JP2015010331A - Imaging device, slide door control system, and movable body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce the possibility that a slide door may come into contact with an obstacle on a movement locus.SOLUTION: An imaging device 1 has an imaging part 10 and a camera control part 11. The imaging part 10 generates a taken image by taking an image of a movement locus associated with opening/closing of a sliding door of a movable body. The camera control part 11 determines whether or not an obstacle exists on the movement locus, on the basis of the taken image taken by the imaging part 10. The camera control part 11 outputs a signal based on the presence of the obstacle, when determining the obstacle exists on the movement locus.

Description

  The present invention relates to an imaging device, a slide door control system, and a moving body, and more particularly, to an imaging device, a slide door control system, and a moving body that reduce the possibility that the slide door contacts an obstacle.

  2. Description of the Related Art Conventionally, a sliding door control device that automatically opens and closes by a motor drive or the like in a moving body is known. For example, the imaging apparatus described in Patent Document 1 includes a plurality of ultrasonic sensors behind a vehicle that is a moving body, and when an obstacle existing behind the vehicle is detected, the rear end of the slide door is located behind the vehicle. Control so that it does not jump out from the end.

JP 2007-277900 A

  Generally, the trajectory of the opening / closing movement of the sliding door first moves from the fully closed position toward the outside in the direction perpendicular to the sliding direction, and then slides along the sliding direction. However, the sliding door control device described in Patent Document 1 cannot detect an obstacle present in the vehicle width direction, which is a direction perpendicular to the sliding direction. For this reason, for example, when there is an obstacle in the vehicle width direction and when a person stands near the slide door, the slide door cannot be appropriately controlled. In particular, even if the driver recognizes the presence of an obstacle or person, the sliding door moves in a direction perpendicular to the sliding direction due to an unintended key remote control operation or an unintentional operation by the passenger. There was a contact.

  Therefore, the objective of this invention made | formed in view of this situation is to provide the imaging device, slide door control system, and moving body which reduce the possibility that a slide door will contact the obstruction on a moving track | orbit.

In order to solve the above problems, an imaging apparatus according to the present invention provides:
An imaging unit that captures a moving trajectory associated with opening and closing of the sliding door of the moving body and generates a captured image;
It is determined whether an obstacle exists on the moving trajectory based on an image captured by the imaging unit, and a signal based on the presence of the obstacle is output when it is determined that an obstacle exists on the moving trajectory. And a camera control unit.

In addition, an imaging apparatus according to the present invention includes:
The camera control unit preferably determines that an obstacle exists on the moving track when detecting the obstacle in a predetermined area corresponding to the moving track of the slide door in the captured image.

In addition, an imaging apparatus according to the present invention includes:
The imaging unit is disposed on a door mirror of the moving body,
It is preferable that the camera control unit uses a different area as the predetermined area according to a posture of the door mirror.

In addition, an imaging apparatus according to the present invention includes:
The camera control unit can acquire an input signal indicating that an open / close switch other than the open / close switch disposed on the outside of the slide door has been operated, and when acquiring the input signal, an obstacle on the moving track It is preferable to carry out a determination as to whether or not there exists.

In addition, an imaging apparatus according to the present invention includes:
The moving track preferably includes a track in which the slide door moves in a direction away from the moving body.

Moreover, the sliding door control system according to the present invention includes:
An imaging unit that captures a moving trajectory associated with opening and closing of the sliding door of the moving body and generates a captured image;
It is determined whether an obstacle exists on the moving trajectory based on an image captured by the imaging unit, and a signal based on the presence of the obstacle is output when it is determined that an obstacle exists on the moving trajectory. A slide door control system comprising: an imaging device having a camera control unit; and a slide door control unit that controls an opening / closing operation of the slide door,
The slide door control unit restricts movement of the slide door when acquiring a signal based on the presence of the obstacle from the imaging device.

Moreover, the sliding door control system according to the present invention includes:
An imaging unit that captures a moving trajectory associated with opening and closing of the sliding door of the moving body and generates a captured image;
It is determined whether an obstacle exists on the moving trajectory based on an image captured by the imaging unit, and a signal based on the presence of the obstacle is output when it is determined that an obstacle exists on the moving trajectory. A sliding door control system comprising: an imaging device having a camera control unit; and a moving body control unit capable of determining an ignition state of the moving body,
The moving body control unit activates the imaging device when an ignition switch is turned off when an open / close switch other than the open / close switch disposed outside the slide door is operated.

Moreover, the moving body according to the present invention is:
An imaging unit that captures a moving trajectory associated with opening and closing of the sliding door of the moving body and generates a captured image;
It is determined whether an obstacle exists on the moving trajectory based on an image captured by the imaging unit, and a signal based on the presence of the obstacle is output when it is determined that an obstacle exists on the moving trajectory. A slide door control system comprising: an imaging device having a camera control unit; and a slide door control unit that controls an opening / closing operation of the slide door,
The slide door control unit includes a slide door control system that restricts movement of the slide door when acquiring a signal based on the presence of the obstacle from the imaging device.

Moreover, the moving body according to the present invention is:
An imaging unit that captures a moving trajectory associated with opening and closing of the sliding door of the moving body and generates a captured image;
It is determined whether an obstacle exists on the moving trajectory based on an image captured by the imaging unit, and a signal based on the presence of the obstacle is output when it is determined that an obstacle exists on the moving trajectory. A sliding door control system comprising: an imaging device having a camera control unit; and a moving body control unit capable of determining an ignition state of the moving body,
The moving body control unit includes a slide door control system that activates the imaging device when an ignition switch is turned off when an open / close switch other than the open / close switch disposed outside the slide door is operated. And

  According to the imaging device, the slide door control system, and the moving body according to the present invention, it is possible to reduce the possibility that the slide door contacts an obstacle on the moving track.

It is a functional block diagram which shows schematic structure of the sliding door control system which concerns on Embodiment 1 of this invention. It is a figure which shows the left side surface of the moving body which concerns on Embodiment 1 of this invention. It is a figure which shows the upper surface of the mobile body which concerns on Embodiment 1 of this invention. It is a figure which shows the example of the captured image by the imaging part of FIG. It is a flowchart figure explaining operation | movement of the slide door control part which concerns on Embodiment 1 of this invention. It is a flowchart figure explaining operation | movement of the camera control part which concerns on Embodiment 1 of this invention. It is a flowchart explaining operation | movement of the sliding door control part which concerns on Embodiment 2 of this invention. It is a flowchart explaining operation | movement of the moving body control part which concerns on Embodiment 2 of this invention. It is a flowchart explaining operation | movement of the camera control part which concerns on Embodiment 2 of this invention.

  Embodiments of the present invention will be described below.

(Embodiment 1)
FIG. 1 is a functional block diagram showing a schematic configuration of a sliding door control system A according to Embodiment 1 of the present invention. The sliding door control system A is provided on the moving body. The moving body is, for example, a vehicle such as an automobile.

  The slide door control system A according to the present embodiment includes an imaging device 1, a slide door control unit 2, a door opening / closing switch (SW) unit 3, a slide door motor 4, a slide door 5, and a moving body control unit 6. And a door mirror 7. The imaging device 1, the sliding door control unit 2, and the moving body control unit 6 can communicate with each other via an in-vehicle network 8 such as a CAN (Controller Area Network) bus. As an outline, in the sliding door control system A, the imaging device 1 determines whether there is an obstacle on the moving track of the sliding door 5. When the imaging device 1 determines that an obstacle exists on the moving path of the slide door 5, the slide door control unit 2 restricts the movement of the slide door 5, and the slide door 5 can come into contact with the obstacle. Reduce sexuality.

  The imaging device 1 includes an imaging unit 10 and a camera control unit 11.

  The imaging unit 10 captures the periphery of the moving body 9 and generates a captured image (see FIG. 2). The imaging unit 10 includes a side camera 100 disposed on the door mirror 7, a front camera 101 disposed on the front side of the moving body 9, and a rear camera 102 disposed on the rear side of the moving body 9 (see FIG. 1). As each camera 100, 101, 102, a camera used in a conventionally known driving support system that displays a captured image around the vehicle on a monitor can be used. Each camera 100, 101, 102 is provided with a lens with a wide angle of view such as a fisheye lens, and can capture a wide-angle image around the moving body 9.

  The camera control unit 11 is an ECU (Electronic Control Unit) that controls the operation of the entire imaging apparatus 1. For example, the camera control unit 11 determines whether there is an obstacle on the moving path of the slide door 5 based on the captured image of the imaging unit 10. Detailed operations for determining whether an obstacle exists will be described later. Further, the camera control unit 11 sends a signal based on the presence of the obstacle or a signal based on the absence of the obstacle based on the determination as to whether there is an obstacle on the moving track of the slide door 5. Transmit to the control unit 2. The signal based on the presence of the obstacle is, for example, a signal indicating that there is an obstacle on the moving track of the slide door 5 and a signal for instructing to stop the opening / closing of the slide door. The signal based on the absence of an obstacle is, for example, a signal indicating that there is no obstacle on the moving path of the slide door 5, and a signal that instructs opening / closing of the slide door based on the presence of the obstacle. In addition, the camera control unit 11 acquires signals and information transmitted by the slide door control unit 2. For example, the camera control unit 11 acquires input information of a door opening / closing switch unit 3 to be described later from the slide door control unit 2. In addition, the camera control unit 11 acquires the signal / information transmitted by the moving body control unit 6. For example, the camera control unit 11 acquires information indicating the attitude of the door mirror 7, that is, information indicating whether the door mirror 7 is in the retracted state or the unstored state from the moving body control unit 6.

  The slide door control unit 2 can communicate with the imaging device 1, the door opening / closing switch unit 3, and the slide door motor 4. The slide door control unit 2 controls the operation of the slide door motor 4 based on input information of a door opening / closing switch unit 3 described later. Moreover, when the information based on the presence of an obstacle is acquired from the camera control unit 11, the slide door control unit 2 controls the operation of the slide door motor 4 so as to limit the movement of the slide door 5. For example, the slide door control unit 2 stops driving the slide door motor 4 and restricts the movement of the slide door 5. Moreover, when the information based on the absence of an obstacle is acquired from the camera control unit 11, the slide door control unit 2 controls the operation of the slide door motor 4 so as to open and close the slide door 5. Further, when the slide door control unit 2 acquires input information described later from the door opening / closing switch unit 3, the slide door control unit 2 transmits the input information to the imaging device 1.

  The door opening / closing switch unit 3 detects a user input that is an operation for opening and closing the slide door 5. The door opening / closing switch unit 3 includes a plurality of opening / closing switches. For example, the door opening / closing switch unit 3 is disposed on the vehicle interior side of the sliding door 5, a driver seat switch 30 provided in the driver seat of the moving body 9, a remote control switch 31 that communicates with a remote controller to detect a user input. A door vehicle inside switch 32 for opening and closing the slide door 5 and a door vehicle outside switch 33 arranged on the vehicle outside of the slide door 5 for opening and closing the slide door 5 are included. The door opening / closing switch unit 3 transmits input information based on the detected user input to the sliding door control unit 2. Here, the input information includes information indicating whether the slide door 5 is opened or closed, and information indicating which open / close switch is operated.

  The slide door motor 4 is driven by the control of the slide door control unit 2 and moves the slide door 5 to open and close.

  As shown in FIG. 2, for example, the slide door 5 is provided on the side surface of the moving body 9 and is positioned so as to cover the entrance / exit of the moving body 9 in the fully closed position CL, and the side surface of the moving body 9 in the fully opened position OP. Located on the rear side. The slide door 5 is moved between the fully closed position CL and the fully open position OP by the slide door motor 4. Specifically, when the sliding door 5 moves from the fully closed position CL to the fully opened position OP, the sliding door 5 first moves in a direction away from the moving body 9 and then slides to the rear side of the moving body 9. Thus, the moving track of the slide door 5 includes the track in the vehicle width direction of the moving body 9 and the track in the front-rear direction of the moving body 9.

  The moving body control unit 6 includes a plurality of ECUs and controls the operation of the entire moving body 9 such as a powertrain system and a body system. The moving body control unit 6 can communicate with the imaging device 1, the slide door control unit 2, and the door mirror 7 (see FIG. 1). For example, the moving body control unit 6 transmits information indicating the attitude of the door mirror 7 to the imaging device 1.

  Next, with reference to FIG.2 and FIG.3, schematic structure of the moving body 9 in this Embodiment is demonstrated.

  As shown in FIG. 2, the slide door 5 is located at the fully open position OP. The door vehicle outside switch 33 is arranged on the vehicle outside of the slide door 5. The side camera 100 is provided below the door mirror 7 so that the optical system faces downward, and the subject included in the wide-angle imaging range with the lower part of the door mirror 7 as the center of the image, that is, the slide door 5 and the vehicle body side surface 90. , And other backgrounds can be imaged.

  As shown in FIG. 3, the door mirror 7 is installed to be switchable between a stored state B folded along the side surface of the moving body 9 and an unstored state C protruding from the moving body 9. The moving track 50 indicates a moving track when the slide door 5 moves from the fully closed position to the fully opened position. When there is an obstacle on the moving track 50, the sliding door 5 comes into contact with the obstacle when it is opened and closed.

  Next, a detailed operation of the camera control unit 1 that determines whether there is an obstacle will be described.

  The camera control unit 11 performs an obstacle detection process in a predetermined area corresponding to the moving track 50 of the slide door 5 in the image captured by the side camera 100. A conventionally known image processing technique such as object recognition is used for the obstacle detection process. The predetermined area corresponding to the moving track 50 of the slide door 5 slides when the slide door 5 moves away from the fully closed position CL in the outward direction of the moving body 9 and moves to the fully open position OP along the slide direction. This is an area on the image through which the door 5 passes. When the camera control unit 11 detects an obstacle in the predetermined area, the camera control unit 11 determines that an obstacle exists on the moving track 50 of the slide door 5.

  The predetermined area corresponding to the moving trajectory of the slide door varies depending on the posture of the side mirror. For example, as shown in FIG. 4A, when the side mirror is not retracted, the captured image captured using the wide-angle optical system is, for example, the vehicle body side surface 90 of the moving body 9 and the slide door 5 below. Includes a statue. Therefore, when the side mirror 100 is not stored, a part of the lower left area of the captured image is defined as the predetermined area 51. As shown in FIG. 4B, in the retracted state of the side mirror 100, the captured image includes the vehicle body side surface 90 of the moving body 9 and the image of the slide door 5 on the left side. For this reason, in the storage state of the side mirror 7, a part of the upper left part of the captured image is defined as the predetermined area 51.

  Therefore, preferably, the camera control unit 11 performs an obstacle detection process using a different area as the predetermined area 51 according to the posture of the side mirror 7. Preferably, the camera control unit 11 executes an obstacle detection process using a conventionally known image processing technique only in the predetermined area 51.

  Next, the operation of the sliding door control system A will be described with reference to FIGS.

  The flowchart shown in FIG. 5 shows the process of the sliding door control unit 2 regarding the opening / closing operation of the sliding door 5 of the moving body 9.

  When the sliding door control unit 2 obtains input information from the door opening / closing switch unit 3, the sliding door control unit 2 starts this processing. First, the slide door control unit 2 transmits the acquired input information to the imaging device 1 (step S100).

  Subsequently, the slide door control unit 2 stands by until a signal based on the presence of an obstacle or a signal based on the absence of an obstacle is acquired from the imaging device 1 (step S101).

  Subsequently, when the slide door control unit 2 acquires a signal from the imaging device 1, the slide door control unit 2 determines whether or not the acquired signal is a signal based on the presence of an obstacle (step S102).

  When the signal to be acquired is a signal based on the presence of an obstacle (step S102—Yes), the sliding door control unit 2 stops driving the sliding door motor 4 and restricts the opening / closing movement of the sliding door 5 (step S103). ).

  On the other hand, when the signal to be acquired is a signal based on the absence of an obstacle (step S102-No), the slide door control unit 2 drives the slide door motor 4 to open and close the slide door 5 (step S104). .

  The flowchart shown in FIG. 6 shows processing of the camera control unit 11 of the imaging apparatus 1 regarding the opening / closing operation of the sliding door 5 of the moving body 9.

  When the camera control unit 11 acquires the input information of the door opening / closing switch unit 3 from the slide door control unit 2, the camera control unit 11 starts this processing. First, the camera control unit 11 determines whether or not the operated open / close switch is the door vehicle outside switch 33 based on the acquired input information (step S200).

  When the operated open / close switch is the door vehicle outside switch 33 (step S200-Yes), the camera control unit 11 confirms that the operator of the door vehicle outside switch 33 has no obstacle on the moving track 50. A signal based on the absence of an obstacle is output (transmitted) to the sliding door control unit 2 (step S205).

  On the other hand, when the operated open / close switch is an open / close switch other than the door vehicle outside switch 33 (step S200-No), the camera control unit 11 transmits information indicating the attitude of the door mirror 7 to the moving body control unit 6. And the information is acquired (step S201).

  Next, the side camera 100 images the periphery of the slide door 5 under the control of the camera control unit 11 to generate a captured image (step S202).

  Next, the camera control unit 11 determines whether an obstacle is detected from the captured image generated in step S202 (step S203). The camera control unit 11 determines whether or not an obstacle has been detected in a predetermined area 51 determined according to the attitude of the door mirror 7 acquired in step S201.

  When detecting an obstacle (step S203—Yes), the camera control unit 11 determines that an obstacle exists on the moving track 50. The camera control unit 11 outputs (transmits) a signal based on the presence of an obstacle (step S204).

  On the other hand, when no obstacle is detected (No at Step S203), the camera control unit 11 determines that there is no obstacle on the moving track 50. Then, the camera control unit 11 outputs (transmits) a signal based on the absence of an obstacle (step S205).

  As described above, according to Embodiment 1 of the present invention, the imaging apparatus 1 determines whether an obstacle exists on the moving track 50 based on the captured image obtained by imaging the periphery of the slide door 5. . Next, when the imaging apparatus 1 determines that an obstacle exists, the imaging apparatus 1 outputs a signal based on the presence of the obstacle. The slide door control unit 2 can stop driving the slide door motor 4 by outputting the signal. For this reason, possibility that the slide door 5 will contact the obstruction on a movement track | orbit can be reduced.

  Further, according to the first embodiment, when the imaging apparatus 1 detects an obstacle in the predetermined area 51 in the captured image, the imaging apparatus 1 determines that there is an obstacle on the moving trajectory 50. Therefore, the obstacle detection process is not performed on the entire captured image, and the processing load can be reduced. Since the determination of the presence or absence of an obstacle in an area other than the predetermined area is irrelevant to the contact of the sliding door with the obstacle, the possibility of contact with the sliding door can be reduced even if the determination is omitted.

  Moreover, according to Embodiment 1, since the side camera 100 of the imaging unit 10 is disposed on the door mirror 7, the camera disposed on the door mirror, which is common in a conventionally known driving support system, is used as the side camera 100. It becomes possible. Therefore, the sliding door control system A can be easily introduced into the moving body 9 at low cost without adding new components. In addition, since the imaging device 1 uses a different area as the predetermined area 51 according to the attitude of the door mirror 7, the imaging apparatus 1 can generally switch between a stored state and an unstored state. Detection can be performed.

  According to the first embodiment, when the door vehicle outside switch 33 detects a user input, the imaging device 1 outputs (transmits) a signal based on the absence of an obstacle. For this reason, when the operator gets into the moving body 9, the waiting time of the operator can be shortened with respect to the processing time by the imaging device 1.

  Further, according to the first embodiment, the moving track 50 includes a track in which the slide door 5 moves in a direction away from the moving body 9, so that the sliding door 5 is moved by the erroneous operation of the door opening / closing switch unit 3. The possibility of contacting an obstacle present in the vehicle width direction can be reduced.

(Embodiment 2)
Next, a second embodiment of the present invention will be described. The same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted. As an outline, in the sliding door control system B according to the present embodiment, when the ignition of the moving body 9 is off and the imaging device 1 is not activated, when the door opening / closing switch unit 3 detects a user input, the sliding door The image pickup apparatus 1 is activated before the opening / closing movement 5 is performed to reduce the possibility that the slide door 5 contacts an obstacle. The slide door control system B is different from the first embodiment in the processing by the imaging device 1, the slide door control unit 2, and the moving body control unit 6. The sliding door control unit 2, the door opening / closing switch unit 3, and the moving body control unit 6 in the present embodiment operate independently even when the ignition of the moving body 9 is off. The moving body control unit 6 determines the ignition state of the moving body 9. In addition, the moving body control unit 6 can start the imaging device 1 according to the ignition state of the moving body 9.

  The operation of the sliding door control system B will be described with reference to FIGS.

  The flowchart shown in FIG. 7 shows the process of the sliding door control unit 2 regarding the opening / closing operation of the sliding door 5 of the moving body 9.

  When the sliding door control unit 2 obtains input information from the door opening / closing switch unit 3, the sliding door control unit 2 starts this processing. First, the sliding door control unit 2 determines whether or not the operated open / close switch is the door vehicle outside switch 33 based on the acquired input information (step S300).

  When the operated open / close switch is the door vehicle outside switch 33 (step S300-Yes), the slide door control unit 2 drives the slide door motor 4 to open and close the slide door 5 (step S305).

  On the other hand, when the operated open / close switch is an open / close switch other than the door vehicle outside switch 33 (step S300-No), the slide door control unit 2 moves that the open / close switch other than the door vehicle outside switch 33 has been operated. The body control unit 6 is notified (step S301).

  Subsequently, the slide door control unit 2 stands by until a signal based on the presence of an obstacle or a signal based on the absence of an obstacle is acquired from the imaging device 1 (step S302).

  Subsequently, when the slide door control unit 2 outputs a signal from the imaging device 1, it determines whether or not the acquired signal is a signal based on the presence of an obstacle (step S303).

  When the acquired signal is a signal based on the presence of an obstacle (step S303—Yes), the sliding door control unit 2 stops driving the sliding door motor 4 and restricts the opening / closing movement of the sliding door 5 (step S304). ).

  On the other hand, when the signal to be acquired is a signal based on the absence of an obstacle (No at Step S303), the slide door control unit 2 drives the slide door motor 4 to open and close the slide door 5 (Step S305). .

  The flowchart shown in FIG. 8 shows the process of the moving body control part 6 regarding the opening / closing operation | movement of the sliding door 5 of the moving body 9. FIG.

  When the moving body control unit 6 obtains notification from the slide door control unit 2 that an open / close switch other than the door vehicle outer side switch 33 has been operated, this process starts. First, the moving body control unit 6 confirms the ignition state of the moving body 9, and determines whether or not the ignition is on (step S400). If the ignition is on (step S400—Yes), the process proceeds to step S402.

  On the other hand, when the ignition is off (step S400-No), the moving body control unit 6 activates the imaging device 1 (step S401).

  Subsequently, the moving body control unit 6 determines the attitude of the door mirror 7 and transmits information indicating the attitude to the imaging device 1 (step S402).

  The flowchart shown in FIG. 9 shows processing of the camera control unit 11 of the imaging apparatus 1 regarding the opening / closing operation of the sliding door 5 of the moving body 9.

  When the camera control unit 11 acquires information indicating the attitude of the door mirror 7 from the moving body control device 6, the camera control unit 11 starts this processing. First, the side camera 100 images the periphery of the slide door 5 under the control of the camera control unit 11 to generate a captured image (step S500).

  Next, the camera control unit 11 determines whether an obstacle is detected from the captured image generated in step S500 (step S501). The camera control unit 11 determines whether or not an obstacle has been detected in a predetermined area 51 determined according to the attitude of the door mirror 7 acquired from the moving body control unit 6.

  When detecting an obstacle (step S501-Yes), the camera control unit 11 determines that an obstacle exists on the moving track 50. The camera control unit 11 outputs (transmits) a signal based on the presence of an obstacle (step S502).

  On the other hand, when no obstacle is detected (step S501-No), the camera control unit 11 determines that there is no obstacle on the moving track 50, and outputs (transmits) a signal based on the absence of the obstacle ( Step S503).

  As described above, according to the second embodiment of the present invention, when the opening / closing switch other than the door vehicle outside switch 33 is operated, the moving body control unit 6 activates the imaging device 1 when the ignition is off. . For this reason, even when the imaging device 1 is not activated, it is possible to reduce the possibility of the slide door 5 coming into contact with an obstacle by activating the imaging device 1 before opening and closing the slide door 5. it can. Further, the slide door control unit 2 determines whether or not the operated open / close switch is the door vehicle outside switch 33, and when it is the door vehicle outside switch 33, the slide motor 4 is driven to move the slide door 5. Let For this reason, when the operator gets into the moving body 9, the waiting time of the operator can be shortened with respect to the time required for starting the imaging device 1 and the processing time of the imaging device 1. Further, it is not necessary to operate the imaging device 1 independently when the ignition of the moving body 9 is off, so that power consumption can be reduced.

  Although the present invention has been described based on the drawings and embodiments, it should be noted that those skilled in the art can easily make various changes and modifications based on the present disclosure. Therefore, it should be noted that these variations and modifications are included in the scope of the present invention. For example, the functions included in each component, each step, etc. can be rearranged so that there is no logical contradiction, and multiple components, steps, etc. can be combined or divided into one It is.

  For example, when the imaging device 1 transmits a signal for limiting the movement of the slide door 5, a warning that an obstacle is present may be provided using a display device or an acoustic device provided in the moving body 9. .

  Further, for example, the imaging device 1 according to the present invention is not limited to a slide door, and can be applied to a moving body including a door having an automatic opening / closing function.

  For example, in the above-described embodiment, the obstacle is detected based on the image captured by the side camera 100. However, the obstacle detection is further performed based on the image captured by another camera, for example, the rear camera 102. You may go. Specifically, it is conceivable that in the captured image of the rear camera 102, the obstacle detection is performed by setting the area on the image where the slide door 5 protrudes rearward of the moving body 9 as a predetermined area 51.

  Further, for example, as a predetermined region corresponding to the moving track 50 of the slide door 5, the movement away from the fully closed position CL of the slide door 5 toward the outside of the moving body 9 and the fully open position OP along the slide direction. A wider area including an area on the image through which the slide door 5 passes during movement may be used.

  Further, for example, when the imaging apparatus 1 determines that there is no obstacle on the moving track 50, the imaging apparatus 1 may not output a signal based on the absence of the obstacle. In this case, the slide door control unit 2 waits for a predetermined time in, for example, step S101 in FIG. 5 and step S302 in FIG. 7, and the imaging apparatus 1 does not output a signal based on the presence of an obstacle within the predetermined time. At this time, the slide motor 4 is driven.

A, B Slide door control system 1 Imaging device 10 Imaging unit 100 Side camera 11 Camera control unit 2 Slide door control unit 3 Door open / close switch (SW) unit 33 Door vehicle outside switch (SW)
DESCRIPTION OF SYMBOLS 4 Slide door motor 5 Slide door 50 Moving track 51 Predetermined area 6 Moving body control part 7 Door mirror 8 In-vehicle network 9 Moving body 90 Car body side surface

Claims (8)

An imaging unit that captures a moving trajectory associated with opening and closing of the sliding door of the moving body and generates a captured image;
It is determined whether an obstacle exists on the moving trajectory based on an image captured by the imaging unit, and a signal based on the presence of the obstacle is output when it is determined that an obstacle exists on the moving trajectory. A camera control unit;
An imaging apparatus comprising:   2. The imaging according to claim 1, wherein the camera control unit determines that an obstacle exists on the moving trajectory when detecting the obstacle in a predetermined region corresponding to the moving trajectory of the slide door in the captured image. apparatus. The imaging unit is disposed on a door mirror of the moving body,
The imaging apparatus according to claim 2, wherein the camera control unit uses a different area as the predetermined area according to an attitude of the door mirror.   The camera control unit can acquire an input signal indicating that an open / close switch other than the open / close switch disposed on the outside of the slide door has been operated, and when acquiring the input signal, an obstacle on the moving track The imaging device according to any one of claims 1 to 3, wherein a determination is made as to whether or not an image exists.   The imaging device according to claim 1, wherein the moving track includes a track in which the slide door moves in a direction away from the moving body. A slide door control system comprising: the imaging device according to any one of claims 1 to 5; and a slide door control unit that controls an opening / closing operation of the slide door,
The slide door control unit restricts the movement of the slide door when acquiring a signal based on the presence of the obstacle from the imaging device. A slide door control system comprising: the imaging device according to any one of claims 1 to 5; and a moving body control unit capable of determining an ignition state of the moving body,
The said moving body control part is a slide door control system which starts the said imaging device, when an ignition switch is turned off when opening / closing switches other than the opening / closing switch arrange | positioned on the vehicle outside of the said slide door are operated.   A moving body comprising the sliding door control system according to claim 6.

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