JP6533759B2 - Motion sensor, vehicle control device, behavior determination method of vehicle user - Google Patents

Description

  The present invention relates to a motion sensor that correctly detects the characteristics of the behavior of a moving object without being influenced by the environment, a vehicle control device using the motion sensor, and a method of determining the behavior of a vehicle user.

  In recent vehicles, various assist functions are mounted. One of them is smart entry. Smart entry is a function that automatically locks and unlocks the door and trunk of the vehicle and starts the engine by operating the smart key without using a mechanical key. Further, Patent Document 1 discloses an apparatus which mounts a sensor in a bumper of a vehicle, detects a behavior of a vehicle user, and automatically opens and closes a door. In the device disclosed in Patent Document 1, a plurality of electrostatic sensors are used, and a change in capacitance value due to the approach of the vehicle user to each electrostatic sensor is used, and this is used as a door opening and closing start condition.

Unexamined-Japanese-Patent No. 2015-21238

  In the smart entry, since it is necessary to operate the smart key, the door can not be automatically opened and closed when the vehicle user has his or her both hands covered with baggage. Although the electrostatic sensor disclosed in Patent Document 1 has a simple structure and is low in cost, a large area is required for operation detection because the capacitance between the electrodes is used, and if a plurality of electrodes are used Because miniaturization is very difficult, it leads to price increases. In addition, in an electrostatic sensor, the capacitance changes in an environment such as rain or snow, which makes it difficult to detect an accurate signal. Furthermore, since only detection of a simple motion of approach of the vehicle user can be performed, there remains a problem that it is difficult to correctly recognize the intention of the vehicle user.

  In addition, although there are acceleration sensors and infrared sensors that are used in existing motion sensors, many of them are similar to the electrostatic sensors disclosed in Patent Document 1 in which the proximity of the hands and feet to the sensor ( Position) to detect motion. Only by approach, the vehicle user may be misrecognized as having intention without the intention of the door opening and closing. In order to solve such a problem, for example, it is conceivable to configure a motion sensor by combining a camera and image processing technology. However, the camera consumes a large amount of current, and mounting the image processing technology on the sensor leaves the problem of increasing cost.

An object of the present invention is to provide a motion sensor which is smaller than in the case of using an electrostatic sensor, a camera, an image processing technique or the like and which can easily detect various behaviors regardless of the environment.
Another object of the present invention is to provide a method of more accurately determining the intention of a vehicle user and a vehicle control device suitable for the implementation of the method.

According to the present invention, a circuit board for mounting a Doppler radar which outputs a Doppler signal according to the movement speed of a moving object present in a detection area, and the circuit board is inclined at a predetermined angle with respect to the ground surface at the lower part a radome which is disposed so, before Symbol and processing means for outputting a detection signal representative of the type and behavior rate behavior of the moving object, the Doppler radar, a first antenna provided on one surface of the circuit board A second antenna provided on the other surface of the circuit board, wherein the first antenna receives a first Doppler signal, and the second antenna receives a second Doppler signal . said processing means is configured to analyze the first Doppler signal and the second Doppler signal, wherein by comparing the analysis result with a predetermined condition of their Motion sensor for generating a known signal.

  Further, according to the present invention, the motion sensor, an authentication means for performing authentication based on authority information, an actuator for moving a predetermined portion of a vehicle, and contents of a detection signal of the motion sensor when the authentication is successful. And a control means for controlling the movement of the actuator based on the above.

Further, according to the present invention, a high frequency signal is emitted toward a first detection area and a second detection area at different angles with respect to the ground surface at a predetermined portion below the vehicle , and the vehicle used in the first detection area the user motion sensor for receiving a second Doppler signal resulting from the behavior speed of the vehicle user in the first Doppler signal second detection area caused by the behavior rate established for, received by the motion sensor a A method for determining the behavior of a vehicle user, characterized in that the behavior of the vehicle user is determined by analyzing 1 Doppler signal and the second Doppler signal and comparing the analysis result with a predetermined condition. can get.

  Since the motion sensor of the present invention is constituted by a Doppler radar, the installation area of the sensor portion can be made smaller than in the case of using an electrostatic sensor, a camera or the like. In addition, it becomes possible to detect behavior that is not affected by the environment, such as rain and snow. Furthermore, since the space of the detection area is set as the detection range, there is no limitation on the angle or direction of the behavior, and it is possible to achieve an effect that various behaviors can be detected.

  The present invention also attaches such a motion sensor to a vehicle and determines whether the behavior satisfies a predetermined condition representing the intention of the user. Then, based on the determination result, control such as opening and closing of the door is performed. Therefore, it is possible to provide a method for correctly determining the intention of the vehicle user and a vehicle control device reflecting the intention of the vehicle user. As a result, it is possible to contribute to the diversification of vehicles by expanding the demand for motion sensors and improving the assist function.

BRIEF DESCRIPTION OF THE DRAWINGS The block diagram of the vehicle control apparatus by this embodiment. FIG. 1 is a schematic view showing a configuration example of a motion sensor according to the present embodiment. Explanatory drawing of the attachment state to each vehicle of each component which comprises a vehicle control apparatus. (A) is a state explanatory view when swinging off a leg at the time of the transfer extraction of a leg, and (b). The timing chart in the case of performing behavior detection in a motion sensor. Explanatory drawing which shows the operation | movement procedure of a vehicle control apparatus. FIG. 10 is a diagram for explaining the procedure of kicking operation detection processing in the motion sensor.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram of a vehicle control device to which the present invention is applied. The vehicle control device 1 includes, for example, a control device 10 configured by a DSP (Digital Signal Processor) or firmware, a motion sensor 20, an authentication unit 30, a short distance communication unit 40, and a notification unit 50.

  The motion sensor 20 analyzes the characteristic of the behavior of the vehicle user as an example of a moving body, and detects the intention of the vehicle user based on this. Then, a detection signal is output to the control device 10 as a detection result. The short distance communication unit 40 performs short distance wireless communication based on the standard with the smart key 41 held by the vehicle user through an antenna unit for smart entry provided in the vehicle. The authentication unit 30 performs ID authentication using the authority information of the smart key 41 read through the short distance communication unit 40, and notifies the control device 10 of the authentication result. The notification unit 50 outputs notification information to the vehicle user generated by the control device 10. Specifically, the light emitter 51 and the sound generator 52 provided at a predetermined part of the vehicle are driven. The actuator 60 is provided in a vehicle, and is driven by a control signal output from the control device 10 to open and close the back door 61.

  Here, the motion sensor 20 used in the present embodiment will be described. FIG. 2 is a schematic view showing a configuration example of the motion sensor 20. As shown in FIG. The motion sensor 20 is configured by sealing a sensor component in a radome 21a (a wiring hole 21b is formed in a part of the radome) formed of a radio wave transmitting member. The radome 21a arranges the sensor component to be inclined at a predetermined angle with respect to the ground surface. That is, with the radome 21a, with the vehicle stationary, the attachment surface 21a1 (attachable surface) to the vehicle in the horizontal direction parallel to the ground surface in the example of FIG. It has an inclined surface 21a2 which sometimes inclines at about 40 degrees toward the ground surface. However, the angle is an example, and the inclined surface can be defined in the range of 30 degrees to 60 degrees in accordance with the attachment site to the vehicle. In the radome 21a, a circuit board 22 on which the sensor component is mounted is attached in parallel with the inclined surface.

  The sensor component includes a first antenna 23 and a second antenna 24 mounted on the circuit board 22 and a high frequency electronic circuit. These sensor components constitute a Doppler radar. The operating voltage of the high frequency electronic circuit may be a battery, but in the present embodiment, it is supplied from the control device 10 together with the wiring cable 28.

  The first antenna 23 and the second antenna 24 are mounted on the surface portions opposite to each other with the circuit board 22 in between, and form a detection area in the direction perpendicular to the mounting surface of each surface portion. That is, when the radome 21a is attached to a vehicle, the first antenna 23 forms a detection area obliquely upward toward the sky, and the second antenna 24 forms a detection area obliquely downward toward the ground surface. Each detection area is an area that depends on the antenna beam width and has a certain extent. In the following description, the detection area formed by the first antenna 23 is referred to as a first detection area A1, and the detection area formed by the second antenna 24 is referred to as a second detection area A2.

  The high frequency electronic circuit includes a high frequency unit 25, an amplification unit 26, and a processing unit 27. One end of a wiring cable 28 is connected to the processing unit 27 via a connector (not shown). The other end of the wiring cable 28 is connected to the control device 10 through a wiring hole 21b formed in the radome 21a. A control signal for turning on / off the sensor operation is input from the control device 10 to the motion sensor 20. At this time, an operating voltage is also supplied. On the other hand, a detection signal is output from the motion sensor 20 to the control device 10.

  The high frequency unit 25 includes a high frequency oscillator, a duplexer and a mixer. The high frequency oscillator generates a high frequency signal wave of CW (unmodulated wave). As high frequency signal waves, those in the 24 GHz band or 79 GHz band can be used, but in this embodiment, the 24 GHz band is used. This high frequency signal wave is demultiplexed by the splitter, and one high frequency signal wave is outputted to the first antenna 23. The other high frequency signal wave is output to the second antenna 24 after changing the phase of one high frequency signal by 90 degrees.

  The reason why the phase of the high frequency signal output to the second antenna 24 is changed by 90 degrees with respect to the first antenna 23 is to reduce interference between the antennas. A high-frequency signal wave can be distributed to simultaneously form detection areas (first detection area A1 / second detection area A2) in two directions, so using an electrostatic sensor or a camera (and an image processing unit) It can be made much smaller than that. In addition, since it is possible to obtain two types of Doppler signals different in band only by distributing one high frequency signal wave, it is advantageous also in terms of price, and low cost can be realized. The Doppler signal may be obtained using two high frequency oscillators independently instead of dividing the output of one high frequency oscillator into two.

  The high frequency signal waves radiated from the first antenna 23 and the second antenna 24 are reflected by the moving body present in the first detection area A1 and the second detection area A2, respectively, and the first antenna 23 and the second antenna 23 are reflected as reflected signal waves. The reflected signal wave input from the antenna 24 and input to each of the first antenna 23 and the second antenna 24 is taken into the high frequency unit 25. The reflected signal wave taken in is subjected to homodyne detection by the mixer, and output from the mixer as a Doppler signal whose frequency changes due to the relative velocity of the moving body with respect to each of the antennas 23 and 24. A first Doppler signal is output from the reflected signal wave received by the first antenna 23, and a second Doppler signal is output from the mixer from the reflected signal wave received by the second antenna 24.

  Each Doppler signal output from the high frequency unit 25 (mixer) is input to the amplification unit 26. The amplification unit 26 amplifies the first Doppler signal in a band of 100 Hz to 350 Hz (corresponding to about 2 to 8 km / h in speed). Also, the second Doppler signal is amplified in a 5 Hz to 20 Hz band (corresponding to about 0.1 to 0.5 km / h in velocity). Therefore, the amplification unit 26 includes a first filter 6 for limiting a band other than 100 Hz to 350 Hz and a second filter 7 for limiting a band other than 5 Hz to 20 Hz at the front stage of the amplifier circuit. By band-limiting and amplifying each Doppler signal in this manner, it is possible to extract only the characteristic (frequency (velocity)) of the behavior to be detected. In addition, since the frequency of the Doppler signal to be handled is different, interference of interference between the Doppler signals, abnormal oscillation and the like are eliminated, and the configuration of the high frequency electronic circuit can be further reduced.

  The band-limited first Doppler signal and the second Doppler signal are input to the processing unit 27. The processing unit 27 performs A / D conversion of each input Doppler signal into a digital signal to perform signal analysis, and also analyzes this signal analysis result and pattern information determined for each behavior stored in a memory (not shown). By comparison, a detection signal based on a signal representing the type and behavior speed of the behavior of the moving body is output. Signal analysis can use known techniques. The detection signal is output to the control device 10 shown in FIG.

  FIG. 3 is an exemplary view showing a state in which each component of the vehicle control device 1 shown in FIG. 1 is attached to a vehicle. The motion sensor 20 is installed at a position where it is possible to detect the movement of the legs of the vehicle user's legs and the legs. For example, it is installed in a rear bumper of a vehicle made of a radio wave permeable member, and in operation, as shown, a first detection area A1 is formed obliquely upper right and a second detection area A2 is formed obliquely lower left. Do. The control device 10 and the short distance communication unit 40 are provided in an empty space at the rear of the vehicle. The authentication unit 30 and the notification unit 50 are provided near the control device 10. The light emitter 51 and the sound generator 52 are provided at the rear of the vehicle. The actuator 60 is a mechanism that automatically opens and closes the back door 61. Control device 10 determines the intention of the vehicle user to open and close the door based on the ID authentication of the smart key and the detection signal from motion sensor 20. Then, the determined intention is transmitted to the vehicle user through the light emitter 51 and the sound generator 52, and the actuator 60 is driven to open the door.

  In the present embodiment, a detection signal detected by the motion sensor 20 is used as a signal representing the intention of the vehicle user. That is, it is assumed that the moving body is a leg of the vehicle user, the characteristic or the type of the behavior of the moving body is a kicking motion by the leg of the vehicle user, and the behavior speed is a predetermined combination pattern of kicking speeds. When the detection signal is input from the motion sensor 20 to the control device 10, the control device 10 determines from the detection signal that the vehicle user represents the door opening / closing intention to open the back door 61. Do. This will be described with reference to FIGS. 4 and 5.

  FIG. 4A is a view showing a detection procedure of the kicking operation in the first detection area A1, and FIG. 4B is a second detection area A2. The kicking motion to be detected is generally a series of motions such as swinging the leg, swinging the leg off, and pulling out the leg under the vehicle. The motion sensor 20 outputs a detection signal when it detects such a series of operations. FIG. 4 (a) shows how a vehicle user swings a leg under the vehicle. At this time, the motion sensor 20 detects the behavior of the leg (for example, in the vicinity of the shank of the leg) in the first detection area A1 as a first topler signal. The area near the shank of the leg approaches the sensor at a relatively high speed. When the foot enters the second detection area A2 and reaches near the motion sensor 20, the behavior of the foot is detected as a second Doppler signal in the second detection area A2, as shown in FIG. 4 (b). At this time, the foot moves near the motion sensor 20 at a slow speed close to stopping. After that, when the foot part moves away from the motion sensor 20, the behavior in the vicinity of the shank of the leg is detected again as the first Doppler signal in the first detection area A1. At this time, the vicinity of the shank of the leg moves away from the motion sensor 20 at a high speed.

  The standard kick movement is a movement like a pendulum movement (bipedal walking) when the movement is ergonomically performed so as to reduce the burden on the body (the movement so as not to apply much weight on the foot and waist). The motion sensor 20 sets this kicking pattern like a pendulum as a predetermined kicking action representing a kicking action representing the intention of opening and closing the door, and detects the predetermined kicking action. That is, in the first detection area A1 on the root side (the fulcrum side of the tip of the pendulum) than the tip of the foot and in the second detection area A2 near the tip of the foot (at the tip of the pendulum) The specific speed and speed detection time of each of the foot and the foot are measured, and it is determined whether or not it corresponds to a predetermined kicking action.

  It is FIG. 5 which showed the state of FIG. 4 (a), (b) with the timing chart. The first Doppler signal and the second Doppler signal are output as continuous pulses identical to the Doppler frequency component and are A / D converted. In FIG. 5, T1 is the transfer time of the leg, T2 is the time when the leg is shaken off, and T3 is the time when the leg is withdrawn. T4 is the signal width of the first Doppler signal. In the first Doppler signal, the pulse width varies depending on the detected speed, and when the leg stops, the first Doppler signal does not have a significant value (Low level), but when the leg starts to move, it becomes significant again. Which has a high value (high level). The stopping interval is T5. T6 is the signal width of the second Doppler signal, and T7 is the pulse width T7 of the detection signal. Each signal becomes active at the high level.

  While the control signal from the controller 10 is active, the motion sensor 20 performs a sensor operation. In a period T1 during which the vehicle user moves the leg to start the kicking action (leg transfer time) T1, the first Doppler signal is a continuous pulse, but as the speed of the leg increases, the pulse interval gradually narrows. At this point, the second Doppler signal is not output. In a period T2 in which the speed of the vehicle user's leg is slowed (the time when the leg is shaken off), the first Doppler signal becomes wider in pulse interval, and continuous pulses are not output eventually. Then, at an interval T5, output of continuous pulses of the first Doppler signal starts. The second Doppler signal detects the slow velocity of the foot near the stop, so a continuous pulse with a wide pulse width is output. In the period T3 in which the leg is pulled out, the first Doppler signal increases in speed gradually, so the pulse interval becomes narrower gradually, but as the speed becomes smaller, the pulse interval becomes wider and the output disappears soon. At this time, continuous pulses are not output from the second Doppler signal.

  The detection signal from the processing unit 27 is activated when it is recognized that the series of states is a predetermined kick operation that satisfies a predetermined condition described later. That is, during detection of the behavior of the leg, it is at the low level, and when the behavior is recognized as a predetermined kicking action, it becomes the high level and becomes a pulse having a width T7. In the present embodiment, T7 is set to 500 msec. The predetermined conditions will be described later.

  Next, an operation example of the vehicle control device 1 will be described with reference to FIG. The vehicle control device starts the smart entry (S101). That is, when the vehicle user approaches the back door of the vehicle while holding the smart key, the vehicle control device 1 performs ID authentication using the authority information held by the smart key. If ID authentication can not be performed, the process waits until it can be performed (S102: No). If the ID authentication is successful (S102: Yes), the vehicle control device 1 transmits a control signal from the control device 10 to the motion sensor 20, and turns on the sensor operation (S103). Further, it is confirmed whether or not the ID is being recognized, and if it is recognized (S104: Yes), the motion sensor 20 is made to perform a detection process of the kicking operation (S105).

  The control device 10 stands by until receiving a detection signal representing that a kicking operation has been detected from the motion sensor 20 (S106: No), and when received (S106: Yes), the intention of the vehicle user to open and close the door It is determined that it has been recognized (S107). Then, in order to notify the vehicle user that the intention has been recognized, the light emitter 51 is driven to blink, for example, the hazard lamp (S108), and the sound generator 52 is driven to generate a confirmation sound (S109). Thereafter, the actuator 60 is driven to automatically open the back door 61 (S110). While the ID is recognized, the process returns to the process of S105 (S111: Yes). When the vehicle user closes the back door 61 and leaves the vehicle, the smart key authority information can not be received, so the ID is not recognized in S104. In this case (S104: No), the control device 10 outputs a control signal to the motion sensor 20 to turn off the sensor operation (S112) and finish the process.

  Here, the detection processing of the kicking operation performed by the motion sensor 20 will be described with reference to FIG. The processing unit 27 executes this detection process. The processing unit 27 stands by until a moving object is detected in the first detection area A1 (S201: No). The moving body is the leg of the vehicle user in this example. When the processing unit 27 detects a leg (S201: Yes), it determines that the vehicle user is near the back door of the vehicle, and recognizes the speed of the leg detected in the first detection area A1 and the second detection area A2. Perform (S202). Thereafter, the processing unit 27 determines whether the recognized speed satisfies the following predetermined conditions.

  That is, it is determined whether the speed recognition in the first detection area A1 satisfies the condition of the first (S203). If satisfied (S203: Yes), the signal width T4 of the first Doppler signal, the interval T5 of the signals, and the signal width T6 of the second Doppler signal are measured (S204, S205, S206). Then, it is determined whether the condition of T4> T6 is satisfied (S207). If satisfied (S207: Yes), it is determined whether the condition that the interval T5 of the first Doppler signal is less than 500 ms is satisfied (S208). If satisfied (S208: Yes), it is determined whether the signal width T4 of the first Doppler signal satisfies the condition of more than 400 ms and less than 2000 ms (S209). If satisfied (S209: Yes), the processing unit 27 detects that a predetermined kicking operation has been performed, and outputs it as a detection signal to the control device 10 (S210). If any of the conditions is not satisfied in the determinations in S203, S207, S208, and S209 (No in each step), the processing unit 27 ends the process without outputting a detection signal.

  As described above, in the present embodiment, since the motion sensor 20 is configured using a Doppler radar, the mounting area of the first antenna 23 and the second antenna 24 on the circuit board 22 is far larger than the electrode of the electrostatic sensor. It can be made smaller. In addition, the Doppler radar does not change the Doppler shift (frequency) due to rain or snow, thus making it possible to perform detection that is not influenced by the environment. Furthermore, in the electrostatic sensor, the content of the behavior that can be detected is limited, but in the motion sensor 20 of the present embodiment, a space having a three-dimensionally spread as a detection area is set as a detection range. Therefore, there is no limitation on the angle or direction of the behavior, and various behaviors can be detected.

  The motion sensor 20 distributes high frequency signal waves to simultaneously form detection areas (first detection area / second detection area) in two directions. Further, two types of Doppler signals different in band are obtained only by distributing one high frequency signal wave. Therefore, it is advantageous also in terms of price, and low cost can be realized.

  In the motion sensor 20 according to this embodiment, the motion of the shank of the leg is also detected in the first detection area A1, and the motion of the foot is detected in the second detection area A2. Emits a signal. And the filter which band-limits the 1st Doppler signal and 2nd Doppler signal based on the reflected signal from 1st detection area A1 in mutually different frequency is provided. Therefore, the interference of the wraparound between the Doppler signals and the abnormal oscillation are eliminated, and the configuration of the high frequency electronic circuit can be concentrated. Further, the motion of the vehicle user's leg can be detected in detail, and it can be accurately determined whether the motion satisfies a predetermined condition.

  The motion sensor 20 also sets predetermined conditions for determining a predetermined kick operation, such as after the reception of the first Doppler signal and the second Doppler signal, the signal width of each Doppler signal, etc., and detects the other conditions. I did not. As a result, special kick actions such as quick kicks (fast kicks) and very slow kicks (slow kicks) are not detected. Therefore, even if a person other than the vehicle user tries to control the vehicle, that becomes impossible. Since the predetermined condition can be set arbitrarily, it is possible to realize the motion sensor 20 having high security and highly versatile detection accuracy.

  In the present embodiment, such a motion sensor 20 is installed at a predetermined portion of the vehicle to detect the behavior speed in the vicinity of the shank of the leg of the vehicle user and the behavior speed of the foot. The detection signal is output by satisfying a predetermined condition representing the intention of the person. Therefore, it is possible to provide a behavior determination method for more accurately determining the behavior representing the intention of the vehicle user.

  The vehicle control device 1 of the present embodiment controls the movement of the actuator 60 based on the motion sensor 20, the authentication unit 30, the actuator 60, and the content of the detection signal of the motion sensor 20 when the authentication is successful. And 10. Thus, the control of the actuator 60 against the intention of the vehicle user is avoided. That is, vehicle control that reflects the intention of the vehicle user is possible. Therefore, the demand for the motion sensor 20 can be expanded, and the improvement of the assist function can contribute to the diversification of vehicles.

In the present embodiment, an example in which the vehicle user's intention to open and close the door is detected by a single kick operation by the vehicle user has been described, but the present invention is not limited to this example.
For example, the control of the actuator 60 may be started by determining the kick operation (first behavior) satisfying the predetermined condition by detecting the kick operation N times within a predetermined time. Alternatively, the control device 10 may be configured to cancel the control by determining that the second behavior different from the first behavior has occurred by detecting the kicking action M times within a predetermined time. For example, N is twice and M is, for example, three.
Repeating the kicking action several times in a row is usually not performed unless the intention of the vehicle user is clear. Therefore, by configuring the control device 10 as described above, false recognition of the intention or the operation of the door opening and closing due to it becomes difficult to occur, and it is possible to improve the accuracy of the intention detection of the vehicle user. Further, even if the intention of the vehicle user changes while performing the kicking operation, the intention can be canceled by adding only one kicking operation, so that the convenience can be further improved.

In the present embodiment, an example in which the vehicle user holds the smart key has been described, but this operation can also be performed by performing terminal authentication of a portable terminal (smart phone) instead of the smart key.
Although the example in the case of performing automatic opening and closing of the back door of vehicles was explained by this embodiment, the present invention is applicable similarly, also when performing automatic opening and closing of another door. Also, the actuator is not necessarily limited to the one that opens and closes the door.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle control apparatus, 10 ... Control apparatus, 20 ... Motion sensor, 30 ... Authentication part, 40 ... Near field communication unit, 41 ... Smart key, 50 ... Notification Unit 51 51 light emitting unit 52 sound generator 60 actuator 61 back door.

Claims (8)

A circuit board for mounting a Doppler radar that outputs a Doppler signal according to the movement speed of a moving object present in a detection area;
A radome for arranging the circuit board to be inclined at a predetermined angle with respect to the ground surface at the lower part of the vehicle
And processing means for outputting a detection signal representing the type and behavior speed of the behavior of the moving body,
The Doppler radar is configured to include a first antenna provided on one surface of the circuit board and a second antenna provided on the other surface of the circuit board.
The first antenna receives a first Doppler signal, and the second antenna receives a second Doppler signal.
The processing means analyzes the first Doppler signal and the second Doppler signal, and generates the detection signal by comparing the analysis result with a predetermined condition.
Motion sensor. The Doppler radar emits high frequency signals of different phases or frequencies toward the first detection area and the second detection area formed to detect the behavior of different parts of the moving body, and the first detection A Doppler signal based on a reflected signal from an area is output as the first Doppler signal, and a Doppler signal based on a reflected signal from the second detection area is output as the second Doppler signal.
The motion sensor according to claim 1. And a filter for band-limiting the first Doppler signal and the second Doppler signal at different frequencies.
The motion sensor according to claim 2. The filter is
A first filter for limiting the first Doppler signal to a band of 100 to 350 Hz;
And a second filter for limiting the second Doppler signal to a band of 5 to 20 Hz.
The motion sensor according to claim 3. The motion sensor according to any one of claims 1 to 4.
Authentication means for performing authentication based on the authority information;
An actuator for moving a predetermined portion of the vehicle;
Control means for controlling the movement of the actuator based on the content of the detection signal of the motion sensor when the authentication is successful;
The vehicle control device provided with. The control means starts control of an actuator for opening and closing a door of the vehicle by receiving a detection signal representing a first behavior of the moving body from the motion sensor.
Canceling the control by receiving a detection signal representing a second behavior different from the first behavior,
The vehicle control device according to claim 5. The motion sensor outputs the detection signal by detecting a kicking action N times within a predetermined time, and outputs a detection signal representing the second behavior by detecting the kicking action M times within a predetermined time. ,
The vehicle control device according to claim 6. A high frequency signal is emitted toward a first detection area and a second detection area at different angles with respect to the ground surface at a predetermined part of the lower part of the vehicle, so that the vehicle user's behavior speed in the first detection area Installing a motion sensor that receives one Doppler signal and a second Doppler signal resulting from the vehicle user's behavior speed in the second detection area;
The first Doppler signal and the second Doppler signal received by the motion sensor are analyzed, and the behavior of the vehicle user is determined by comparing the analysis result with a predetermined condition. Method for determining the behavior of a vehicle user.

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