JP2005212506A - Door control device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a door control device for a vehicle capable of carrying out closing motion of a vehicle door caused by detection of an obstruction in a range to certainly prevent a part of a body of a stepping off occupant from being caught in the vehicle door. <P>SOLUTION: The obstruction affecting to opening motion of a vehicle door is detected by using an obstruction sensor. The opening motion of the vehicle door is stopped and closing motion is carried out by supplying a command signal to a door actuator 16 when the obstruction is detected by using the obstruction sensor 20. Closing motion reversing quantity in carrying out the closing motion of the vehicle door is set in accordance with an opening position of the vehicle door detected by using a door opening sensor 18 when the obstruction is detected. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a vehicle door control device, and in particular, for a vehicle suitable for performing a closing operation by stopping the opening operation of the vehicle door when there is an obstacle that hinders the opening operation of the vehicle door. The present invention relates to a door control device.

2. Description of the Related Art Conventionally, there is known a vehicle door control device that detects an obstacle that hinders the opening of a vehicle door and stops the opening operation of the vehicle door (see, for example, Patent Document 1). According to this door control device, since the opening operation of the vehicle door is not continued after the obstacle is detected, an accident caused by the collision between the vehicle door and the obstacle is prevented in advance or the influence of the accident is reduced. Is possible.
JP-A-8-128261

  However, in the configuration in which the opening operation of the vehicle door is stopped after the obstacle is detected as in the above-described conventional control device, if the obstacle is closer to the vehicle door even if the vehicle door is stopped, the vehicle There is a high possibility that the door and the obstacle collide with a relatively large impact, and when the collision between the vehicle door and the obstacle occurs, the influence on the vehicle door side or the obstacle side becomes relatively large. End up.

  On the other hand, in order to solve the inconvenience caused by stopping the opening operation of the vehicle door, it is conceivable not only to stop the opening operation of the vehicle door but also to close it in the reverse direction after detecting the obstacle. If the vehicle door is automatically closed to the fully closed position or closed by a certain amount regardless of the position of the opening when an obstacle is detected, a part of the body of the vehicle occupant trying to get off the vehicle May occur in the gap between the vehicle body and the vehicle door.

  The present invention has been made in view of the above points, and a part of the body of a vehicle occupant who gets off the vehicle door closing operation caused by the detection of an obstacle that hinders the opening operation of the vehicle door is obtained. It is an object of the present invention to provide a vehicle door control device that can be performed within a range in which it is reliably prevented from being caught in a vehicle door.

  According to the first aspect of the present invention, as described in claim 1, the obstacle detection means for detecting an obstacle that interferes with the opening operation of the vehicle door, and the opening operation of the vehicle door based on the detection result of the obstacle detection means. Door reversing control means for stopping and closing the vehicle door, and a vehicle door control device, based on the opening position of the vehicle door when the obstacle is detected by the obstacle detecting means. This is achieved by a vehicle door control device comprising a closing operation amount setting means for setting a closing operation reversal amount of the vehicle door by the door inversion control means.

  In the first aspect of the invention, when an obstacle that hinders the opening operation of the vehicle door is detected, the opening of the vehicle door is stopped and the closing operation is performed in the reverse direction. At this time, the amount of reversal due to the closing operation of the vehicle door is set based on the opening position of the vehicle door when the obstacle is detected. In such a configuration, the amount of reversal of the closing operation can be made different depending on the opening position of the vehicle door at the time of detecting the obstacle. Specifically, for example, the opening position of the vehicle door at the time of detecting the obstacle is at least getting off the vehicle. When the vehicle occupant is in a position where it is possible to avoid pinching a part of the body, the reversal amount of the closing operation of the vehicle door is set so that the stop position of the closing operation is equal to or greater than the minimum position where pinching can be avoided, and When the opening position of the vehicle door at the time of obstacle detection is smaller than the minimum position at which the vehicle door can be avoided, the reversing amount of the closing operation of the vehicle door can be set so that the stop position becomes the fully closed position. Therefore, the closing operation of the vehicle door due to the obstacle detection can be performed within a range in which it is possible to reliably prevent a part of the body of the dismounting passenger from being caught in the vehicle door.

  According to a second aspect of the present invention, in the vehicle door control device according to the first aspect, the closing operation amount setting means uses the closing operation reversal amount so that the opening position of the vehicle door at the time of detecting an obstacle is a vehicle. If the position is between the minimum opening position for getting on and off the passenger and a first opening position that is larger than the minimum opening position for getting on and off by a first predetermined opening position, after the completion of the closing operation of the vehicle door When the stop position is set to be the minimum opening position for getting on and off, and when the opening position of the vehicle door at the time of obstacle detection is between the first opening position and the fully open position, If the opening degree position of the vehicle door at the time of obstacle detection is equal to or greater than the minimum opening position for getting on and off, the closing operation stop position of the vehicle door becomes equal to or higher than the minimum opening position for getting on and off. Therefore, a part of the occupant's body is getting out of the vehicle while ensuring occupant accessibility. The vehicle door can be reliably prevented from being caught by the door, and the vehicle door is closed toward the reverse side after the obstacle is detected, so that the safety of collision between the vehicle door and the obstacle can be appropriately improved. .

  In this case, as described in claim 3, in the vehicle door control device according to claim 2, the closing operation amount setting means is configured such that the opening position of the vehicle door when the obstacle is detected is the minimum opening position for getting on and off. In this case, the closing operation reversal amount may be set to zero so that the closing operation of the vehicle door is prohibited.

  According to a fourth aspect of the present invention, in the vehicle door control device according to any one of the first to third aspects, the closed operation amount setting means uses the closed operation reversal amount as a vehicle when an obstacle is detected. A minimum opening position for avoiding pinching that can prevent the vehicle occupant's body from being pinched by the vehicle door, and a second opening position that is larger than the minimum opening position for avoiding pinching by a second predetermined opening position. Is set so that the stop position after completion of the closing operation of the vehicle door is the minimum opening position for avoiding pinching, and the opening position of the vehicle door when the obstacle is detected is If the opening position of the vehicle door exceeds the minimum opening position for avoiding pinching, the closing operation of the vehicle door is performed. Stop position is minimum open to avoid pinching Since it is above the position, it is possible to reliably prevent a part of the occupant's body from being caught in the vehicle door, and the vehicle door closes toward the reverse side after the obstacle is detected. The safety of collision with an object can be improved appropriately.

  In this case, as described in claim 5, in the vehicle door control device according to claim 4, the closing operation amount setting means is configured such that the opening position of the vehicle door when the obstacle is detected is the minimum opening for avoiding pinching. In the case of a position, the closing operation reversal amount may be set to zero so that the closing operation of the vehicle door is prohibited.

  According to a sixth aspect of the present invention, in the vehicle door control device according to the fourth or fifth aspect, the closing operation amount setting means is configured such that the opening position of the vehicle door at the time of detecting an obstacle is the minimum opening for avoiding pinching. If the degree of reversal of the vehicle door is smaller than the position of the vehicle door, the reversing amount of the closing operation is set so that the stop position after completion of the closing operation of the vehicle door is the fully closed position. When the position is smaller than the minimum position for avoiding pinching, the body of the vehicle occupant hardly enters the gap between the vehicle body and the vehicle door, so even if the closing operation of the vehicle door is performed to the fully closed position. There is no possibility that a part of the vehicle occupant's body is caught in the vehicle door, and the vehicle door is closed toward the fully closed position after detecting the obstacle, so the collision safety between the vehicle door and the obstacle is appropriate. To be improved.

  According to the first to sixth aspects of the present invention, the closing operation of the vehicle door due to the obstacle detection can be performed within a range that reliably prevents a part of the body of the disembarking passenger from being caught in the vehicle door. it can.

  FIG. 1 is a system configuration diagram of a vehicle door control device 10 mounted on a vehicle according to an embodiment of the present invention. As shown in FIG. 1, the vehicle door control device 10 includes an electronic control unit (hereinafter referred to as an ECU) 12 configured by a computer or the like, and is an device that automatically controls opening and closing of the vehicle door by the ECU 12.

  The ECU 12 is electrically connected to an automatic door switch 14 provided in the passenger compartment and operated by a vehicle occupant. The automatic door switch 14 is a switch that allows a vehicle occupant to automatically open (open) a swing-type or slide-type vehicle door attached to the vehicle without performing a manual opening operation. The switch is turned on when the vehicle occupant performs an operation. The automatic door switch 14 is not limited to the one provided in the passenger compartment, and may be a switch provided on a wireless key of the vehicle. The ECU 12 determines whether the opening operation of the vehicle door is requested based on the state of the automatic door switch 14.

  The ECU 12 is also electrically connected to a door actuator 16 made of a motor or the like disposed at a connecting portion between the vehicle door and the vehicle body. The door actuator 16 is configured to be able to perform an opening operation in the direction of the fully open position of the vehicle door and a closing operation in the direction of the fully closed position, and opens or closes the vehicle door according to a command from the ECU 12. . When it is determined that the opening operation of the vehicle door is required, the ECU 12 supplies a command signal for opening the vehicle door to the door actuator 16. Further, as will be described later, when it is determined that there is an obstacle in the vicinity of the vehicle door during the opening operation of the vehicle door, a command signal for closing the vehicle door is supplied to the door actuator 16. .

  A door opening sensor 18 is also electrically connected to the ECU 12. The door opening sensor 18 includes, for example, a reduction gear constituting the door actuator 16 and a magnet and a hall element installed in the gear housing. When the vehicle door opens and closes, A pulse signal is output according to the gap, that is, the opening position of the vehicle door. An output signal from the door opening sensor 18 is supplied to the ECU 12. The ECU 12 counts the number of pulses based on the output signal of the door opening sensor 18 and detects the opening position of the vehicle door.

  The ECU 12 is further electrically connected to an obstacle sensor 20 disposed at an opening / closing operation direction end of the vehicle door (specifically, a rear end of the vehicle body outside the swing door and a vehicle rear end at the slide door). Has been. The obstacle sensor 20 is composed of, for example, an ultrasonic sensor or a laser sensor, and depends on whether there is an obstacle such as a person or a wall that interferes with the opening operation within a predetermined distance near the vehicle door. Output a signal. The output signal of the obstacle sensor 20 is supplied to the ECU 12. The ECU 12 determines whether an obstacle exists within a predetermined distance near the vehicle door based on the output signal of the obstacle sensor 20.

  Next, operation | movement of the vehicle door control apparatus 10 of a present Example is demonstrated.

  In this embodiment, the vehicle door is allowed to open by a manual opening operation of a vehicle occupant, and is allowed to close by a manual closing operation of a vehicle occupant. When the automatic door switch 14 is turned on by the vehicle occupant in a state where the vehicle door is completely closed (fully closed state), the ECU 12 determines that the opening operation of the vehicle door is required, and the door actuator A signal for instructing the opening operation to 16 is supplied. When the opening operation command signal is supplied to the door actuator 16, the vehicle door is automatically opened from the fully closed position toward the fully open position by driving the door actuator 16. According to such control, the vehicle door can be automatically opened to the fully open position only by a simple switch operation without forcing the vehicle occupant to manually open the vehicle door.

  In the situation where the vehicle door is actually opened by the door actuator 16, there is no problem if the vehicle door can be opened to the fully opened position without colliding with an obstacle such as a person, a wall, or an adjacent vehicle. However, if an obstacle appears that hinders the opening operation of the vehicle door during the opening process, it is not appropriate to continue the opening operation in view of the safety of collision between the vehicle door and the obstacle.

  Therefore, in this embodiment, when the ECU 12 detects an obstacle that may interfere with the opening operation using the obstacle sensor 20 during the opening operation of the vehicle door, the ECU 12 stops supplying the opening operation command signal to the door actuator 16. At the same time, a signal for instructing the closing operation of the vehicle door is supplied. In this case, the opening operation of the vehicle door is stopped, and the vehicle door is automatically closed by driving the door actuator 16. According to such control, it is possible to prevent the collision between the vehicle door and the obstacle in advance by stopping the opening operation of the vehicle door due to the obstacle detection, and also due to the obstacle detection. By closing the vehicle door in the reverse direction opposite to the opening side, even if an obstacle approaches from the outside of the vehicle body toward the vehicle door, the impact caused by the collision between the vehicle door and the obstacle is reduced. can do. Therefore, according to the vehicle door control device 10 of the present embodiment, the safety related to the collision between the vehicle door and the obstacle is improved.

  By the way, in the situation where the vehicle door is automatically closed by driving the door actuator 16 as described above, the closing operation is performed up to the fully closed position, or it is related to the opening position of the vehicle door when the obstacle is detected. If the predetermined amount is used instead, a part of the body of the vehicle occupant who is about to get off the vehicle by the opening operation of the vehicle door may be caught in the gap between the vehicle body and the vehicle door. Therefore, the vehicle door control device 10 according to the present embodiment sets the reversal amount of the closing operation when the closing operation of the vehicle door is performed based on the opening position of the vehicle door when the obstacle is detected. It is characterized in that it reliably prevents the vehicle occupant from being caught due to the door closing operation. Hereinafter, the characteristic part of the present embodiment will be described with reference to FIGS.

  FIG. 2 is a top view of the vehicle showing the opening position of the vehicle door when an obstacle is detected in this embodiment. FIG. 2 shows an application example of a swing type vehicle door. FIG. 3 shows an example of a map representing the relationship between the opening position of the vehicle door and the reverse stop position after completion of the closing operation when an obstacle is detected in this embodiment.

  In this embodiment, the relationship between the opening position of the vehicle door at the time of obstacle detection and the reverse stop position after completion of the closing operation of the vehicle door is determined in advance by a map as shown in FIG. The reverse stop position after the completion of the operation is determined according to the opening position of the vehicle door when the obstacle is detected. Specifically, as shown in FIGS. 2 and 3, the opening position for determining the reverse stop position is divided into five regions in advance from the fully closed position to the fully open position according to the A position, B position, C position, and D position. The reverse stop position is determined based on the region to which the opening position belongs when the obstacle is detected.

  The above-mentioned A position is referred to as a minimum opening position (hereinafter referred to as a pinch avoiding minimum opening position) at which a part of a passenger's body (such as a finger) is not caught by the vehicle door. And the gap between the end of the vehicle door and the vehicle body is, for example, about 10 cm. Further, the B position is a position on the open side from the A position by a minute opening α (for example, an opening at which the moving distance at the end of the vehicle door is about 1 cm) that coincides with an inversion amount α described later. The C position is a minimum necessary opening position where the vehicle occupant can get on and off (hereinafter referred to as a minimum opening position for getting on and off), which is located closer to the opening than the B position. Furthermore, the D position is a position on the open side from the C position by a minute opening β (for example, an opening at which the moving distance at the end of the vehicle door is about 10 cm) that coincides with a reverse amount β described later.

  When the opening position of the vehicle door at the time of obstacle detection is between the fully closed position and the A position, that is, smaller than the A position, it is immediately after the opening operation of the vehicle door is started, and the vehicle door is almost Since it is not open, it can be determined that the occupant trying to get off has not yet started, and the occupant's body has not moved out of the vehicle. Even if the closing operation is performed to the closed position, the body of the vehicle occupant cannot be caught between the vehicle doors. Therefore, if the opening position of the vehicle door at the time of obstacle detection belongs to this region, the reverse stop position after completion of the closing operation of the vehicle door is set to the fully closed position, and that when the closing operation of the vehicle door is performed The closing reversal amount is set to the difference between the fully closed position and the current opening position.

  Further, when the opening position of the vehicle door at the time of obstacle detection includes the A position and is between the A position and the B position, the vehicle door is open at least by a minimum opening position for avoiding pinching. Therefore, it can be judged that there is little possibility that the body of the passenger getting off the vehicle is moving out of the vehicle, so the vehicle door is reversed and falls below the minimum opening position for avoiding pinching and toward the fully closed position side. When the closing operation is performed, a situation may occur in which a part of the body of the vehicle occupant is caught between the vehicle doors. Therefore, when the opening position of the vehicle door at the time of obstacle detection belongs to this region, the reverse stop position after completion of the closing operation of the vehicle door is set to the minimum opening position for avoiding pinching in order to prevent the occurrence of such a situation. The closing reversal amount when the closing operation of the vehicle door is determined is set to the difference between the pinch avoidance minimum opening position and the current opening position.

  In addition, when the opening position of the vehicle door at the time of obstacle detection is between the B position and the C position, the vehicle door does not reach the minimum opening position for getting on and off, but is in a slightly open state. It can be determined that the body of the disembarking passenger may have moved to the outside of the vehicle.For this reason, when the vehicle door reverses and falls below the minimum position for avoiding pinching and is closed toward the fully closed position, A situation may occur in which a part of the body of the vehicle occupant is caught between the vehicle doors. On the other hand, the amount of reversal of the closing operation of the vehicle door is sufficient if it is possible to ensure the safety related to the collision between the vehicle door and the obstacle, and therefore it is not necessary to reverse the vehicle door too much. Therefore, when the opening position of the vehicle door at the time of obstacle detection belongs to such a region, the reversal amount of the closing operation when the closing operation of the vehicle door is performed is set to a constant amount α, and after the closing operation of the vehicle door is completed The reverse stop position is set to a position on the fully closed position side by a certain amount α from the current opening position.

  Further, when the opening position of the vehicle door at the time of obstacle detection is between the C position and the D position including the C position, the vehicle door is in a state of being opened at least by the minimum opening position for getting on and off. Therefore, it can be judged that the majority of the body of the passenger getting off may have moved outside the vehicle, and therefore the vehicle door is reversed and falls below the minimum opening position for getting on and off to close toward the fully closed position. Then, a situation may occur in which a part of the body of the vehicle occupant is caught between the vehicle doors. Therefore, when the opening position of the vehicle door at the time of obstacle detection belongs to such a region, the reverse stop position after completion of the closing operation of the vehicle door is set to the minimum opening position for getting on and off in order to prevent such a situation from occurring. The amount of reversal of the closing operation when the closing operation of the vehicle door is performed is set to the difference between the minimum opening position for getting on and off and the current opening position.

  Further, when the opening position of the vehicle door at the time of obstacle detection is between the D position and the fully open position, the vehicle door is in a state of being greatly opened beyond the minimum opening position for getting on and off, It can be determined that there is a possibility that most of the body has moved to the outside of the vehicle.For this reason, when the vehicle door reverses and falls below the minimum opening position for getting on and off, it is closed toward the fully closed position side. A situation may occur in which a part of the body of the vehicle occupant is caught between the vehicle doors. On the other hand, the amount of reversal of the closing operation of the vehicle door is sufficient if it is possible to ensure the safety related to the collision between the vehicle door and the obstacle, and therefore it is not necessary to reverse the vehicle door too much. Therefore, when the opening position of the vehicle door at the time of obstacle detection belongs to this region, the amount of reversal of the closing operation when the closing operation of the vehicle door is performed is set to a certain amount β, and after the closing operation of the vehicle door is completed The reverse stop position is set to a position on the fully closed position side by a certain amount β from the current opening position.

  In this way, the opening position for determining the reverse stop position of the vehicle door closing operation performed due to the obstacle detection is divided into a number of regions, and the reverse stop position and the reverse amount are determined at the time of obstacle detection. According to the configuration that is set according to the opening position of the vehicle door, by appropriately setting such a region, even when the closing operation of the vehicle door is performed due to the obstacle detection, the body of the vehicle occupant It is possible to reliably prevent the portion from being caught in the vehicle door that performs the closing operation.

  FIG. 4 shows a flowchart of an example of a control routine executed by the ECU 12 in the vehicle door control device 10 of this embodiment in order to realize the above function. The routine shown in FIG. 4 is a routine that is repeatedly activated when the vehicle door is in the fully closed state. When the routine shown in FIG. 4 is started, first, the process of step 100 is executed.

  In step 100, it is determined based on the state of the automatic door switch 14 whether a vehicle door opening operation is requested. The process of step 100 is repeatedly executed until an affirmative determination is made. As a result, if it is determined that the automatic door switch 14 is turned on by the vehicle occupant and a request for opening the vehicle door is made, the process of step 102 is then executed. In step 102, a signal for commanding the opening operation of the vehicle door is supplied to the door actuator 16 to execute a process for starting the opening operation of the vehicle door.

  In step 104, it is determined whether or not an obstacle that may interfere with the opening operation of the vehicle door is detected using the obstacle sensor 20. The process of step 104 is repeatedly executed until it is determined that an obstacle is detected. As a result, if it is determined that an obstacle has been detected, the process of step 106 is performed next. In step 106, processing for urgently stopping the opening operation of the vehicle door is executed by stopping the supply of the opening operation command signal of the vehicle door to the door actuator.

  In step 108, a process of detecting the opening position of the vehicle door using the door opening sensor 18 is executed. When the processing of step 108 is executed, an obstacle that may interfere with the opening operation of the vehicle door is detected, and the opening position when the opening operation of the vehicle door is stopped is detected.

  In step 110, after the vehicle door is reversed and closed by referring to the map shown in FIG. 3 on the basis of the opening position of the vehicle door at the time of detecting the obstacle detected in step 108. Processing for determining the reverse stop position and setting the closed operation reverse amount is executed.

  In step 112, a signal for commanding the closing operation of the vehicle door to the door actuator 16 is supplied, so that the vehicle door is reversely closed from the current opening position by the closing operation reversal amount set in step 110. Thereafter, the process of stopping is executed. When the processing of this step 112 is executed, the vehicle door is thereafter reversed and closed by a predetermined amount after the obstacle is detected and stopped. When the processing of step 112 is finished, the current routine is finished.

  According to the routine shown in FIG. 4, when the vehicle door is closed in the reversing direction due to the obstacle detection, the amount of reversal of the closing operation is determined as the gap between the vehicle door and the vehicle body when the obstacle is detected, that is, the vehicle It can be set based on the opening position of the door. The closing operation reversal amount is set according to a map as shown in FIG. 3 in consideration of the vehicle occupant's body being caught by the vehicle door due to the closing operation of the vehicle door.

  Specifically, when the opening position of the vehicle door at the time of obstacle detection is smaller than the minimum opening position for avoiding pinching (position A), the reversal of the closing operation is the reversing stop position after completion of the closing operation. Is set to be In this case, since the body of the vehicle occupant does not enter the gap between the vehicle body and the vehicle door, a part of the body of the vehicle occupant is sandwiched between the vehicle doors even when the vehicle door is closed to the fully closed position. Things don't happen.

  Further, when the opening position of the vehicle door at the time of obstacle detection is between that position and the minimum opening position for getting on and off (C position) including the minimum opening position for avoiding pinching, the closing reversal amount is closed. The reverse stop position after completion of the operation is set so as to be on the full open position side from the minimum opening position for avoiding pinching. In this case, even if the vehicle occupant's body has already entered the gap between the vehicle body and the vehicle door, the vehicle door reverses and stops before the body is caught in the vehicle door. There is no situation where the part is caught between the vehicle doors.

  Furthermore, if the opening position of the vehicle door at the time of obstacle detection is between that position and the fully open position, including the minimum opening position for getting on and off, the closing reversal amount is the reverse stop position after completion of the closing operation. It is set so as to be on the fully open position side from the minimum opening position for use. In this case, even if the vehicle occupant tries to get off and the body has already entered the gap between the vehicle body and the vehicle door, the vehicle door reverses and stops before the body is caught in the vehicle door. A situation in which a part of the body is caught between the vehicle doors does not occur and the ease of getting on and off the vehicle occupant is ensured.

  Thus, according to this embodiment, even when the closing operation of the vehicle door is performed due to the obstacle detection, it is ensured that a part of the body of the vehicle occupant is caught in the vehicle door that performs the closing operation. Can be prevented. As described above, in this embodiment, when an obstacle that hinders the opening operation is detected during the opening operation by the door actuator 16 of the vehicle door, the opening operation is stopped and the closing operation is executed. The collision between the vehicle door and the obstacle is prevented in advance, or the impact caused by the collision is reduced. Therefore, according to the vehicle door control device 10 of the present embodiment, the closing operation of the vehicle door caused by the obstacle detection is performed within a range that reliably prevents a part of the body of the disembarking passenger from being caught in the vehicle door. In other words, it is possible to ensure the safety of collision between the vehicle door and the obstacle due to the closing operation.

  In the above-described embodiment, the ECU 12 detects the obstacle that may interfere with the opening operation of the vehicle door using the obstacle sensor 20, thereby providing the “obstacle detection means” described in the claims. By executing the process of step 112 in the routine shown in FIG. 4 above, the “door reversing control means” described in the claims executes the process of step 110, and “closed” described in the claims is performed. Each of the “actuating amount setting means” is realized.

  By the way, in the above embodiment, when the automatic door switch 14 is turned on when the vehicle door is in the fully closed state, the door actuator 16 opens the vehicle door to the fully open position. Even if the automatic door switch 14 is turned on in a state where the door is not completely closed, the door actuator 16 may open the vehicle door. The automatic door switch 14 is a two-position switch, on and off. The automatic door switch 14 is a multistage switch, and the position after the vehicle door opening operation is completed is between the fully closed position and the fully open position. May be set in multiple stages.

  Further, in the above embodiment, when an obstacle that hinders the opening operation is detected in a situation where the vehicle door is actually opened by the door actuator 16 by turning on the automatic door switch 14, The vehicle door is reversed and closed, but in the situation where the vehicle door is opened by the manual opening operation of the vehicle occupant instead of or together with the operation of the automatic door switch 14, When detected, the vehicle door may be reversed and closed.

  Further, in the above embodiment, the relationship between the opening position of the vehicle door at the time of obstacle detection and the reverse stop position after completion of the closing operation of the vehicle door is predetermined as shown in the map of FIG. At least, if the opening position of the vehicle door at the time of obstacle detection is different, the reverse stop position or the closing operation reversal amount after completion of the closing operation of the vehicle door may be different.

  Further, in the above embodiment, obstacles such as persons and walls that interfere with the opening operation existing within a predetermined distance near the vehicle door using the obstacle sensor 20 constituted by an ultrasonic sensor or a laser sensor. An object is detected, and when such an obstacle is detected, the vehicle door is reversed and closed, but the present invention is not limited to this, and the vehicle door is actually in contact with the obstacle. A contact-type sensor for detecting this may be provided, and if there is an obstacle that hinders the opening operation of the vehicle door when such a detection is made, the vehicle door may be reversed and closed.

1 is a system configuration diagram of a vehicle door control device according to an embodiment of the present invention. It is a vehicle upper surface view showing the opening position of the vehicle door at the time of obstacle detection in a present Example. It is the map showing the relationship between the opening position of the vehicle door at the time of the obstacle detection in a present Example, and the reverse stop position after completion of closing operation. It is a flowchart of the control routine performed in the vehicle door control device of the present embodiment.

Explanation of symbols

10 Vehicle Door Control Device 12 Electronic Control Unit (ECU)
18 Door opening sensor 20 Obstacle sensor

Claims (6)

Obstacle detection means for detecting an obstacle that interferes with the opening operation of the vehicle door, and a door inversion control means for stopping the opening operation of the vehicle door and closing the vehicle door based on the detection result of the obstacle detection means A vehicle door control device comprising:
A closing operation amount setting means for setting a reversing operation amount of the vehicle door by the door reversing control means based on an opening position of the vehicle door when the obstacle is detected by the obstacle detecting means; A vehicle door control device.   The closing operation amount setting means sets the closing operation reversal amount more than the minimum opening position for getting on and off and the minimum opening position for getting on and off when the position of the opening of the vehicle door at the time of obstacle detection allows a vehicle occupant to get on and off. When it is between the first opening position that is larger by one predetermined opening degree, the stop position after completion of the closing operation of the vehicle door is set to be the minimum opening position for getting on and off, and obstacle detection 2. The vehicle door control device according to claim 1, wherein when the opening position of the vehicle door is between the first opening position and the fully open position, a minute opening is set.   When the opening position of the vehicle door at the time of obstacle detection is the minimum opening position for getting on and off, the closing operation amount setting means sets the closing operation reversal amount to prohibit the closing operation of the vehicle door. The vehicle door control device according to claim 2, wherein the vehicle door control device is set to zero.   The closing operation amount setting means includes the closing operation reversal amount, the minimum opening position for avoiding pinching, wherein the opening position of the vehicle door at the time of obstacle detection can avoid pinching the vehicle occupant by the vehicle door When the position is between the second opening position that is larger than the minimum avoidance opening position by the second predetermined opening position, the stop position after completion of the closing operation of the vehicle door becomes the minimum avoidance position for pinching avoidance. 4. If the opening position of the vehicle door at the time of detecting an obstacle exceeds the second opening position, a minute opening is set. The vehicle door control device according to one item.   When the opening position of the vehicle door at the time of detecting an obstacle is the minimum opening position for avoiding pinching, the closing operation amount setting means sets the closing operation reversal amount so that the closing operation of the vehicle door is prohibited. The vehicle door control device according to claim 4, wherein the vehicle door control device is set to zero.   If the opening position of the vehicle door at the time of obstacle detection is smaller than the minimum opening position for avoiding pinching, the closing operation amount setting means sets the closing operation reversal amount to the stop after completion of the closing operation of the vehicle door. 6. The vehicle door control device according to claim 4, wherein the position is set so as to be a fully closed position.

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