JP6207089B2 - Vehicle door control device - Google Patents

Description

  The present invention relates to a vehicle door control device. In particular, the present invention relates to a vehicle door control device that performs an opening operation or a closing operation of a vehicle door based on an estimation result (determination result) as to whether or not both hands of a vehicle user including the vehicle owner are closed. .

  For example, Patent Document 1 discloses a vehicle door control device (vehicle door opening / closing system). A vehicle door control device described in Patent Document 1 is a portable device (on-vehicle device (vehicle control unit)) and a portable device that can be carried by a vehicle user including the owner of the vehicle that can wirelessly communicate with the on-vehicle device ( The vehicle door (back door) is opened when the vehicle user satisfies a predetermined condition on the assumption that a predetermined collation is established with the portable key).

  The predetermined condition in the vehicle door control device described in Patent Document 1 is that a vehicle user is continuously detected in a detection area around the back door for a certain period of time or a preset movement pattern (Detection pattern) is that the movement of the user of the vehicle is detected in the detection area. Thus, even if the vehicle door control device described in Patent Document 1 is in a state where both hands of the user of the vehicle are blocked by luggage or the like, the vehicle user satisfies the predetermined condition, for example, The back door can be opened without operating the door handle or the like.

  By the way, in the vehicle door control device described in Patent Document 1, in order for a vehicle user to satisfy a predetermined condition, the predetermined condition is stored or consciously stored in the detection area around the back door or the back door. Need to move around. Then, it can be assumed that the user of the vehicle feels troublesome to act so as to satisfy the predetermined condition when the load held in the hand is heavy. It can also be assumed that the vehicle door cannot be quickly opened because the user of the vehicle temporarily forgets the predetermined condition. As described above, further improvement is necessary in order to open the vehicle door in such a way that even a user of a vehicle holding a load in his / her hand does not feel bothered.

JP 2014-9470 A

  One object of the present invention is to provide a vehicle door control device that does not make the user of the vehicle including the owner of the vehicle feel bothersome. Other objects of the present invention will become apparent to those skilled in the art by referring to the aspects and preferred embodiments exemplified below and the accompanying drawings.

A first aspect according to the present invention comprises:
A camera that captures an image of an outside of a vehicle including the vicinity of a door of a vehicle to obtain a captured image, and a part or all of the upper body of the person is included in an imaging range when the person is positioned near the door of a predetermined door of the vehicle A camera installed in the vehicle as described above ,
An estimation unit that estimates whether or not both hands of a person included in the captured image are blocked by analyzing a captured image obtained by the camera;
A projector that projects a predetermined projection image on the road surface in the vicinity of the door of the predetermined door when the estimation unit estimates that both hands of the person are blocked;
A control unit that executes an opening operation or a closing operation of the predetermined door when it is detected that a part or all of the upper body of the person has moved toward the projection image projected on the road surface;
It is related with a vehicle door control device provided with.

In the first aspect, the vehicle door control device is configured to determine a predetermined vehicle based on an estimation result of whether or not both hands of a person included in the captured image by the estimation unit, that is, a user of the vehicle including the owner of the vehicle are blocked. The door is opened or closed. Therefore, the user does not need to be aware of the conditions for executing the opening operation or the closing operation of a predetermined door of the vehicle by the vehicle door control device. Therefore, the vehicle door control device can execute an opening operation or a closing operation of a predetermined door of the vehicle without causing bothersomeness even for a user whose hands are blocked by luggage or the like. In the first aspect, the estimation unit estimates that the user has performed an operation on the projection image by detecting that part or all of the upper body of the user has moved toward the projection image. Therefore, it is not necessary to directly detect an operation by the user's foot. Therefore, for example, it is not necessary to employ a camera having a large angle of view in the vertical direction, and thus it is possible to suppress the choices of cameras to be employed in the vehicle door control device.

  In a second aspect according to the present invention, in the first aspect, when the estimation unit estimates that both hands of the person are blocked, the control unit causes the predetermined door to open, The predetermined door may be a door other than the door on the driver's seat side.

  In the second aspect, the vehicle door control device performs an opening operation of doors other than the door on the driver's seat side of the vehicle when the estimation unit estimates that both hands of the user are blocked. As a result, in order to operate the door handle, the user can carry the luggage and the like into the vehicle without once placing the luggage or the like held by both hands on the road surface, thereby improving convenience.

  In a third aspect according to the present invention, in the first or second aspect, when the estimation unit estimates that both hands of the person are not blocked, the control unit executes the predetermined door opening operation. The predetermined door may be a door on the driver's seat side.

  In the third aspect, the vehicle door control device opens the door on the driver's seat side of the vehicle when the estimation unit estimates that both hands of the user are not blocked. As a result, the user does not need to operate the door handle when opening the door on the driver's seat side, so convenience is improved.

In a fourth aspect according to the present invention, in any one of the first to third aspects, a portable device that the person can carry;
An on-vehicle device that performs predetermined authentication by communicating with the portable device; and
The control unit may activate the camera when the predetermined authentication is established.

  Since the camera is activated when predetermined authentication is established, occurrence of a situation such as activation of the camera when the user of the vehicle is not present in the vicinity of the vehicle is suppressed. As a result, power consumption related to the operation of the camera can be suppressed. In addition, security is ensured by preventing the estimation unit from estimating the person who is not related to the user of the vehicle.

In a fifth aspect according to the present invention, in any one of the first to fourth aspects, the control unit is configured such that the predetermined door is in an open state, and a part or all of the upper body of the person is on the road surface. When the movement toward the projected image projected onto the screen is detected, the predetermined door in the open state may be closed.

  In the fifth aspect, when the estimation unit estimates that the user has performed an operation on the projection image, the control unit causes the predetermined door that is in the open state to be closed. When the user performs an operation on the projected image, the vehicle door closing operation is executed, so that the user needs to put the luggage, etc., held with both hands once on the road surface in order to close the vehicle door. There is no. Further, since the user operates based on the projection image, it is not necessary to store the operation content. Furthermore, when the vehicle door is closed based on the user's intention to close the vehicle door, the vehicle door is closed against the user's intention when, for example, loading or unloading luggage. It is prevented.

It is a block diagram which shows the example of a structure in 1st Embodiment of the vehicle door control apparatus of this invention. It is a figure which shows the area | region which can communicate wirelessly between the vehicle equipment shown in FIG. 1, and a portable device. 3 (A) and 3 (B) are perspective views of the vehicle showing an example of the mounting position of the camera shown in FIG. 4A, 4B, and 4C are diagrams illustrating an estimation method by the estimation unit illustrated in FIG. It is a flowchart figure which shows the example of operation | movement in 1st Embodiment of the vehicle door control apparatus of this invention. It is a block diagram which shows the example of a structure in 2nd Embodiment of the vehicle door control apparatus of this invention. It is a perspective view of the vehicle which shows the example of the attachment position of the projector shown by FIG. It is a figure which shows the angle of view of the vertical direction of the camera shown by FIG. 6, and the projection image projected by a projector. 9A, 9B, 9C, and 9D illustrate an estimation method for estimating whether or not the user has operated the projection image shown in FIG. 8 by the estimation unit. It is a figure to do. It is a flowchart figure which shows the example of operation | movement in 2nd Embodiment of the vehicle door control apparatus of this invention. FIG. 11A, FIG. 11B, FIG. 11C, and FIG. 11D are diagrams illustrating an estimation method for estimating a member configuration of a user by an estimation unit.

  The preferred embodiments described below are used to facilitate an understanding of the present invention. Accordingly, those skilled in the art should note that the present invention is not unduly limited by the embodiments described below. In the description, left and right refer to the left and right with reference to the vehicle driver, and front and rear refer to the front and rear with reference to the traveling direction of the vehicle. In the figure, L indicates the left as viewed from the driver, and R indicates the right as viewed from the driver.

1. First Embodiment As shown in FIG. 1, the vehicle door control device 10 includes a camera 21, an estimation unit 31, and a control unit 41. The vehicle door control device 10 can further include an in-vehicle device 51, a portable device 61, a door lock device 58, a door opening / closing device 46, and the like. The vehicle 21 includes the camera 21, the estimation unit 31, the control unit 41, the vehicle-mounted device 51, the door lock device 58, and the door opening / closing device 46.

  The camera 21 images outside the vehicle including the vicinity of the door of the vehicle 1. The camera 21 outputs a captured image obtained by imaging to the estimation unit 31. An example of the attachment position of the camera 21 will be described later. The activation of the camera 21 is controlled by the control unit 41, for example. The camera 21 may be a dedicated camera for the vehicle door control device 10. For example, a camera for a so-called multiview system, a camera for visually recognizing the side and rear of the vehicle 1 instead of the side mirror, etc. It may be a camera.

  The estimation unit 31 includes, for example, a microcomputer having a processing unit 32, a storage unit 33, and an input / output unit 34. When the captured image is input from the camera 21, the estimation unit 31 estimates (determines) the state of the person included in the captured image. The state of the person included in the captured image estimated by the estimation unit 31 is, for example, a state in which both hands are closed due to having a luggage. A method for estimating the state of the person included in the captured image by the estimation unit 31 will be described later.

  In the example illustrated in FIG. 1, the estimation unit 31 is connected to the control unit 41 via, for example, an in-vehicle LAN 71 (Local Area Network) that is a CAN 71 (Control Area Network). The CAN 71 is activated when, for example, first user authentication described later is established. However, the estimation unit 31 may be directly connected to the control unit 41. When the estimation unit 31 estimates the state of the person included in the captured image, the estimation unit 31 outputs an estimation result to the control unit 41.

  Here, in the example illustrated in FIG. 1, the estimation unit 31 is illustrated as hardware different from that of the camera 21. However, for example, when the camera 21 includes the estimation unit 31, the camera 21, the estimation unit 31, May be configured as an integral piece of hardware. In this case, for example, the function of the estimation unit 31 may be realized by executing a program stored in the storage unit of the camera 21 (not shown) by the processing unit of the camera 21 (not shown).

  The control unit 41 is composed of, for example, a microcomputer having a processing unit 42, a storage unit 43, and an input / output unit 44. The control unit 41 controls the door opening / closing device 46 based on the estimation result from the input estimation unit 31 to execute a predetermined door opening or closing operation. Moreover, the control part 41 starts the camera 21, for example, when predetermined | prescribed authentication with the portable device 61 by the vehicle equipment 51 mentioned later is materialized.

  Here, in the example illustrated in FIG. 1, the control unit 41 is illustrated as hardware different from the estimation unit 31, but for example, the control unit 41 includes the estimation unit 31, thereby estimating the control unit 41. The unit 31 may be configured as integral hardware. In this case, for example, the function of the estimation unit 31 may be realized by the processing unit 42 of the control unit 41 executing the program stored in the storage unit 43 of the control unit 41.

  The vehicle-mounted device 51 and the portable device 61 are the vehicle-mounted device 51 and the portable device 61 included in a so-called smart entry system. The vehicle-mounted device 51 is constituted by, for example, a microcomputer having a processing unit 52, a storage unit 53, an input / output unit 54, and a communication unit 55. The communication unit 55 of the in-vehicle device 51 includes, for example, an outside antenna 56 and an inside antenna 57.

  The portable device 61 includes, for example, a processing unit 62, a storage unit 63, and a communication unit 65, and is configured to be portable by users of the vehicle 1 including the owner of the vehicle 1. Hereinafter, the “user of the vehicle 1 including the owner of the vehicle 1” is also referred to as a “user”. The communication unit 65 of the portable device 61 has an antenna 66. Therefore, the vehicle-mounted device 51 and the portable device 61 can perform wireless communication.

  The in-vehicle device 51 performs wireless communication with the portable device 61, whereby the ID information of the on-vehicle device 51 stored in the storage unit 63 of the portable device 61 and the on-vehicle device stored in the storage unit 53 of the on-vehicle device 51. It is determined whether or not the ID information 51 matches. That is, the person who carries the portable device 61 and approaches the vehicle 1 is authenticated as a user. Hereinafter, “authentication that the person who carries the portable device 61 and approaches the vehicle 1 is a user” is also referred to as “user authentication”. The vehicle-mounted device 51 determines that the ID information of the vehicle-mounted device 51 stored in the storage unit 63 of the portable device 61 matches the ID information of the vehicle-mounted device 51 stored in the storage unit 53 of the vehicle-mounted device 51. Sometimes user authentication is established.

  When the user authentication is established, the vehicle-mounted device 51 controls, for example, the door lock device 58 to set the door lock of a predetermined door to a locked state or an unlocked state. Further, when the user authentication is established, the vehicle-mounted device 51 may output a user authentication establishment signal.

  Here, in the example shown in FIG. 1, the vehicle-mounted device 51 is illustrated as hardware different from the control unit 41, but for example, the vehicle-mounted device 51 includes the control unit 41, thereby controlling the vehicle-mounted device 51. The unit 41 may be configured as integral hardware. In this case, for example, the function of the control unit 41 may be realized by the processing unit 52 of the vehicle-mounted device 51 executing the program stored in the storage unit 53 of the vehicle-mounted device 51. In this case, the camera 21 and the door opening / closing device 46 are connected to the input / output unit 54 of the vehicle-mounted device 51, for example.

  FIG. 2 shows a transmission area of request signals transmitted from the vehicle exterior antenna 56 and the vehicle interior antenna 57 of the vehicle-mounted device 51. The area 111 is a transmission area of a request signal transmitted from the vehicle exterior antenna 56 of the vehicle-mounted device 51, and is set in a range corresponding to the outside of the vehicle within a range not exceeding a predetermined distance from the vehicle 1, for example. The area 112 is a transmission area of a request signal transmitted from the vehicle interior antenna 57 of the vehicle-mounted device 51, and is set in a range corresponding to the interior of the vehicle 1, for example. Hereinafter, the “request signal transmitted from the vehicle-mounted antenna 56 of the vehicle-mounted device 51” is also referred to as “first request signal”, and the “request signal transmitted from the vehicle-mounted antenna 57 of the vehicle-mounted device 51” is referred to as “second request signal”. Also called “request signal”. The onboard equipment 51 transmits a 1st request signal or a 2nd request signal intermittently, for example.

  Hereinafter, an example of the activation timing of the camera 21 when getting on the vehicle 1 and an example of the activation timing of the camera 21 when getting off the vehicle 1 will be described. First, an example of the start timing of the camera 21 when getting on the vehicle 1 will be described. When a person carrying the portable device 61 enters the area 111, the portable device 61 receives the first request signal. The portable device 61 that has received the first request signal transmits a response signal including the ID information of the vehicle-mounted device 51 stored in the storage unit 63 of the portable device 61. The in-vehicle device 51 that has received the response signal determines whether or not the ID information of the on-vehicle device 51 included in the response signal matches the ID information of the on-vehicle device 51 stored in the storage unit 53 of the on-vehicle device 51. I do.

  When the vehicle-mounted device 51 determines that the ID information of the vehicle-mounted device 51 included in the response signal matches the ID information of the vehicle-mounted device 51 stored in the storage unit 53 of the vehicle-mounted device 51, the portable device 61 is carried. Authenticates that the person to do is a user. Hereinafter, user authentication using the first request signal is also referred to as “first user authentication”.

  When the first user authentication is established, the vehicle-mounted device 51 controls, for example, the door lock device 58 to set the door lock of the predetermined door to the unlocked state. The predetermined door may be all of the doors of the vehicle 1, for example, a door that is expected to be approached by the user depending on the reception intensity of the response signal. When the first user authentication is established, for example, the vehicle-mounted device 51 outputs a first user authentication establishment signal. For example, the control unit 41 activates the camera 21 when a first user authentication establishment signal is input.

  Since the camera 21 is activated when the first user authentication is established, occurrence of a situation such as activation of the camera 21 when the user of the vehicle 1 is not present in the vicinity of the vehicle 1 is suppressed. As a result, power consumption related to the operation of the camera 21 can be suppressed. In addition, security is ensured by preventing the estimation unit 31 from estimating a person who is not related to the user of the vehicle 1.

  Next, an example of the activation timing of the camera 21 when getting off the vehicle 1 will be described. As a premise, when the portable device 61 exists in the area 112, user authentication similar to the user authentication at the time of getting on the vehicle 1 described above is performed using the second request signal. Hereinafter, user authentication using the second request signal is also referred to as “second user authentication”. When the second user authentication is established, the vehicle-mounted device 51 outputs a second user authentication establishment signal.

  When the user gets off the vehicle 1, he carries the portable device 61 and gets off from the vehicle 1. Therefore, when the user goes out of the vehicle, the second user authentication is not established. When the second user authentication is not established, the vehicle-mounted device 51 does not output the second user authentication establishment signal. For example, when the second user authentication establishment signal is not input from the state where the second user authentication establishment signal is input, the control unit 41 activates the camera 21.

  Here, when the control unit 41 inputs the first user authentication establishment signal from the state where the second user authentication establishment signal is input, the camera 21 may be activated. However, when the control unit 41 stops inputting the second user authentication establishment signal from the state in which the second user authentication establishment signal has been input, the activation timing of the camera 21 is determined more when the camera 21 is activated. This is preferable because it can be done quickly.

  Thereafter, when the user moves from the inside of the region 111 to the outside of the region 111, that is, when the control unit 41 does not input the first user authentication establishment signal after inputting the first user authentication establishment signal, the control is performed. For example, the unit 41 controls the door lock device 58 to lock the door locks of all the doors of the vehicle 1.

  The example of the attachment position of the camera 21 is demonstrated using FIG. 3A and 3B show a right front door 3R which is a door on the driver's seat side, a left front door 3L which is a door on the passenger seat side, and a right rear door which is a door on the right rear seat side. A vehicle 1 including 4R and a left rear door 4L that is a left rear seat side door is illustrated. In the vehicle 1 shown in FIGS. 3 (A) and 3 (B), for example, hinge doors are employed for both front doors 3. Further, in the vehicle 1 shown in FIGS. 3A and 3B, for example, sliding doors are employed for both rear doors 4. 3A and 3B show the right side portion of the vehicle 1, but the left side portion of the vehicle 1 is the same, so only the right side of the vehicle 1 will be described below. The description on the left side is omitted.

  FIG. 3A shows an example in which a camera attached to the vehicle 1 for purposes other than the vehicle door control device 10 is used as the camera 21 of the vehicle door control device 10. The example shown in FIG. 3A shows a vehicle 1 that includes a camera that includes the side and the rear of the vehicle 1 in an imaging range among so-called multi-view system cameras. A vehicle that employs a so-called multi-view system generally includes a camera that includes an imaging range in front of the vehicle 1 and a camera that includes an imaging range in the rear of the vehicle 1, but is illustrated in FIG. Not. In the example shown in FIG. 3A, the camera 21 is built in the right side mirror 6R. For example, a lens unit is disposed on the outer side in the vehicle width direction from the mirror unit 6Ra, and images the right side and the rear side of the vehicle 1 are imaged. It is attached to the vehicle 1 as possible.

  Among cameras for so-called multi-view systems, a camera that includes the side and rear of the vehicle 1 in the imaging range is used, so that a user who approaches the side of the vehicle 1 can be included in the imaging range and is newly dedicated. The increase in cost and weight caused by attaching the camera 21 to the vehicle 1 can be suppressed.

  Here, in the example shown in FIG. 3A, the vehicle 1 is not provided with the right side mirror 6R, and instead of the right side mirror 6R, a camera is provided for the purpose of viewing the right side and the rear side of the vehicle 1. If it is, the camera may be used as the camera 21 of the vehicle door control device 10.

  FIG. 3B shows an example in which a dedicated camera 21 of the vehicle door control device 10 is attached to the vehicle 1. In the example shown in FIG. 3B, the camera 21 includes, for example, the vehicle 1 so that the imaging range includes the side of the vehicle 1 on the right roof rail 5R between the right front door 3R and the right rear door 4R. Attached to.

  Since the camera 21 dedicated to the vehicle door control device 10 is attached to the vehicle 1, depending on the type of the vehicle 1, the camera attached to the vehicle 1 for purposes other than the vehicle door control device 10 approaches the side of the vehicle 1. This is effective when it is difficult to include the user in the imaging range. Further, it is also effective when there is no space in the side mirror 6 where the lens portion of the camera 21 is provided.

  An example of an estimation method for determining whether or not the user's hands included in the captured image by the estimation unit 31 are blocked will be described with reference to FIG. 4A, 4B, and 4C show specific examples in which the user's hands are closed. That is, FIG. 4A shows a state where the user has a baggage of a size that the user needs to hold with both hands, FIG. 4B shows a state where the user is holding an umbrella, and FIG. The user's hands are covered with different packages. Of course, the state in which the user's hands are closed is not limited to the specific examples shown in FIGS. 4 (A), 4 (B), and 4 (C).

  First, as a first estimation method, for example, the estimation unit 31 determines whether the tips of both hands of the user included in the captured image obtained from the camera 21 are in contact with the same object or different objects. Determine. For example, when it is determined that the tips of both hands of the user are in contact with the same object or different objects, the estimation unit 31 estimates that both hands of the user are blocked. By this estimation method, the estimation unit 31 can also estimate the state in which the user's hands shown in any of FIGS. 4A, 4B, and 4C are closed, for example.

  Here, for example, in the example shown in FIG. 4A, when the tip of both hands of the user is hidden by what the user has, the estimation unit 31 is included in the captured image obtained from the camera 21. It is estimated that the user cannot recognize the tip of both hands. Even when the estimation unit 31 cannot recognize the tips of both hands of the user, when the user has an object with both hands, the user's hands are estimated to be blocked. It is hoped that. In the example shown in FIG. 4B, it is also assumed that the user puts an umbrella with one hand. However, for example, when the user closes the umbrella just before getting on the vehicle 1, it is expected that both hands of the user are blocked. Therefore, the estimation unit 31 may estimate that the example shown in FIG. 4B is in a state where both hands of the user are closed. Even in these cases, the second estimation method and / or the third estimation method described below is employed in order for the estimation unit 31 to accurately estimate the state where both hands of the user are blocked. May be.

  As a second estimation method, for example, the estimation unit 31 analyzes a captured image obtained from the camera 21 and extracts a contour of the user included in the captured image. Subsequently, for example, the estimation unit 31 determines whether there is an object that is in contact with the user and protrudes more than a predetermined length from the extracted contour of the user. For example, the estimation unit 31 estimates that both hands of the user are blocked when it is determined that there is an object that is in contact with the user and protrudes more than a predetermined length from the extracted contour of the user. By this estimation method, the estimation unit 31 can estimate a state where both hands of the user shown in FIGS. 4A and 4B are closed, for example.

  As a third estimation method, the estimation unit 31 stores, for example, at least one pattern in the storage unit 33 of the estimation unit 31 in advance, and stores any of the patterns in which the user state included in the captured image is stored. When applicable, it may be assumed that both hands of the user are blocked. Examples of patterns that are stored in advance in the storage unit 33 of the estimation unit 31 include, for example, a pattern in which a large object exists approximately in the middle of the user's vertical direction, and a pattern in which a large object exists in the upper part of the user's vertical direction. It is. A pattern in which a large object is present approximately in the middle of the user in the vertical direction corresponds to the example shown in FIG. 4A, for example, and a pattern in which a large object exists in the upper part of the user in the vertical direction is illustrated in FIG. Corresponds to the example shown.

  The estimation unit 31 may execute the three estimation methods described above in parallel and output an estimation result when it is estimated that one of the user's hands is blocked by any one of the estimation methods. By doing so, the estimation part 31 can output the estimation result that the user's both hands are closed quickly. However, the estimation unit 31 may execute only one or two estimation methods among the three estimation methods. Of course, the above-described three estimation methods are merely specific examples, and the method of estimating that the user's hands are blocked by the estimation unit 31 is not limited thereto.

  An operation example of the vehicle door control device 10 will be described with reference to the flowchart shown in FIG. In the flowchart shown in FIG. 5, for example, when the vehicle-mounted device 51 receives a response signal transmitted from the portable device 61, the determination in step S01 is executed.

  In step S <b> 01, the vehicle door control device 10 determines whether it is time to activate the camera 21. Specifically, whether or not the control unit 41 is one of the above-described activation timing of the camera 21 when getting on the vehicle 1 or the activation timing of the camera 21 when getting off the vehicle 1 is determined. judge. When the vehicle door control device 10 determines that it is time to activate the camera 21, the flow proceeds to step S02. On the other hand, when the vehicle door control device 10 does not determine that it is time to activate the camera 21, the flow ends.

  In step S02, the vehicle door control device 10 determines whether the timing for starting the camera 21 is either the timing for starting the camera 21 when getting on the vehicle 1 or the timing for starting the camera 21 when getting off the vehicle 1. It is determined whether it is the start timing. Specifically, for example, when the control unit 41 inputs a first user authentication establishment signal, it determines that it is the activation timing of the camera 21 when the vehicle 1 is boarded. In addition, for example, when the control unit 41 stops inputting the second user authentication establishment signal from the state where the second user authentication establishment signal is input, the activation timing of the camera 21 when the vehicle 1 gets off the vehicle 1 It is determined that When the vehicle door control device 10 determines that it is the start timing of the camera 21 when boarding the vehicle 1, the flow proceeds to step S03. On the other hand, when the vehicle door control device 10 determines that it is the start timing of the camera 21 when getting off the vehicle 1, the flow proceeds to step S07.

  In step S03, the control unit 41 activates the camera 21. When the camera 21 is activated, the flow proceeds to step S04.

  In step S04, the estimation unit 31 estimates whether or not both hands of the user included in the captured image input from the camera 21 are closed. When the estimation unit 31 estimates that both hands of the user are blocked, the flow proceeds to step S05. On the other hand, when the estimation unit 31 does not estimate that the user's hands are blocked, the flow proceeds to step S06.

  In step S <b> 05, the control unit 41 controls the door opening / closing device 46 to perform an opening operation of the rear door 4 that is a door on the rear seat side of the vehicle 1. Specifically, the control unit 41 performs an opening operation of at least one of the left and right rear doors 4R and 4L. When one of the left and right rear doors 4R and 4L is opened, it is preferable that the rear door 4 on the side where the user who is estimated to have both hands closed is present is opened. Here, the vehicle 1 including the vehicle door control device 10 is preferably a vehicle 1 in which a slide door is adopted as the rear door 4 as in the example shown in FIG. 3. This is because if the sliding door is used, the rear door 4 can be opened without considering the space on the side of the vehicle 1.

  When a hinge door is adopted as the rear door 4 of the vehicle 1, for example, the opening operation may be performed so that the hinge portion is rotated a little (so-called pop-up) about the rotation axis. However, for example, when it is possible to confirm that there is no obstacle on the side of the vehicle 1 by analyzing the captured image input from the camera 21 by the estimation unit 31, a hinge door is adopted as the rear door 4 of the vehicle 1. Even if it is, the rear door 4 may be opened. In addition, when the vehicle 1 is a sedan type vehicle, the control unit 41 controls the door opening and closing device 46 to execute a trunk opening operation (not shown) instead of the rear door 4 of the vehicle 1. Good.

  The vehicle door control device 10 estimates that the user will carry a luggage or the like when the estimation unit 31 estimates that both hands of the user are blocked, and the rear door 4 of the vehicle 1 that is a door other than the door on the driver's seat side. Alternatively, the trunk opening operation is executed. As a result, in order to operate the door handle, the user can carry the luggage or umbrella into the vehicle without placing the luggage or umbrella held by both hands on the road surface, thereby improving convenience.

  Further, it is more preferable that the rear door 4 of the vehicle 1 is a slide door and has a vehicle interior structure that allows the user to get into the vehicle from the rear door 4 and move to the driver's seat (so-called walk-through). In this case, for example, a user who puts an umbrella because it is raining can move to the driver's seat without having to go out of the raining car again after carrying the umbrella into the car. Convenience is improved.

  Returning to the flowchart shown in FIG. 5, in step S <b> 06, the control unit 41 controls the door opening and closing device 46 to execute the opening operation of the right front door 3 </ b> R that is the door on the driver's seat side of the vehicle 1. Since the right front door 3R generally employs a hinge door, the opening operation of the right front door 3R is executed in the same manner as the opening operation when the hinge door is employed for the rear door 4 described above. .

  When the estimation unit 31 estimates that the user's hands are not blocked, the vehicle door control device 10 estimates that the user will be seated in the driver's seat and opens the right front door 3R that is the driver's side door. To do. As a result, the user does not need to operate the door handle when opening the right front door 3R, so that convenience is improved. When getting into the vehicle after it rains, the user's hand can be prevented from getting dirty even if the door is dirty, which is particularly effective.

  When the operation of step S05 or step S06 is executed, the flow ends. The flow that has been described so far and proceeds from step S02 to step S03 is an operation example when the vehicle 1 is boarded. As for the operation example at the time of getting off from the vehicle 1, which is the flow proceeding from step S02 to step S07, the portion corresponding to the operation example at the time of getting on the vehicle 1 shows the corresponding relationship, and detailed description is omitted. I will explain.

  Step S07 corresponds to step S03, and step S08 corresponds to step S04. Step S09 corresponds to step S05. In step S05, the rear door 4 is opened, whereas in step S09, the rear door 4 is closed. When the operation of step S09 is executed, the flow ends.

  The flowchart shown in FIG. 5 is a basic operation example of the vehicle door control device 10. The flowchart shown in FIG. 5 may be changed as appropriate. Below, the example of a change of the flowchart shown by FIG. 5 is shown.

  In the flowchart shown in FIG. 5, for example, when the rear door 4 is closed by the user before the predetermined time elapses after the rear door 4 is opened in step S05, the vehicle door control device 10 The estimation in step S04 may be performed again. Thereafter, when it is estimated in step S04 that the user's hands are not blocked, the process proceeds to step S06, and the right front door 3R may be opened.

  By operating in this way, for example, when the user tries to open the right front door 3R after placing the luggage on the rear seat, the user does not operate the right front door 3R without operating the door handle of the right front door 3R. Can be opened. As a result, the user can smoothly perform a series of operations of placing the luggage on the rear seat side and sitting on the driver's seat, thereby improving convenience.

  Further, for example, in the flowchart shown in FIG. 5, between steps S03 and S04, the estimation unit 31 performs face recognition of a person included in the captured image to confirm that the user is the vehicle 1. Steps may be inserted. When it is confirmed that the user is the user of the vehicle 1 by the estimation unit 31, the flow proceeds to step S04. On the other hand, when the user is not confirmed by the estimation unit 31 to be the user of the vehicle 1, the flow ends. Inserting this step doubles user authentication, further improving security.

  Furthermore, the vehicle door control device 10 may execute only the operation when getting on the vehicle 1, for example. In this case, for example, step S01 is replaced with a step in which the control unit 41 determines whether or not the first user authentication is established, and step S02, step S07, step S08, and step S09 are deleted.

  In addition, for example, in the flowchart shown in FIG. 5, the activation timing of the camera 21 in step S01 does not necessarily have to be the timing described above. For example, the camera 21 may be activated without any user authentication. However, from the viewpoint of reducing power consumption or ensuring security, it is preferable that the camera 21 is activated when user authentication is established.

  The vehicle door control device 10 performs an opening operation or a closing operation of a predetermined door of the vehicle 1 based on an estimation result of whether or not the user's hands included in the captured image by the estimation unit 31 are closed. Therefore, it is not necessary to be aware of the conditions for executing the opening or closing operation of a predetermined door of the vehicle 1 by the vehicle door control device 10. Therefore, the vehicle door control device 10 can execute an opening operation or a closing operation of a predetermined door of the vehicle 1 without making it bothersome even for a user whose both hands are blocked by luggage or the like. .

2. 2nd Embodiment 2nd Embodiment of the vehicle door control apparatus 10 is a modification of 1st Embodiment of the vehicle door control apparatus 10 mentioned above. Therefore, only different parts from the first embodiment will be described, and description of parts similar to the first embodiment will be omitted.

  In the configuration of the second embodiment of the vehicle door control device 10, as shown in FIG. 6, a projector 47 is further provided so as to be controllable by the control unit 41. When the estimation result that the user's hands are closed is input from the estimation unit 31, the control unit 41 controls the projector 47 to project a predetermined projection image on the road surface near the predetermined door.

  An example of the mounting position of the projector 47 is shown in FIG. Note that the mounting position of the projector 47 is the same regardless of which mounting position of the camera 21 in FIGS. 3A and 3B described in the first embodiment is used. ) Will be described using only the drawings corresponding to. FIG. 7 shows the right side of the vehicle 1, but the left side of the vehicle 1 is the same. Therefore, only the right side of the vehicle 1 will be described below, and the left side will be described. Omitted.

  As shown in FIG. 7, the projector 47 is built in the right side mirror 6 </ b> R, and a projection unit is disposed, for example, on the outer side of the lower surface of the vehicle 1 in the vehicle width direction. It is attached to the vehicle 1 so that a predetermined projection image can be projected.

  Further, when the vehicle 1 is not provided with the right side mirror 6R and a camera is provided for the purpose of viewing the right side and the rear side of the vehicle 1 instead of the right side mirror 6R, the camera is provided. The projection unit of the projector 47 may be attached to the lower surface of the location. However, the projection unit of the projector 47 needs to be attached to the vehicle 1 so that a predetermined projection image can be projected onto a road surface near the right rear door 4R of the vehicle 1, for example.

  In the second embodiment, the estimation unit 31 further estimates whether the person included in the captured image has performed an operation on a predetermined projection image projected by the projector 47 as the state of the person included in the captured image. . With reference to FIG. 8 and FIG. 9, an estimation method of a state in which a person included in a captured image has performed an operation on a predetermined projection image projected by the projector 47 by the estimation unit 31 will be described.

  FIG. 8 shows an example of a situation where there is a user with both hands closed on the right side of the vehicle 1. In the example shown in FIG. 8, the shaded portion 121 indicates the angle of view of the camera 21 in the vertical direction. In the example shown in FIG. 8, the entire upper body of the user is included in the vertical angle of view 121 of the camera 21. That is, in the example shown in FIG. 8, the entire upper body of the user is included in the imaging range of the camera 21. Here, when the user gets closer to the vehicle 1 than in the example shown in FIG. 8, a part of the upper body of the user, for example, the shoulder of the user, is included in the imaging range of the camera 21. Thus, in the example shown in FIG. 8, when the user is present in the vicinity of the side of the vehicle 1, a part or all of the upper body of the user is imaged according to the distance between the user and the vehicle 1. The camera 21 is attached to the vehicle 1 so as to be included in the range.

  Further, in the example shown in FIG. 8, as a predetermined projection image projected from the projector 47, a projection image 131 or a projection switch 131 expressed as “CLOSE” is near the right side of the vehicle 1, That is, it is projected on the road surface near the right rear door 4R of the vehicle 1. That is, the example shown in FIG. 8 is estimated when the estimating unit 31 estimates that the user's hands are closed when the right rear door 4R of the vehicle 1 is open when the vehicle 1 gets off. Is the situation.

  Here, in the example shown in FIG. 8, when the estimation unit 31 estimates that the user has performed an operation on the projection image 131 or the projection switch 131 with the foot, the control unit 41 performs the door opening / closing device. By controlling 46, the closing operation of the right rear door 4R in the open state is executed. When the user performs an operation on the projection image 131 or the projection switch 131 with his / her foot, the user closes the door of the vehicle 1 by holding the door of the vehicle 1 by holding the door with the both hands. There is no need to place a baggage or umbrella once on the road surface, which improves convenience. Further, since the user operates based on the projection image 131 or the projection switch 131, it is not necessary to store the operation content. Furthermore, when the door of the vehicle 1 is closed based on the user's intention to close the door of the vehicle 1, the door of the vehicle 1 is closed against the user's intention when, for example, loading / unloading luggage. It is prevented from operating.

  Although FIG. 8 shows the right side of the vehicle 1, the same applies to the left side of the vehicle 1. That is, for example, when the vehicle 1 is getting off from the vehicle 1 and the rear door 4L of the vehicle 1 is open, the estimation unit 31 estimates that the user's hands are closed on the left side of the vehicle 1. . At this time, for example, the projector 47 provided on the left side of the vehicle 1 (not shown in FIG. 8) causes the projection image 131 or the projection switch 131 represented as “CLOSE” to move to the left side of the vehicle 1. Projected on the road surface in the vicinity, that is, in the vicinity of the left rear door 4L of the vehicle 1.

  Here, the projection image 131 or the projection switch 131 expressed as “CLOSE” is merely an example, and another image that can be recognized by the user may be projected. Furthermore, the projection image 131 or the projection switch 131 does not need to be recognizable as an image, and the projection image 131 or the projection switch 131 may be realized by irradiating with light that can be recognized by the user. Therefore, a laser pointer or the like may be provided instead of the projector 47. However, it is preferable that the projection image 131 or the projection switch 131 can understand the relationship between the projection image 131 or the projection switch 131 and the opening operation or the closing operation, such as expressing the user's intention. Hereinafter, “projection image 131 or projection switch 131” is unified to “projection image 131”.

  With reference to FIG. 9, an estimation method by the estimation unit 31 that the user has performed an operation on the projection image 131 with a foot will be described. For example, when the estimation unit 31 detects that a part of the upper body of the user has moved toward the projection image 131, the estimation unit 31 estimates that the user has performed an operation on the projection image 131 with a foot. FIG. 9A shows an example of a captured image obtained by the camera 21 in the situation shown in FIG. The example of the captured image shown in FIG. 9A includes the entire upper body of the user in a state where both hands are closed by the luggage. In the example of the captured image shown in FIG. 9A, for example, the estimation unit 31 recognizes the positions of the user's right shoulder 141R and the user's left shoulder 141L.

  9B, 9C, and 9D, the positions of the user's right shoulder 141R and the user's left shoulder 141L recognized in the example of the captured image shown in FIG. An example of a captured image when moving so as to satisfy the conditions stored in the storage unit 33 of the estimation unit 31 in advance is shown. Note that in the description of the captured images illustrated in FIGS. 9A, 9B, 9C, and 9D, the top, bottom, left, and right refer to the top, bottom, left, and right when viewing the captured image.

  FIG. 9B shows that the upper body of the user is changed from the state of the example of the picked-up image shown in FIG. The example of the picked-up image in the condition where is approaching the camera 21 is shown. FIG. 9B shows a captured image when the projection image 131 projected at a position slightly away from the user is operated as compared with the situation of the captured image example shown in FIG. It is an example. In the example of the captured image shown in FIG. 9B, the position of the user's right shoulder 142R moves from the position of the user's right shoulder 141R shown in FIG. 9A to the lower left, and the user's left shoulder 142L The position has moved to the lower right from the position of the left shoulder 141L of the user shown in FIG.

  In FIG. 9C, from the state of the example of the captured image shown in FIG. 9A, in order for the user to operate the projected image 131 with his / her foot, for example, the user is in a posture of dropping his / her waist, The example of the captured image in the situation where the upper body of the body has moved downward is shown. FIG. 9C shows a captured image when the projection image 131 projected at a position slightly closer to the front from the user is operated as compared to the situation of the captured image example shown in FIG. 9B described above. It is an example. In the example of the captured image shown in FIG. 9C, the position of the user's right shoulder 143R moves substantially directly below the position of the user's right shoulder 141R shown in FIG. 9A, and the user's left shoulder 143L. Is moved almost directly from the position of the left shoulder 141L of the user shown in FIG.

  In FIG. 9D, from the state of the example of the captured image shown in FIG. 9A, in order for the user to operate the projected image 131 with the foot, for example, the foot is moved to the right while dropping his / her waist. Thus, an example of a captured image in a situation where the upper body of the user has moved in the lower right direction is shown. FIG. 9D shows an example of a captured image when the user operates the projection image 131 projected to a position slightly on the right side from the situation of the example of the captured image shown in FIG. 9C described above. It is. In the example of the captured image shown in FIG. 9D, the position of the user's right shoulder 144R moves from the position of the user's right shoulder 141R shown in FIG. 9A to the lower left, and the user's left shoulder 144L The position has moved from the position of the left shoulder 141L of the user shown in FIG.

  When the user operates the projected image 131 projected on the position slightly on the left side from the user as compared with the situation of the example of the captured image shown in FIG. 9C, the state shown in FIG. Since only the left and right of the captured image example are reversed, illustration and description are omitted.

  As described above, the estimation unit 31 captures a captured image before the user performs an operation on the projection image 131 with the foot (captured image before the operation) and a captured image after the user performs an operation on the projection image 131 with the foot ( It is possible to estimate how the upper body of the user has moved by comparing with the captured image after the operation. Therefore, for example, when the movement amount between the position of the user's shoulders in the captured image before the operation and the position of the user's shoulders in the captured image after the operation satisfies a predetermined condition, the user projects the projected image with the foot. It can be estimated that an operation on 131 has been performed.

  The predetermined condition is, for example, that the amount of movement of the user's shoulders is included in the range of the predetermined amount of movement set for each of the plurality of patterns in the captured image before the operation and the captured image after the operation. . Here, the plurality of patterns are, for example, a pattern in which the projection image 131 to be operated by the user's foot is projected slightly away from the current position of the user, a pattern slightly closer to the front, A slightly right pattern and a slightly left pattern. Data of a predetermined movement amount range set for each of a plurality of patterns, which is a predetermined condition, is stored in the storage unit 33 of the estimation unit 31, for example.

  Here, an example has been described in which the movement of both shoulders, which is a part of the upper body of the user, is detected as an estimation method for the user performing an operation on the projected image 131 with his / her foot. It is not necessary to move the shoulder. For example, the estimation unit 31 may detect movement of the jaw that is a part of the upper body of the user, or may detect movement of the entire upper body.

  The estimation unit 31 estimates that the user has performed an operation on the projection image 131 by detecting that a part or the whole of the upper body of the user has moved toward the projection image 131, thereby There is no need to directly detect foot operation. Accordingly, since it is not necessary to employ the camera 21 having a large angle of view in the vertical direction, it is possible to suppress the choices of the camera 21 employed in the vehicle door control device 10 from being limited.

  In order to improve the accuracy of estimation that the user has operated the projection image 131, the estimation unit 31 moves the shoulders of the user every time the user actually operates the projection image 131. The amount may be learned, and the predetermined condition may be corrected and updated. In addition, in order to improve the accuracy of estimation that the user has performed an operation on the projection image 131, the vehicle door control device 10 may cause the user to perform an operation on the projection image 131 a plurality of times. . At this time, the position where the projection image 131 is projected may be different for each number of times. In addition, the estimation unit 31 detects the amount of movement of the user's shoulders when the user performs an operation on the projection image 131. The position where the projection image 131 is projected may be determined according to the position.

  In addition, the estimation unit 31 further considers the movement speed of the user's shoulders and / or the change in the movement speed of the shoulders when the user performs an operation on the projection image 131, so that the user can It may be estimated that an operation has been performed on. Further, the estimation unit 31 performs estimation in consideration of the detection result of the operation on the projected image 131 by the user's foot obtained by, for example, an ultrasonic sensor (not shown) in addition to the estimation by the captured image obtained by the camera 21. May be.

  The operation example of 2nd Embodiment of the vehicle door control apparatus 10 is demonstrated using the flowchart figure shown by FIG. In the flowchart shown in FIG. 10, step S105 and step S106 are inserted between step S04 and step S05 in the flowchart shown in FIG. 5, and steps S08 and S09 in the flowchart shown in FIG. Step S110 and step S111 are inserted between them, and step S06 in the flowchart shown in FIG. 5 is deleted. Therefore, in the description of the operation example of the vehicle door control device 10 according to the second embodiment, portions that overlap with the contents of the operation example of the vehicle door control device 10 according to the first embodiment will be described in detail by showing the corresponding relationship. Omitted.

  Step S101 corresponds to step S01 in the flowchart shown in FIG. 5, step S102 corresponds to step S02 in the flowchart shown in FIG. 5, and step S103 corresponds to step S03 in the flowchart shown in FIG. Step S104 corresponds to step S04 in the flowchart shown in FIG. Here, when it is determined in step S104 that the estimation unit 31 estimates that both hands of the user are blocked, the flow proceeds to step S105. On the other hand, when the estimation unit 31 does not estimate that both hands of the user are blocked, the flow ends.

  In step S <b> 105, the control unit 41 controls the projector 47 to project the projection image 131 in the vicinity of the side of the vehicle 1 on the side where the user who is estimated to have both hands blocked is present. At this time, the user has an intention to open the rear door 4 of the vehicle 1 in the closed state. Therefore, the projection image 131 projected in step S105 is, for example, the projection image 131 represented as “OPEN” reflecting the user's intention. When the projection image 131 is projected, the flow proceeds to step S106.

  In step S <b> 106, the estimation unit 31 estimates whether or not the user has performed an operation on the projection image 131. When the estimation unit 31 estimates that the user has performed an operation on the projection image 131, the flow proceeds to step S107. On the other hand, when the estimation unit 31 does not estimate that the user has operated the projection image 131, the flow repeats the estimation in step S106.

  Step S107 corresponds to step S05 in the flowchart shown in FIG. When the operation of step S107 is executed, the flow ends. The flow that has been described so far and proceeds from step S102 to step S103 is an operation example when the vehicle 1 is being ridden. As for the operation example at the time of getting off from the vehicle 1, which is a flow proceeding from step S102 to step S108, the operation example corresponding to the operation example at the time of getting on the vehicle 1 shows the corresponding relationship, and detailed description is omitted. I will explain.

  Step S108 corresponds to step S07 in the flowchart shown in FIG. 5, and step S109 corresponds to step S08 in the flowchart shown in FIG. Step S110 corresponds to step S105, but since it is a time of getting off from the vehicle 1, the user at this time has an intention of closing the rear door 4 of the vehicle 1 in the open state. Therefore, the projection image 131 projected in step S110 is, for example, the projection image 131 expressed as “CLOSE” reflecting the user's intention. Further, the projected image 131 projected in step S110 is the vicinity of the side of the vehicle 1 on the side where the user is estimated to have both hands blocked, that is, the vicinity of the rear door 4 of the vehicle 1 on the open side. Projected onto the road surface.

  Step S111 corresponds to step S106, and step S112 corresponds to step S09 in the flowchart shown in FIG. When the operation of step S112 is executed, the flow ends.

  Although 1st Embodiment and 2nd Embodiment of the vehicle door control apparatus 10 were each demonstrated separately, 1st Embodiment and 2nd Embodiment may be combined. For example, the first embodiment may be adopted as the operation when getting on the vehicle 1, and the second embodiment may be adopted as the operation when getting off from the vehicle 1.

3. 3rd Embodiment 3rd Embodiment of the vehicle door control apparatus 10 is a modification of 1st Embodiment or 2nd Embodiment of the vehicle door control apparatus 10 mentioned above. Therefore, only the parts different from the first embodiment and the second embodiment will be described, and the description of the same parts as the first embodiment and the second embodiment will be omitted.

  In 3rd Embodiment, a user can memorize | store a user and its family structure in the memory | storage part 33 of the estimation part 31, for example as user information. For example, the user can store his / her family structure in the storage unit 33 of the estimation unit 31 as text data.

  The estimation unit 31 extracts, for example, the outline of a person included in a captured image obtained from the camera 21 activated at the activation timing of the camera 21 when getting on the vehicle 1. The estimation unit 31 determines, for example, the size and number of persons included in the captured image from the outline of the person included in the extracted captured image.

  An example of an estimation method for estimating the member configuration of the user by the estimation unit 31 and an example of an operation according to the estimation result will be described with reference to FIG. As a premise, for example, the user stores in advance in the storage unit 33 of the estimation unit 31 that the user is a family of four of “user himself (husband)”, “wife”, “child 1”, and “child 2”. It shall be.

  FIG. 11A shows an example in which the user himself / herself is included in the captured image. FIG. 11B shows an example in which the user himself and the user's wife are included in the captured image. FIG. 11C illustrates an example in which the user himself / herself, the user's wife, and one child are included in the captured image. FIG. 11D illustrates an example in which the user himself, the user's wife, and two children are included in the captured image.

  In the example shown in FIG. 11A, the estimation unit 31 determines that one large person outline exists on the captured image. As a result, the estimation unit 31 estimates that the user himself gets into the vehicle 1 and executes the opening operation of the right front door 3R.

  In the example shown in FIG. 11B, the estimation unit 31 determines that two large human contours exist on the captured image. As a result, the estimation unit 31 estimates that the user himself / herself and the user's wife get on the vehicle 1, and executes the opening operation of the left and right front doors 3R and 3L.

  In the example shown in FIG. 11C, the estimation unit 31 determines that two large person outlines and one small person outline exist on the captured image. As a result, the estimation unit 31 estimates that the user himself, the user's wife, and one child get on the vehicle 1, and the children approach the left and right front doors 3R and 3L and the left and right rear doors 4R and 4L. The opening operation of the rear door 4 on the other side is executed.

  In the example illustrated in FIG. 11D, the estimation unit 31 determines that there are two large person outlines and two small person outlines on the captured image. As a result, the estimation unit 31 estimates that the user himself, the user's wife, and two children get on the vehicle 1, and executes the opening operation of the left and right front doors 3R, 3L and the left and right rear doors 4R, 4L.

  The above-described relationship between the estimated member configuration and the door to be opened is an example. Therefore, the relationship between the estimated member configuration and the door to be opened may be different depending on the type of the vehicle 1, the number of doors, and the like. In addition, the user may be able to freely set the relationship between the estimated member configuration and the door to be opened. For example, when the user's wife and child are seated side by side in the rear seat, the opening operation of the right front door 3R and the left and right rear doors 4R and 4L is executed even in the situation of the example shown in FIG. May be.

  In the third embodiment, since an appropriate door is opened according to the member configuration of the user approaching the vehicle 1, convenience is improved. In addition, the user can freely set the relationship between the estimated member configuration and the door to be opened, so that the user can open the door of the vehicle 1 in accordance with the actual usage of the vehicle 1, and it is more convenient. Improves.

  Further, the user may store the age of the child in the storage unit 33 of the estimation unit 31. By doing so, the estimation part 31 can estimate whether the child of the age which needs to be seated on a child seat is contained in a captured image, for example. At this time, convenience can be improved by allowing the door on the seat side where the child seat is installed to be opened.

  Further, the user 33 and the family face image may be stored in the storage unit 33 of the estimation unit 31 in place of the text data or in combination with the text data. In this case, when it is recognized that the person included in the captured image is a registered person, the opening operation of the door of the vehicle 1 can be permitted, and the security is improved.

  The third embodiment of the vehicle door control device 10 has been described separately from the first embodiment and the second embodiment, but may be combined with the first embodiment or the second embodiment. For example, in the first embodiment, an operation example of the third embodiment may be executed instead of step S06 in the flowchart shown in FIG. Similarly, for example, in the second embodiment, when NO is estimated in step S104 in the flowchart shown in FIG. 10, that is, when it is not estimated that the user's hands are blocked, an example of the operation of the third embodiment May be executed.

  The present invention is not limited to the above-described exemplary embodiments, and those skilled in the art will be able to easily modify the above-described exemplary embodiments to the extent included in the claims. .

  DESCRIPTION OF SYMBOLS 1 ... Vehicle 3, 3R, 3L ... Front door 4, 4R, 4L ... Rear door, 10 ... Vehicle door control device, 21 ... Camera, 31 ... Estimation part, 41 ... Control unit, 47 ... Projector, 51 ... On-vehicle device, 61 ... Portable device, 131 ... Projected image.

Claims (5)

A camera that captures an image of an outside of a vehicle including the vicinity of a door of a vehicle to obtain a captured image, and a part or all of the upper body of the person is included in an imaging range when the person is positioned near the door of a predetermined door of the vehicle A camera installed in the vehicle as described above ,
An estimation unit that estimates whether or not both hands of a person included in the captured image are blocked by analyzing a captured image obtained by the camera;
A projector that projects a predetermined projection image on the road surface in the vicinity of the door of the predetermined door when the estimation unit estimates that both hands of the person are blocked;
A control unit that executes an opening operation or a closing operation of the predetermined door when it is detected that a part or all of the upper body of the person has moved toward the projection image projected on the road surface;
A vehicle door control device comprising:   When the estimation unit estimates that both hands of the person are blocked, the control unit performs an opening operation of the predetermined door, and the predetermined door is a door other than the door on the driver's seat side. The vehicle door control device according to claim 1. When the hands of the person is estimated that not blocked by the estimation unit, wherein the control unit is to execute the opening operation of the predetermined door, the predetermined door is the door of the OPERATION seat, wherein Item 3. The vehicle door control device according to Item 1 or 2. A portable device that the person can carry;
An on-vehicle device that performs predetermined authentication by communicating with the portable device; and
4. The vehicle door control device according to claim 1, wherein the control unit activates the camera when the predetermined authentication is established. 5. The control unit detects that the predetermined door is in an open state and detects that a part or all of the upper half of the person has moved toward the projection image projected onto the road surface. The vehicle door control device according to claim 1, wherein a closing operation of the predetermined door in a state is executed.

Images