Vehicle control apparatus, vehicle control method, and storage medium

1 . A vehicle control apparatus comprising a processor that is configured to:

detect a person within a first detection range using a first sensing apparatus and a second detection range using a second sensing apparatus, the first and second detection ranges being detection ranges which are different from each other, the first detection range including an area in a rear direction of a vehicle, the second detection range corresponding to a side surface of the vehicle on which an openable and closeable object is provided, and each of the first sensing apparatus and the second sensing apparatus is a passive infrared ray sensor, a camera, or a radar;

perform authentication as to whether or not the person detected is a user of the vehicle, the user of the vehicle being registered in advance;

determine whether or not a motion of the person detected corresponds to an approach pattern in which the openable and closeable object is approached; and

bring an openable and closeable object operation unit into operation when determining that the motion corresponds to the approach pattern, the openable and closeable object operation unit at least releasing a lock of the openable and closeable object or performing an opening operation of opening the openable and closeable object, wherein

the processor identifies all of the detection ranges within which the person is detected by using results of sensing by the first sensing apparatus and the second sensing apparatus,

the processor determines whether or not the detection range identified includes only the first detection range in the rear direction,

when a person who is not detected within the first detection range is detected within the second detection range, the processor determines that the motion corresponds to the approach pattern.

2 . The vehicle control apparatus according to claim 1 , wherein, when the processor determines that the motion corresponds to the approach pattern, the processor brings the openable and closeable object operation unit into operation, the openable and closeable object operation unit corresponding to at least any of the openable and closeable object provided on a surface of the vehicle on a driver's seat side and the openable and closeable object provided on a surface of the vehicle on a passenger seat side.

3 . The vehicle control apparatus according to claim 1 , wherein

when a person detected within the second detection range moves toward a front of the vehicle from a position closer to a rear of the vehicle in a lateral direction of the vehicle, the processor determines that the motion corresponds to a first approach pattern, and

when determining that the motion corresponds to the first approach pattern, the processor brings the openable and closeable object operation unit into operation, the openable and closeable object operation unit corresponding to the openable and closeable object provided on a front side surface of the vehicle.

4 . The vehicle control apparatus according to claim 1 , wherein

when a person detected within the second detection range moves toward a front of the vehicle from a position closer to a rear of the vehicle in a lateral direction of the vehicle and movement speed of the person detected within the second detection range decreases, the processor determines that the motion corresponds to a second approach pattern, and

when determining that the motion corresponds to the second approach pattern, the processor brings the openable and closeable object operation unit into operation, the openable and closeable object operation unit corresponding to the openable and closeable object provided on a rear side surface of the vehicle.

5 . The vehicle control apparatus according to claim 1 , wherein

when a person detected within the second detection range moves toward a front of the vehicle from a position closer to a rear of the vehicle in a lateral direction of the vehicle, movement speed of the person detected within the second detection range decreases, and the person detected within the second detection range turns a face to the openable and closeable object provided in the rear of the vehicle, the processor determines that the motion corresponds to a third approach pattern, and

when the processor determines that the motion corresponds to the third approach pattern, the processor causes the openable and closeable object operation unit to execute the opening operation, the openable and closeable object operation unit corresponding to the openable and closeable object provided on a rear side surface of the vehicle.

6 . The vehicle control apparatus according to claim 1 , wherein

when a person detected within the second detection range moves in a direction different from a direction toward a front of the vehicle, the processor determines that the motion corresponds to a fourth approach pattern, and

when the processor determines that the motion corresponds to the fourth approach pattern, the processor brings the openable and closeable object operation unit into operation, the openable and closeable object operation unit corresponding to the openable and closeable object provided on a rear side surface of the vehicle.

7 . A vehicle control method that is executed by a computer, the vehicle control method comprising:

detecting a person within a first detection range using a first sensing apparatus and a second detection range using a second sensing apparatus, the first and second detection ranges being detection ranges and which are different from each other, the first detection range including an area in a rear direction of a vehicle, the second detection range corresponding to a side surface of the vehicle on which an openable and closeable object is provided, and each of the first sensing apparatus and the second sensing apparatus is a passive infrared ray sensor, a camera, or a radar;

performing authentication as to whether or not the person detected is a user of the vehicle, the user being registered in advance;

identifying all of the detection ranges within which the person is detected by using results of sensing by the first sensing apparatus and the second sensing apparatus;

determining whether or not the detection range identified includes only the first detection range in the rear direction;

determining whether or not a motion of the detected person corresponds to an approach pattern in which the openable and closeable object is approached and determining that the motion corresponds to the approach pattern when a person who is not detected within the first detection range is detected within the second detection range; and

bringing an openable and closeable object operation unit into operation when determining that the motion corresponds to the approach pattern, the openable and closeable object operation unit at least releasing a lock of the openable and closeable object or performing an opening operation of opening the openable and closeable object.

8 . A non-transitory computer-readable storage medium storing a program that is executable by a computer, the program causing the computer to:

detect a person within a first detection range using a first sensing apparatus and a second detection range using a second sensing apparatus, the first and second detection ranges being detection ranges which are different from each other, the first detection range including an area in a rear direction of a vehicle, the second detection range corresponding to a side surface of the vehicle on which an openable and closeable object is provided, and each of the first sensing apparatus and the second sensing apparatus is a passive infrared ray sensor, a camera, or a radar;

perform authentication as to whether or not the person detected is a user of the vehicle, the user being registered in advance;

identify all of the detection ranges within which the person is detected by using the results of sensing by the first sensing apparatus and the second sensing apparatus;

determine whether or not the detection range identified includes only the first detection range in the rear direction;

determine whether or not a motion of the person detected corresponds to an approach pattern in which the openable and closeable object is approached and determine that the motion corresponds to the approach pattern when a person who is not detected within the first detection range is detected within the second detection range; and

bring an openable and closeable object operation unit into operation when determining that the motion corresponds to the approach pattern, the openable and closeable object operation unit at least releasing a lock of the openable and closeable object or performing an opening operation of opening the openable and closeable object.

9 . The vehicle control apparatus according to claim 3 , wherein

when a person detected within the second detection range moves toward a front of the vehicle from a position closer to a rear of the vehicle in a lateral direction of the vehicle and movement speed of the person detected within the second detection range decreases, the processor determines that the motion corresponds to a second approach pattern, and

when determining that the motion corresponds to the second approach pattern, the processor brings the openable and closeable object operation unit into operation, the openable and closeable object operation unit corresponding to the openable and closeable object provided on a rear side surface of the vehicle.

10 . The vehicle control apparatus according to claim 1 , wherein

when determining the detection range identified includes only the first detection range in the rear direction, the processor brings the openable and closeable object operation unit into operation, the openable and closeable object operation unit corresponding to the openable and closeable object provided on a rear end of the vehicle.

11 . A vehicle control apparatus comprising a processor that is configured:

an approach detection section configured to detect a person within a first detection range and a second detection range which are as detection ranges and which are different from each other, the first detection range including an area in a rear direction of a vehicle, the second detection range corresponding to a side surface of the vehicle on which an openable and closeable object is provided;

to perform authentication as to whether or not a person detected is a user of the vehicle, the user being registered in advance;

a determination section configured to determine whether or not a motion of the a person detected by the approach detection section corresponds to an approach pattern in which the openable and closeable object is approached when movement speed of the person detected (in the second detection range) decreases and when a direction of a head or a face of the person detected faces to a direction of the openable and closeable object through analysis of an image of an image sensor; and

an openable and closeable object operation control section configured to bring an openable and closeable object operation unit into operation when determining the determination section determines that the motion corresponds to the approach pattern, the openable and closeable object operation unit at least releasing a lock of the openable and closeable object or performing an opening operation of opening the openable and closeable object, wherein

when a person who is not detected within the first detection range is detected within the second detection range by the approach detection section, the processor determination section determines that the motion corresponds to the approach pattern.

12 . A vehicle control apparatus comprising a processor that is configured:

an approach detection section configured to detect a person within a first detection range and a second detection range which are as detection ranges and which are different from each other, the first detection range including an area in a rear direction of a vehicle, the second detection range corresponding to a side surface of the vehicle on which an openable and closeable object is provided, the second detection range being in a different direction from the first detection range;

to perform authentication as to whether or not a person detected is a user of the vehicle, the user being registered in advance;

a determination section configured to determine whether or not a motion of the a person detected by the approach detection section corresponds to an approach pattern in which the openable and closeable object is approached; and

an openable and closeable object operation control section configured to bring an openable and closeable object operation unit into operation when determining the determination section determines that the motion corresponds to the approach pattern, the openable and closeable object operation unit at least releasing a lock of the openable and closeable object or performing an opening operation of opening the openable and closeable object, wherein

when the person is detected in the first detection range and then the person is subsequently detected in the second detection range and a movement direction of the person in the second detection range is toward a direction of the openable and closeable object a person who is not detected within the first detection range is detected within the second detection range by the approach detection section, the processor determination section determines that the motion corresponds to the approach pattern.