there is no intention of opening and closing the door 60.

When the door is automatically opened and closed in step S304 of FIG. 3 and the door is actually opened and closed, when the vehicle detects the palm in step S302 by the user's hand pointing to the vehicle 1 and commanding it. In operation S312, the operation of the door 60 is stopped once.

In the case of a misoperation by performing the above-described steps S302, S304, and S312, or in the case where the opening / closing command is issued but it is not necessary to open or close, there is no need to wait until the operation of the door 60 movement is completed. It is possible to quickly execute the operation of the door 60 opening and closing operation and the reverse operation.

7 is a block diagram of a door opening and closing control apparatus according to a second embodiment of the present invention.

In the second embodiment, in the configuration of the first embodiment shown in Fig. 1, face direction detecting means 80 for detecting the direction of the face of the person is further provided, and the opening / closing command determining means 40 is the movement direction of the palm and the present. The opening / closing command of the door 60 is determined from not only the opening / closing state of the door 60 but also the face direction of the person.

Thus, in the second embodiment, only when it is determined that the direction of the face of the person is clearly directed toward the vehicle side, the opening and closing operation of the door 60 is performed so as to correspond to the moving direction of the palm.

According to the second embodiment described above, even when there is no intention to open or close the door 60, it is possible to more reliably prevent movement of the door 60 by controlling the movement of the palm.

8 is a block diagram of a door opening and closing control apparatus according to a third embodiment of the present invention.

In the third embodiment, in the configuration of the first embodiment shown in FIG. 1, the face data detection means 90 for detecting a face of a person and the face data for storing face data of a person who allows the door 60 to be opened or closed in advance. A registration means 110 and a face data matching means 100 for matching the detected facial features of the person with the features of the pre-registered face data are further provided, and the opening / closing command determining means 40 is provided with the movement direction of the palm and the present. The opening / closing command of the door 60 is determined based on not only the opening / closing state of the door 60 but also the result of human authentication.

As a result, in the third embodiment, only when it is determined that the face data of the detected person is matched with the face data registered in advance, the door 60 is opened and closed to correspond to the moving direction of the palm.

9 is a block diagram of a door opening and closing control apparatus according to an application example of the third embodiment shown in FIG.

In the application example of the third embodiment, the open / close command determining means 40 of the third embodiment is an open / close / lock / release command determining means 40a, and the open / close state detecting means 70 is an open / lock / release state detecting means 70a. ), The automatic opening and closing means 50 is composed of automatic opening and closing, locking / releasing means (50a).

As a result, when the door 60 is in the locked state, the door is automatically opened after the lock is released. If the door 60 is in the open state, the door 60 is closed and then the door is locked.

According to the third embodiment and the application example of FIGS. 8 and 9 described above, the opening and closing of the door 60 can be limited to a specific person, and the hand operation is not required only without the automatic opening and closing function and no switch operation is required. Shape) to realize a complete keyless entry function.

10 is a block diagram of a door opening and closing control apparatus according to a fourth embodiment of the present invention.

In the fourth embodiment, in the configuration of the first embodiment shown in FIG. 1, the vehicle side includes the request transmission means 120 for periodically transmitting the request signal and the unique ID transmitted from the portable unit 200 carried by the user. Matching of the unique ID receiving means 130 to be received, the unique ID registering means 140 for storing the unique ID for allowing the door to be opened and closed in advance, and the received unique ID and the unique ID registered to the vehicle in advance Unique ID matching means 150 is provided,

The portable unit 200 which the user carries and communicates with the vehicle side includes a request signal receiving unit 210 for receiving a request signal from the request transmitting unit 120 on the vehicle side, and receiving the request signal. In the case is further provided with a unique ID transmitting means 220 for transmitting a unique ID registered in advance,

 The open / close command determining means 40 determines the open / close command of the door 60 based on the unique ID matching result as well as the moving direction of the palm and the open / closed state of the current door 60.

As a result, in the fourth embodiment, the door 60 is opened and closed so as to correspond to the moving direction of the palm only when it is determined that the received unique ID matches the previously registered unique ID.

11 is a block diagram of a door opening and closing control device according to an application example of the fourth embodiment shown in FIG.

In the application example of the fourth embodiment, the open / close command determining means 40 of the fourth embodiment is the open / close / lock / release command determining means 40a, and the open / close state detecting means 70 is the open / lock / release state detecting means 70a. ), The automatic opening and closing means 50 is composed of automatic opening and closing, locking / unlocking means (50a).

As a result, when the door 60 is in the locked state, the door is automatically opened after the lock is released. If the door 60 is in the open state, the door 60 is closed and then the door is locked.

According to the fourth embodiment and the application example of FIGS. 10 and 11 described above, the opening and closing of the door 40 can be limited to a person having a specific portable unit 200, and the switch does not stay only in the automatic opening and closing function. A complete keyless entry function can be realized by hand operation (hand shape) that does not require operation or the like.

On the other hand, in the present invention, the opening and closing of the door 60 is mainly performed in the parked or stopped state in which the engine is stopped, and if the image photographing means 10 is continuously operated in the engine stopped state, the phenomenon of battery rise (over-discharge) or the like is prevented. Problems can arise.

In order to solve the problem, in the fourth embodiment and the application example, the request signal transmitting means 120 on the vehicle side periodically transmits a request signal so that a user having the portable unit 200 is close to the arrival area of the request signal. Only when it is judged that it is determined, the image photographing means 10 such as a camera is started.

That is, the unique ID is registered in advance on the vehicle side and the portable unit 200, and the portable unit 200 receiving the request signal periodically transmitted by the vehicle side transmits the unique ID to the vehicle side and registers it in advance on the vehicle side. The image capturing means 10 is activated when the unique ID that has been matched with the unique ID received from the portable unit 200 can be matched.

The above-described technology can be easily realized by utilizing the smart entry function, which is increasingly being installed in commercial vehicles.

When the user is too far from the vehicle 1 and face orientation or face authentication is difficult, communication with the portable unit 200 is impossible, or when the image photographing means 10 is not activated, The vehicle may not respond even if the user close to (1) operates by the hand shape.

At that time, the user does not know whether the vehicle is not ready to accept the shape, or the user's shape is bad, and the user must repeat the shape several times.

In order to solve the problem, such as when the direction of the face or the state of the face authentication can be performed, when the communication with the portable unit 200 is enabled, or when the image capturing means 10 can be activated. When the vehicle side is ready to receive the user's hand shape, sound or light is output to the outside of the vehicle 1 to inform the user that the shape may be performed.

The sound or light output to the outside of the vehicle 1 may be provided with a dedicated one, but a sound that is already mounted on the vehicle 1 such as a horn (horn) or a winker lamp may be used.

The present invention as described above can be implemented by utilizing the functions (motor door / trunk opening and closing function, vehicle rear / side monitor function, smart entry function) and equipment (horn, winger lamp) basically provided in the vehicle. If the vehicle has a function or equipment, it can be realized without increasing the price.

The present invention can be usefully used without cost-up for a vehicle having an electric door / trunk opening and closing function and a vehicle rear / side monitoring function.

1 is a block diagram of a door opening and closing control device according to a first embodiment of the present invention,

FIG. 2 is a vehicle-mounted exemplary view of the image photographing means shown in FIG. 1;

3 is a basic control flowchart of the present invention;

4A and 4B show an example of shape detection judgment of a hand shown in FIG. 3;

5a to 5d is a view showing an example of the opening and closing operation of the door according to the palm movement direction recognition shown in FIG.

6A to 6D are views showing an example of detecting the movement direction of the palm shown in FIG. 3;

7 is a block diagram of a door opening and closing control device according to a second embodiment of the present invention;

8 is a block diagram of a door opening and closing control apparatus according to a third embodiment of the present invention,

9 is a block diagram of a door opening and closing control device according to an application example of the third embodiment shown in FIG. 8;

10 is a block diagram of a door opening and closing control device according to a fourth embodiment of the present invention;

11 is a block diagram of a door opening and closing control device according to an application example of the fourth embodiment shown in FIG.

Claims (14)

delete delete Automatic opening and closing means for opening and closing the slide door, back door or trunk (hereinafter referred to as 'door') provided in the vehicle by electric; Image photographing means for photographing the side or rear of the vehicle and performing side or rear monitoring; First detecting means for detecting a human hand from an image photographed by said image photographing means; Third detecting means for detecting a face of a person corresponding to a hand detected from the image photographed by the image photographing means; Face data registration means for storing face data of a person who is permitted to open or close a door that is registered in advance; Face data matching means for matching the face of the detected person with face data of a person registered in advance; When the hand detected by the first detecting means is determined to be moving, and when it is determined that the face data of the person detected by the face data matching means is matched with the face data of the person registered in advance, the opening and closing control of the door is performed. Door opening and closing control device by a hand shape, characterized in that. The method of claim 3, wherein The automatic opening and closing means further comprises a function for locking / releasing the door by electric power to open the door after releasing the lock, and to close the door and closing the door. The automatic opening and closing means of the door provided in the vehicle automatically, the image photographing means for monitoring the side or the rear of the vehicle to perform side or rear monitoring, and the human hand from the image photographed by the image photographing means. A first detecting means for detecting, a request signal transmitting means for periodically transmitting a request signal to the outside of the vehicle, a unique ID receiving means for receiving the unique ID transmitted from the outside of the vehicle, and a unique ID for storing the unique ID registered in advance A unique ID matching means for matching the means with the received unique ID and a unique ID registered in advance; A portable unit carried by the user includes a request signal receiving means for receiving a request signal transmitted from the vehicle side, and a unique ID transmitting means for transmitting a unique ID to the vehicle side when the request signal is received; And determining that the hand detected by the first detecting means is moving, and determining that the unique ID received by the unique ID matching means and the unique ID registered in advance match with each other. Door opening and closing control device by hand shape. The method of claim 5, wherein The automatic opening and closing means further comprises a function for locking / releasing the door by electric power to open the door after releasing the lock, and to close the door and closing the door. The method of claim 5, wherein And the image capturing means is activated at a time point when the received unique ID and the pre-registered unique ID match with each other. The method according to claim 3 or 5, And said first detecting means detects a shape and a moving direction of a hand. The method of claim 8, And the automatic opening and closing means operates the door in the same direction as the moving direction of the detected hand. The method of claim 8, The first detection means determines that the shape of the hand is detected when the five fingers are clearly recognized as feature point extraction and the direction of the hand is within the range of ± 45 ° or less in the vertical direction. Door opening and closing control device by. The method according to claim 3 or 5, The first detecting means detects the movement of the hand when the movement direction and the movement speed of the hand are within a range of preset conditions and the movement distance is outside a range of preset conditions. Control unit. The method of claim 11, wherein The range of preset conditions for the movement direction of the hand is ± 45 ° in the horizontal or vertical direction, and the range of preset conditions for the movement speed is 0.025 m / s to 0.2 m / s, and the preset range for the movement distance. The range of the condition is the door opening and closing control device by the hand, characterized in that 50% of the palm width or palm height. The method according to claim 3 or 5, And the automatic opening and closing means stops the opening and closing operation of the door if a hand is detected while the door is opening and closing. The method according to claim 3 or 5, And a door opening / closing control device according to a hand shape, wherein the user is notified of the instruction by sound or light when the user is ready to receive a command by the operation of the human hand.

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