JP7450578B2 - Motion determination device - Google Patents

Description

The present invention relates to a motion determination device.

When a user (occupant) attempts to open or close the opening/closing body of the vehicle while the vehicle is stopped, the user (occupant) in possession of the electronic key may kick the vehicle near the opening/closing body. A technique for automatically opening an opening/closing body is known. Examples of the opening/closing body of a vehicle include a tailgate, a trunk, a hinged door, and a sliding door.

In a type of vehicle where a user can sit on the rear cargo bed with the tailgate open, if the user sits facing backwards on the rear cargo bed, the user's legs may swing near the kick sensor (detector) attached to the rear bumper. . For example, when a user is sitting in a chair facing the vehicle near the rear cargo bed, the user's legs swing around the kick sensor attached to the rear bumper. In these cases, the device disclosed in Patent Document 1 may erroneously determine that the shaking of the foot is a kicking motion for opening and closing the tailgate.

In order to prevent such erroneous determinations, the opening/closing device disclosed in Patent Document 1 determines the position of the electronic key based on communication between the electronic key and a transceiver inside and outside the vehicle. For example, when the electronic key is located at the rear of the vehicle, the opening/closing device disclosed in Patent Document 1 determines that the operation indicated by the detected value of the sensor is not a kick operation for opening and closing the tailgate. For example, if the electronic key is located outside near the vehicle, the opening/closing device disclosed in Patent Document 1 determines that the operation indicated by the sensor detection value is a kick operation (normal operation) for opening and closing the tailgate. do.

JP2017-122367A

However, even when the device of Patent Document 1 incorrectly determines that the user's foot shaking is a normal motion (a kicking motion to open and close a tailgate), it still outputs a signal (detection signal) indicating that a kicking motion has been detected. , and outputs it to the host device every time the foot sway is incorrectly determined. In this case, the host device executes the process of determining whether to open or close the opening/closing body of the vehicle based on the useless detection signal output every time an erroneous determination is made. As described above, since the device of Patent Document 1 outputs useless detection signals, there is a problem in that the host device that executes the process of determining whether to open or close the opening/closing body of the vehicle consumes a large amount of power.

The present invention has been made in consideration of such circumstances, and one of the objects of the present invention is to reduce power consumption in a host device that executes a process for determining whether to open or close an opening/closing body of a vehicle.

The boat according to the present invention has the following configuration.
(1): A motion determination device according to one aspect of the present invention includes a sensor that generates a sensor signal according to a distance to an approaching object, and a sensor that determines whether or not the sensor signal represents shaking of the object. a determination unit that makes a determination based on the waveform of the signal and suppresses a notification that a kicking motion for opening and closing the opening/closing body has been performed when it is determined that the sensor signal represents shaking of the object; It is something to be prepared for.

(2): In the aspect of (1) above, when the predetermined waveform of the sensor signal is detected and a change in the waveform of the sensor signal within the determination period is equal to or greater than a threshold, the determination unit determines whether the sensor signal is determined to represent the shaking of the object.

(3): In the aspect of (1) or (2) above, the sensor is attached to a rear bumper of a vehicle, and the determination unit determines that the sensor signal represents the shaking of the foot, which is the object. In this case, the notification that a kicking operation for opening and closing the opening/closing body of the vehicle has been performed is suppressed.

(4): In the aspects (1) to (3) above, if the predetermined waveform of the sensor signal is detected and the change in the waveform of the sensor signal within the determination period is less than a threshold value, , it is determined that the sensor signal does not represent shaking of the object, and a notification is sent that a kicking motion for opening and closing the opening/closing body has been performed.

According to the aspects (1) to (4), when it is determined that the sensor signal represents the shaking of the object, a notification that a kicking motion for opening and closing the opening/closing body has been performed is suppressed. Therefore, it is possible to reduce the power consumption in the host device that executes the process of determining whether to open or close the opening/closing body of the vehicle.

FIG. 2 is a diagram illustrating an example of a rear part of a vehicle in which a motion determination device according to each embodiment is installed. FIG. 3 is a diagram showing an example of a kicking motion seen from the side of the rear part of the vehicle according to each embodiment. FIG. 2 is a block diagram showing the configuration of a motion determination device. It is a figure which shows the example of the processing procedure with respect to a sensor signal. It is a figure which shows the example of sensor signals after a moving average. FIG. 3 is a diagram showing an example of generation of a difference waveform. FIG. 7 is a diagram showing examples of difference waveforms for each type of foot shaking. FIG. 7 is a diagram showing an example of suppressing output of a detection signal according to the first embodiment. It is a flowchart which shows the example of operation of a motion determination device. FIG. 7 is a diagram illustrating an example of suppressing output of a detection signal according to a modification of the first embodiment. FIG. 7 is a diagram illustrating an example of suppressing the output of a detection signal according to the second embodiment. 1 is a diagram illustrating an example of a hardware configuration of a motion determination device (computer) according to each embodiment; FIG.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of a motion determination device of the present invention will be described with reference to the drawings.
(First embodiment)
FIG. 1 is a diagram showing an example of a rear part of a vehicle in which a motion determination device according to each embodiment is installed. The motion determination device shown in FIG. 1 determines whether or not a predetermined kick motion has been performed based on detection values output from two sensors installed around an opening/closing body such as a rear gate of a vehicle 1. do. When the motion determining device determines that a kicking motion has been performed, the user 2 can unlock the opening/closing body without using a mechanical key or separately operating an electronic key. Note that the predetermined kicking motion will be explained in detail later.

The upper sensor 10 and the lower sensor 12 are spaced apart from each other and are respectively attached to positions in a relative vertical relationship in the vehicle. In the example shown in FIG. 1, the upper sensor 10 is attached to the front of the rear vehicle above the rear bumper in the rear vehicle of the vehicle 1, and the lower sensor 12 is attached to the bottom surface of the rear vehicle below the rear bumper.
Both the upper sensor 10 and the lower sensor 12 only need to be arranged in a relative vertical positional relationship, and may be arranged in a relative vertical relationship on a bumper on the side of the vehicle. They may be arranged in a relative vertical relationship in the rear bumper.
When placed on the rear bumper, the upper sensor 10 and the lower sensor 12 are placed according to the shape of the rear bumper. For example, when the rear bumper is formed into a curved surface that slopes diagonally downward or diagonally upward when viewed from the side of the vehicle, the upper sensor 10 and the lower sensor 12 may be arranged on the rear bumper along the curved surface. can.

The upper sensor 10 and the lower sensor 12 detect the approach of an object. The upper sensor 10 and the lower sensor 12 are, for example, capacitance sensors having electrodes for detecting capacitance, and output changes in capacitance between the sensor electrodes and nearby objects. By doing so, the upper sensor 10 and the lower sensor 12 can output detection values according to the distances from the objects approaching each sensor.
Electrodes for capacitance detection are composed of coaxial cables or metal plates.

FIG. 2 is a diagram illustrating an example of a kicking motion (normal motion) seen from the side of the rear of the vehicle according to each embodiment. As shown in FIG. 2, the sensor detection area in which the upper sensor 10 detects the approach of an object is an area H1 centered on the upper sensor 10. Further, the sensor detection area in which the lower sensor 12 detects the approach of an object is an area H3 centered on the upper sensor 10. The region H1 and the region H3 may have an overlapping region H2, or may have no overlapping region. The motion determination device of this embodiment can determine kick motion based on the detection values from each sensor even when the sensor detection areas of multiple sensors overlap. It can be mounted in a variety of shapes, and since there is no need to provide a shield to separate the sensor detection areas, costs can be reduced.

When the user 2 wants to open the rear gate of the vehicle 1, he or she performs a kicking motion around the rear gate, for example, near the center of the rear vehicle. Here, the kicking motion is, for example, a motion in which the leg of the user 2 changes from state A to state B and then returns to state A again.
When the user 2 performs the kicking motion, the upper sensor 10 and the lower sensor 12 output detection values according to the approach of the object due to the motion from A to B. Further, due to the movement from B to A, the upper sensor 10 and the lower sensor 12 output a detection value corresponding to the separation of the object.

The motion determination device recognizes the approach and departure of an object based on the detection values from the upper sensor 10 and the lower sensor 12, and determines whether the object is approaching or moving away, and if the manner is the manner expected for a kicking motion. It is determined that this has been done.

In the following, in a vehicle 1 that allows a user to sit on the rear cargo bed with the tailgate (opening/closing body) open, a user sits facing backwards on the rear cargo bed, and near the kick sensor (detector) attached to the rear bumper. , one or both legs of the user may be shaking. The period of the foot shaking (the shaking of the object approaching the sensor) is, for example, about 1 second.

Next, processing blocks used by the motion determination device to perform determination processing will be described.
FIG. 3 is a block diagram showing the configuration of the motion determining device 3 (kick sensor). As shown in FIG. 3, the motion determination device 3 includes an upper sensor 10, a lower sensor 12, and a determination section 22. Further, the determination section 22 (control unit) includes a control section 23 and a storage section 24.
The motion determination device 3 receives power from the power supply section 30 and performs motion determination. If the motion determination device 3 determines that a kicking motion has been performed as a result of the motion determination, it notifies the higher-level ECU (Electronic Control Unit) 20 to that effect.

The upper sensor 10 and the lower sensor 12 each have a sensor electrode and output a change in capacitance between the sensor electrode and an approaching object.
The upper sensor 10 is installed, for example, on the upper surface of the rear bumper of the vehicle 1, and detects the approach of an object within a detection area. The lower sensor 12 is installed, for example, on the lower surface of the rear bumper of the vehicle 1, and similarly to the upper sensor 10, detects the approach of an object from a substantially horizontal direction.
That is, the upper sensor 10 can mainly detect the approach of the leg below the knee of the user 2, which is at the same height as the position of its own sensor electrode. Further, the lower sensor 12 can mainly detect the approach of the user's 2 foot beyond the ankle, which is at the same height as the position of the sensor electrode.
Further, the upper sensor 10 and the lower sensor 12 output detected values to the control section 23.

The host ECU 20 is connected to the determination unit 22 and controls the locking/unlocking and opening/closing operations of opening/closing bodies such as the rear gate of the vehicle 1 based on notifications from the determination unit 22 .
When the host ECU 20 receives a notification from the determination unit 22 that it has determined that a kick operation has been performed (kick determination OK), the host ECU 20 executes a predetermined determination process, and controls the opening/closing control unit (not shown) of the opening/closing body of the vehicle 1. ) to control the locking/unlocking and opening/closing operations of the opening/closing body.
Alternatively, when the host ECU 20 receives a notification (detection signal) that the kick determination is OK from the determination unit 22, it executes a predetermined determination process and controls operations such as locking the opening/closing body.

The determination unit 22 is connected to the host ECU 20 and notifies the kick determination OK (transmits a detection signal).
The determination section 22 includes a control section 23 and a storage section 24, and uses these control section 23 and storage section 24 to determine whether or not a kicking motion has been performed.

The control unit 23 is connected to the upper sensor 10 and the lower sensor 12, and acquires sensor detection values from both sensors. The control unit 23 determines whether a kicking motion has been performed based on the acquired sensor detection value. The control unit 23 continuously acquires the detected value in order to determine whether or not a kicking motion has been performed. Details of the process for determining whether a kicking motion has been performed will be described later.
The control unit 23 is also connected to the storage unit 24, reads out parameters such as threshold values necessary for determination from the storage unit 24, and writes detected values, parameters, etc. used in the determination process to the storage unit 24.

The power supply section 30 is, for example, a battery of the vehicle 1, and supplies power to the control circuit of the determination section 22 and the like.

Next, the difference waveform based on the sensor signal will be explained.
FIG. 4 is a diagram illustrating an example of a processing procedure for a sensor signal (sensor detection value after analog-to-digital conversion). The first row from the top of FIG. 4 shows sensor signals. The second row from the top of FIG. 4 shows the sensor signal after the first moving average. The third row from the top of FIG. 4 shows the sensor signal after the second moving average, which is performed on the sensor signal after the first moving average. The fourth row from the top of FIG. 4 shows a differential waveform (delta value) between the sensor signals after the moving average.

FIG. 5 is a diagram showing an example of sensor signals after moving average. The sensor signal after the first moving average and the sensor signal after the second moving average have different peak times and heights.

FIG. 6 is a diagram showing an example of generation of a difference waveform. The difference waveform is a waveform resulting from subtracting the sensor signal after the second moving average from the sensor signal after the first moving average (difference).

FIG. 7 is a diagram showing examples of difference waveforms (delta values) for each type of foot sway (one-leg sway, both-leg sway). The first row from the top of FIG. 7 shows an example of a differential waveform in a kicking operation (normal operation) for opening and closing the tailgate. The second row from the top of FIG. 7 shows an example of a differential waveform (waveform when swinging with one leg) that is not a normal operation. The third row from the top of FIG. 7 shows an example of a differential waveform (waveform when both feet are swaying) that is not a normal operation. For each difference waveform, a positive value threshold "+threshold" and a negative value threshold "-threshold" are predetermined based on prior experiments and the like.

As shown in the first row from the top of FIG. 7, in the kicking operation (normal operation) for opening and closing the tailgate, after the differential waveform exceeds the "+ threshold" in the positive direction, the differential waveform changes to " - threshold value” is exceeded in the positive direction. Then, a predetermined waveform in which the difference waveform exceeds the "+threshold" in the positive direction and then the difference waveform exceeds the "-threshold" in the positive direction is detected in the difference waveform only once within a predetermined period.

As shown in the second row from the top of FIG. 7, when swinging on one leg, the predetermined waveform is such that the difference waveform exceeds the "+ threshold" in the positive direction, and then the difference waveform exceeds the "-threshold" in the positive direction. After about 100 ms, the difference waveform exceeds the "+threshold" in the positive direction. Then, a predetermined waveform in which the difference waveform exceeds the "+threshold" in the positive direction and then the difference waveform exceeds the "-threshold" in the positive direction is detected in the difference waveform multiple times within a predetermined period.

As shown in the third row from the top of FIG. 7, in the case of both-leg swinging, the predetermined waveform is such that the difference waveform exceeds the "+ threshold" in the positive direction, and then the difference waveform exceeds the "-threshold" in the positive direction. Afterwards, approximately 500 ms later, the differential waveform exceeds the "+threshold" in the positive direction. Then, a predetermined waveform in which the difference waveform exceeds the "+threshold" in the positive direction and then the difference waveform exceeds the "-threshold" in the positive direction is detected multiple times within a predetermined period. Further, the difference waveform peaks in the positive direction approximately 800 ms after the predetermined waveform in which the difference waveform exceeds the "+threshold" in the positive direction and the difference waveform exceeds the "-threshold" in the positive direction.

Note that each time such as the above "about 100 ms", the above "about 500 ms", and the above "about 800 ms" is a measurement result in a prior experiment and is an example. Furthermore, the process of generating a differential waveform (delta value) is not essential. For example, if the amplitude level of the sensor signal (sensor detection value) shown in the first row from the top of FIG. The above determination process may be executed.

Next, a process in which the motion determining device 3 determines whether or not the sensor signal represents a kicking motion for opening and closing the opening/closing body of the vehicle 1 (whether or not the sensor signal represents a shaking foot) will be described.

FIG. 8 is a diagram illustrating an example of suppressing output of a detection signal according to the first embodiment. The first row from the top of FIG. 8 shows an example of a differential waveform that is not a normal operation (a differential waveform when both feet are swaying). The second row from the top of FIG. 8 shows an example of a signal (detection signal) indicating that a kicking motion has been detected.

For each period "T1" (period "T1-1", period "T1-2", period "T1-3", ...), check whether the difference waveform exceeds the "+ threshold" or "-threshold". A determination period (monitoring time) for making a determination is determined in advance. Each determination period starts from the start time of each period "T1". For example, the determination period in period "T1-2" starts from time "t2". The length of the determination period is determined in advance based on prior experiments and the like. In the first embodiment, the length of the determination period is, for example, 650 ms (=(800-150) ms>450 ms).

The control unit 23 determines whether the differential waveform exceeds the "+threshold" in the positive direction at a predetermined period. When the difference waveform exceeds the "+threshold" in the positive direction, the control unit 23 sets a predetermined waveform in which the difference waveform exceeds the "+threshold" in the positive direction and then the difference waveform exceeds the "-threshold" in the positive direction. Determine whether or not it has been detected. In FIG. 8, the differential waveform exceeds the "-threshold" in the positive direction at time "t1". Therefore, the control unit 23 detects a predetermined waveform in the period "T2-1".

In FIG. 8, after the determination period has elapsed from the start time (not shown) of the period "T1-1", the start of the predetermined waveform of the period "T2-1" (change of more than the threshold value) is detected, so the control unit 23 outputs a detection signal (notification that a kicking operation has been performed) to the host ECU 20 during a period from time "t1" to time "t2" (period "T3-1").

The control unit 23 also determines whether the differential waveform exceeds the "+threshold" in the positive direction. When the difference waveform exceeds the "+threshold" in the positive direction, the control unit 23 sets a predetermined waveform in which the difference waveform exceeds the "+threshold" in the positive direction and then the difference waveform exceeds the "-threshold" in the positive direction. Determine whether or not it has been detected. In FIG. 8, at time "t3", the difference waveform of period "T2-2" exceeds "-threshold" in the positive direction.

However, the start of the predetermined waveform of period "T2-2" (change above the threshold) was detected before the determination period elapsed from the start time "t2" of period "T1-2" (during the determination period). , the control unit 23 determines that the predetermined waveform in the period "T2-2" is not a normal operation waveform (it is a waveform due to foot shaking). Based on this determination result, the control unit 23 suppresses output of the detection signal to the host ECU 20. Therefore, no detection signal is output during period "T3-2". The same holds true after time "t5".

Note that conventionally, the detection signal was output even during the period "T3-2". On the other hand, the motion determining device 3 does not output the detection signal during the period "T3-2". The same holds true after time "t5". In this way, the motion determining device 3 suppresses the output of unnecessary detection signals.

FIG. 9 is a flowchart showing an example of the operation of the motion determination device 3. The control unit 23 determines whether the differential waveform exceeds the "+threshold" in the positive direction (step S101). If the difference waveform does not exceed the "+threshold" in the positive direction, the control unit 23 returns the process to step S101.

When the difference waveform exceeds the "+threshold" in the positive direction, the control unit 23 determines whether the detection time of the start of the predetermined waveform (kick) (the time when the difference waveform exceeds the "+threshold" in the positive direction) is after the determination period. It is determined whether the time is . That is, the control unit 23 determines whether the detection time of the start of the predetermined waveform is not within the determination period (step S102). If the detection time of the start of the predetermined waveform is a time after the determination period, the control unit 23 outputs a detection signal (notification that a kicking operation has been performed) to the host ECU 20 (step S103). The control unit 23 returns the process to step S101.

If the detection time of the start of the predetermined waveform is within the determination period, the control unit 23 suppresses execution of the process of outputting the detection signal to the host ECU 20 and waits for the waiting time (for example, 150 ms) to elapse (step S103). The control unit 23 returns the process to step S101.

As described above, the upper sensor 10 and the lower sensor 12 generate sensor signals according to the distance to the approaching object (foot). The determining unit 22 determines whether the sensor signal represents the shaking of the object based on the waveform (difference waveform) of the sensor signal. If the determination unit 22 determines that the sensor signal represents the shaking of the object, it suppresses the notification that a kicking motion for opening and closing the opening/closing body (tailgate) has been performed. If the predetermined waveform of the sensor signal is detected and the change in the waveform of the sensor signal within the determination period is equal to or greater than the threshold value, the determination unit 22 determines that the sensor signal represents shaking of the object. If the predetermined waveform of the sensor signal is detected and the change in the waveform of the sensor signal within the determination period is less than the threshold, the determination unit 22 determines that the sensor signal does not represent the shaking of the object (the sensor signal does not represent a kicking motion). ), and notifies that a kicking motion has been performed to open and close the opening/closing body.

In this way, since the output of unnecessary detection signals is suppressed, it is possible to reduce the power consumption in the higher-level device (upper-level ECU) that executes the process of determining whether to open or close the opening/closing body of the vehicle.

(Modified example of the first embodiment)
The modification of the first embodiment differs from the first embodiment in that the determination period is divided into a first half and a second half, and a detection signal is output between the first half and the second half. In the modification of the first embodiment, differences from the first embodiment will be mainly explained.

FIG. 10 is a diagram illustrating an example of suppressing output of a detection signal according to a modification of the first embodiment. In FIG. 10, each period "T3" is the first half of the determination period. At the end time of the period “T3-1”, the control unit 23 outputs a detection signal to the host ECU 20. Furthermore, the second half of the determination period starts from the time when the output of the detection signal ends. The length of the second half of the determination period is, for example, 600 ms (>450 ms).

Since the start of the predetermined waveform of the period "T2-2" was detected before the second half of the determination period has elapsed from the time when the output of the detection signal ended (during the second half of the determination period), the control unit 23 It is determined that the predetermined waveform of the period "T2-2" is not a waveform of normal operation (a waveform due to foot shaking). The control unit 23 suppresses output of the detection signal to the host ECU 20 during the period from time "t3" to time "t4" (period "T3-2") based on the determination result. Therefore, no detection signal is output during period "T3-2". The same holds true after time "t5".

(Second embodiment)
The second embodiment differs from the first embodiment in that a detection signal is output when it is determined that the kicking motion (normal motion) is for opening and closing the tailgate. In the second embodiment, differences from the first embodiment will be mainly explained.

FIG. 11 is a diagram illustrating an example of suppressing output of a detection signal according to the second embodiment. At time "t1", it is not determined whether or not this is a kicking motion (normal motion) for opening and closing the tailgate. This is because the predetermined waveform is detected only once at time "t1", and whether the predetermined waveform is detected two or more times (whether foot shaking is detected or not) is determined at time "t1". This is because we do not know at this point.

Therefore, at time "t1" (first period "T3"), the control unit 23 suspends output of the detection signal. If the difference waveform (delta value) does not exceed the "+ threshold" in the positive direction within the determination period after time "t2", the predetermined waveform detected at time "t1" is used to open or close the tailgate. It is determined that this is a kicking motion (normal motion) for the purpose of doing so. If the predetermined waveform is determined to be a kicking motion (normal motion) for opening and closing the tailgate, the control unit 23 outputs a detection signal in the next period "T3".

As described above, the determination unit 22 may suspend output of the detection signal until it is determined that the kicking motion (normal motion) is for opening and closing the tailgate. If the predetermined waveform of the sensor signal is detected and the change in the waveform of the sensor signal within the determination period is less than the threshold, the detected predetermined waveform is used as a kicking operation (normal operation) to open and close the tailgate. It is determined that If the predetermined waveform is determined to be a kicking motion (regular motion) for opening and closing the tailgate, the determination unit 22 determines that the sensor signal does not represent the shaking of the object, and performs a kicking motion for opening and closing the tailgate. The fact that the kicking motion has been performed is notified in the next period "T3".

The motion determination device 3 (single unit) can determine whether the sensor signal represents a kick motion for opening and closing the opening/closing body of the vehicle 1 or not. That is, the motion determination device 3 (single unit) can determine whether or not the user's feet are shaking.

[Hardware configuration]
FIG. 12 is a diagram showing an example of the hardware configuration of the motion determining device 3 (computer). As shown in the figure, the operation determination device 3 includes a communication controller 101, a CPU 102, a RAM (Random Access Memory) 103 used as a working memory, a ROM (Read Only Memory) 104 that stores a boot program, etc., a flash memory and an HDD ( A storage device 105 such as a hard disk drive, a drive device 106, and the like are interconnected by an internal bus or a dedicated communication line. The communication controller 101 communicates with components other than the motion determination device 3. A program 105a executed by the CPU 102 is stored in the storage device 105. This program is expanded into the RAM 103 by a DMA (Direct Memory Access) controller (not shown) or the like, and executed by the CPU 102. As a result, some or all of the functional units of the motion determining device 3 are realized.

Although the mode for implementing the present invention has been described above using embodiments, the present invention is not limited to these embodiments in any way, and various modifications and substitutions can be made without departing from the gist of the present invention. can be added.

DESCRIPTION OF SYMBOLS 1...Vehicle, 2...User, 3...Operation determination device, 10...Upper side sensor, 12...Lower side sensor, 20...Upper ECU, 22...Determination section, 24...Storage section, 30...Power supply section

Claims (4)

a sensor that generates a sensor signal according to the distance to an approaching object;
Determining whether or not the sensor signal represents shaking of the object based on the waveform of the sensor signal, and opening/closing the opening/closing body if it is determined that the sensor signal represents shaking of the object. A determination unit that suppresses notification that a kicking motion has been performed. The determination unit determines that the sensor signal represents shaking of the object when a predetermined waveform of the sensor signal is detected and a change in the waveform of the sensor signal within the determination period is equal to or greater than a threshold value. ,
The motion determination device according to claim 1. The sensor is attached to a rear bumper of a vehicle,
When the determination unit determines that the sensor signal represents the shaking of the foot, which is the object, the determination unit suppresses notification that a kicking motion for opening and closing the opening/closing body of the vehicle has been performed.
The motion determination device according to claim 1 or claim 2. The determination unit determines that the sensor signal does not represent shaking of the object when a predetermined waveform of the sensor signal is detected and a change in the waveform of the sensor signal within a determination period is less than a threshold. , notifying that a kicking motion for opening and closing the opening/closing body has been performed;
The motion determination device according to any one of claims 1 to 3.

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