JP2005226297A - Vehicular door opening and closing device and method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular door opening and closing device capable of providing a door check function when opening and closing a door manually and holding the door at a door check position if abnormality occurs when opening and closing the door automatically. <P>SOLUTION: This vehicular door opening and closing device opens and closes the door provided in the vehicle by switching manual operation and automatic operation. This vehicular door opening and closing device 1 is provided with a door opening and closing driving means 40 for opening and closing the door 51 when opening and closing the door automatically and holding the door 51 at a door check position when opening and closing the door manually, a door opening and closing position detection means 27, abnormality detection means 28, 29, and a control means. This control means detects abnormality based on an abnormality detection signal outputted from the abnormality detection means 28, 29 and inverts and operates the door opening and closing driving means 40 so that the door 51 moves to the door check position where the door passes if the door 51 already passes the door check position when abnormality is detected. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a vehicle door opening / closing device and a vehicle door opening / closing method, and more particularly, to a vehicle door opening / closing device and a vehicle door opening / closing method capable of switching between manual and automatic.

  2. Description of the Related Art Conventionally, there is known a vehicle door opening / closing device capable of switching between manual and automatic to open and close a door (see, for example, Patent Document 1 and Patent Document 2). In the example described in Patent Document 1, an electromagnetic clutch mechanism is provided between a door opening / closing motor and a door opening / closing mechanism. In the state where the electromagnetic clutch mechanism is released, no load is applied to the door opening / closing mechanism connected to the door, so that the door can be freely opened and closed. When the door opening / closing motor is driven with the electromagnetic clutch mechanism engaged, the driving force is transmitted to the door opening / closing mechanism to open / close the door. Furthermore, in a state where the electromagnetic clutch mechanism is joined, the door is held at an arbitrary opening / closing position by the joining force of the electromagnetic clutch mechanism.

On the other hand, in the example described in Patent Document 2, a planetary gear mechanism is provided between the door opening / closing motor and the door opening / closing mechanism. When the rotation of the internal gear of the planetary gear mechanism is allowed, the intermediate gear is rotatable with respect to the sun gear rotated by the door opening / closing motor, and the door opening / closing mechanism connected to the intermediate gear Since no load is applied to the door, the door can be freely opened and closed. When the rotation of the internal gear of the planetary gear mechanism is blocked, the rotational force of the sun gear rotated by the door opening / closing motor is transmitted to the door opening / closing mechanism via the planetary gear and the intermediate gear, so that the door opens and closes. Is done. Further, in a state where the rotation of the internal gear of the planetary gear mechanism is blocked, the door is held at an arbitrary opening / closing position by a resistance force between the gears in the planetary gear mechanism.
JP 58-76671 (page 1-3, FIG. 1, FIG. 2) Utility Model No. 2528411 (page 2-4, FIG. 3, FIG. 4)

  However, in the example described in Patent Document 1, since the holding force does not act on the door when the electromagnetic clutch mechanism is released, it is impossible to hold the door at an arbitrary opening / closing position during manual opening / closing. Is possible. Similarly, in the example described in Patent Document 2, in the state where the rotation of the internal gear of the planetary gear mechanism is allowed, the holding force does not act on the door. It is impossible to hold. Thus, in the examples described in Patent Document 1 and Patent Document 2, since the door check mechanism that holds the door at an arbitrary opening / closing position is not provided at the time of manual opening / closing, for example, on a hill or a day when wind is strong, There are inconveniences such as the door moving freely against the passenger's will. Moreover, when the space in the opening direction of the door is narrow, there is a problem that it is difficult to get on and off in the configuration in which the door freely opens and closes as described above.

  Furthermore, in the examples described in Patent Document 1 and Patent Document 2, when the door opening / closing motor is stopped during automatic opening / closing, the door is temporarily held at an arbitrary opening / closing position. When a load is applied to the door when the door is held at an arbitrary opening / closing position, there is a disadvantage that the load is directly applied to the electromagnetic clutch mechanism or the planetary gear mechanism. In addition, the examples described in Patent Document 1 and Patent Document 2 are cases where an abnormality such as an obstacle is likely to come into contact with the door or an obstacle or an occupant is caught in the door occurs. However, it does not have a mechanism for avoiding or eliminating an abnormality such as stopping the door.

  Here, in the examples described in Patent Document 1 and Patent Document 2, in response to the occurrence of an abnormality such as an obstacle coming into contact with the door or an obstacle or an occupant being caught in the door. It is also conceivable that the passenger stops the door opening / closing motor to stop the automatic door opening / closing operation. However, even if the operation of the door is stopped by the occupant, the door is held in a state where an obstacle is in contact with the door or an obstacle or an occupant is caught in the door. There is an inconvenience that it is difficult.

The present invention has been made in view of the above circumstances, and in a vehicle door opening and closing device that opens and closes a door provided on a vehicle by switching between manual and automatic, a door check function can be provided at the time of manual opening and closing. To provide a vehicle door opening / closing device capable of reliably holding a door in a state in which the abnormality is resolved when an abnormality occurs during automatic opening and closing, and improving convenience when getting on and off than before. It is in.
Another object of the present invention is to provide a vehicle door opening / closing method that automatically opens and closes a door that can be held at a door check position with a predetermined opening degree. To provide a method for opening and closing a vehicle door that can reliably hold the door in a state in which the abnormality has been eliminated and that can improve convenience when getting on and off than before when an abnormality occurs. .

  According to the vehicle door opening and closing device (1) according to claim 1, the subject is a vehicle door opening and closing device that opens and closes a door (51) provided on the vehicle (50) by switching between manual and automatic. An opening / closing force is applied to the door (51) during automatic opening and closing, and the door (51) is held at a door check position (D1, D2, D3) having a predetermined opening degree when manually opening / closing by an occupant. The door opening / closing drive means (40), the control means (30) for controlling the door opening / closing drive means (40), and the position of the door (51) in the opening / closing direction are detected, and the corresponding door opening / closing position is detected. A door opening / closing position detection means (27) for outputting a door opening / closing position detection signal to the control means (30), an abnormality at the time of automatic opening / closing of the door (51) is detected, and an abnormality detection signal is sent to the control means (30). Output to A normal detection means (28, 29), and the control means (30) detects an abnormality based on the abnormality detection signal output from the abnormality detection means (28, 29) (step S1). , Step S21) and when the abnormality is detected by the abnormality detection function, if the door (51) has already passed through the door check position (D1, D2, D3), Reversing operation function at the time of abnormality detection (steps S7 to S10, which reversely operates the door opening / closing driving means (40) so that the door (51) moves to the passing door check position (D1, D2, D3). Steps S27 to S30).

  According to such a configuration, when an abnormality occurs in the door (51) during automatic opening / closing, the abnormality detection function (a function for executing steps S1 and S21) in the control means (30) indicates that the abnormality has occurred. ) Can be detected. And when abnormality is detected in abnormality detection function (function which performs Step S1, Step S21), when the door (51) has already passed the door check position (D1, D2, D3), Door opening / closing drive so that the door (51) is moved to the passed door check position (D1, D2, D3) by the reverse operation function at the time of abnormality detection (function to execute steps S7 to S10 and steps S27 to S30) The means (40) is reversed. Therefore, even when an obstacle such as an obstacle is likely to come into contact with the door (51) during automatic opening / closing or an obstacle or an occupant is caught between the door (51) and the vehicle body, the abnormality is It can be resolved.

  Even when the door (51) has an abnormality as described above, the door (51) is moved to the door check position (function to execute steps S7 to S10 and steps S27 to S30) by the reversal operation function at the time of abnormality detection. (D1, D2, D3), the door check force at the door check position (D1, D2, D3) can reliably hold the door (51) after the occurrence of an abnormality. Thus, for example, even when a load is further applied to the door (51) while the door is stopped after the occurrence of an abnormality, the load is directly applied to the door opening / closing mechanism (44) and the driving force transmission mechanism (43). It is possible to prevent the inconvenience of being lost.

  Further, the door opening / closing drive means (40) applies an opening / closing force to the door (51) at the time of automatic opening / closing, and at the time of manual opening / closing by the occupant, the door (51) is a door check position (D1) having a predetermined opening degree. , D2 and D3), in the vehicle door opening and closing device (1) of the present invention, when the door (51) is manually opened and closed, the door (51) is moved to the door check position (D1). , D2, D3) can be held at a predetermined position by the door check force. Thereby, for example, on a slope or a windy day, it is possible to prevent inconvenience such as the door (51) moving freely against the will of the occupant, and the space in the opening direction of the door (51) is narrow. Even in this case, it is possible to easily get on and off by holding the door (51) at the door check position (D1, D2, D3). Therefore, it is possible to improve convenience when getting on and off the vehicle as compared with the conventional case.

  At this time, as described in claim 2, more preferably, when the abnormality is detected in the abnormality detection function (function of executing steps S1 and S21), the control means (30) is configured to open and close the door. Based on the door opening / closing position detection signal output from the detecting means (27), an abnormal door opening / closing position detecting function (steps S5 and S25) for detecting the door opening / closing position when an abnormality occurs in the door (51). The function to be executed) and the door opening / closing position detection function (steps S5 and S25) when an abnormality occurs among the door check positions (D1, D2, D3) that the door (51) has already passed through when the door (51) is automatically opened and closed. The shortest door check position extraction function (step) for extracting the door check positions (D1, D2, D3) at the shortest distance from the door opening / closing position detected by the function to be executed). And a reverse operation function at the time of abnormality detection (functions for executing steps S7 to S10 and steps S27 to S30) are the shortest door check position extraction function (step S6, step S26). The door opening / closing drive means (40) is reversed so that the door (51) moves to the door check position (D1, D2, D3) extracted by the function of executing S26. According to such a configuration, even when the door opening / closing drive means (40) reverses when an abnormality occurs and the door (51) is returned in the direction opposite to the opening / closing direction, the shortest distance from the position where the abnormality has occurred. Since the door (51) is held at a certain door check position (D1, D2, D3), the reverse movement amount of the door (51) after the occurrence of an abnormality can be kept to the minimum necessary. Therefore, it is possible to prevent the inconvenience that the door (51) greatly moves in the opposite direction due to the operation of avoiding or eliminating the abnormality.

  More preferably, the shortest door check position extraction function (the function of executing step S6) preferably opens and closes the door when an abnormality occurs when the door (51) is automatically opened. The door open / close position detected by the position detection function (function to execute step S5) is the fully closed position (D0) in the door (51) and the first door check position in the opening direction from the fully closed position (D0) ( D1), the fully closed position (D0) is extracted, and the reverse operation function upon abnormality detection (function to execute steps S7 to S10) executes the shortest door check position extraction function (step S6). In the function), when the fully closed position (D0) is extracted, the door opening / closing drive means (40) is reversed so that the door (51) moves to the fully closed position (D0). According to such a configuration, even when an abnormality occurs in the door (51) between the fully closed position (D0) and the first door check position (D1) in the opening direction, the door (51) is fully opened. It can be returned to the closed position (D0). Therefore, even if an abnormality such as coming into contact with an obstacle immediately after opening the door (51) occurs, the abnormality can be quickly resolved.

  In addition, as described in claim 4, the shortest door check position extraction function (function to execute step S26) is a function for detecting a door opening / closing position when an abnormality occurs (step S26) when the door (51) is automatically closed. The door opening / closing position detected in the function for executing S25 is between the fully open position (D3) of the door (51) and the first door check position (D2) in the closing direction from the fully open position (D3). In this case, the fully open position (D3) is extracted, and the reverse operation function at the time of abnormality detection (function to execute steps S27 to S30) is the fully open position (D3) in the shortest door check position extraction function (function to execute step S26). When door is extracted, the door opening / closing drive means (40) may be reversed so that the door (51) moves to the fully open position (D3). According to such a configuration, even when an abnormality occurs in the door (51) between the fully open position (D3) and the first door check position (D2) in the closing direction, the door (51) is opened to the fully open position. It is possible to return to (D3). Therefore, even if an abnormality such as an obstacle or an occupant being caught immediately after trying to close the door (51), the abnormality can be quickly resolved.

  At this time, as described in claim 5, the door opening / closing drive means (40) has two or more door check positions (D1, D2, D3) between the fully closed position and the fully open position of the door (51). ), It is possible to hold the door (51) in more door opening / closing positions, so that when the door is manually opened / closed, there are more options for the door stop position by the occupant, and convenience in getting on and off is improved. Is possible. Further, when an abnormality occurs in the door (51) during automatic opening / closing, the amount of reverse movement of the door (51) after the occurrence of the abnormality is suppressed, so that the reverse movement operation of the door (51) after the occurrence of abnormality is further reduced. It becomes possible to carry out finely.

  Further, according to the vehicle door opening and closing method according to claim 6, the problem is that the door (51) that can be held at the door check position (D1, D2, D3) having a predetermined opening degree is automatically set. In the method for opening and closing a vehicle door to be opened and closed, an abnormality is detected by an abnormality detection step (step S1, step S21) for detecting an abnormality when the door (51) is automatically opened and closed, and the abnormality detection step (step S1, step S21). When the door (51) has already passed through the door check position (D1, D2, D3) at the time of detection, the door (51) reaches the door check position (D1, D2, D3) that has passed. 51) and a reverse operation step upon abnormality detection (steps S7 to S10, steps S27 to S30).

  As described above, according to the vehicle door opening and closing method of the present invention, when an abnormality occurs in the door (51) during automatic opening and closing, the abnormality detection step (step S1, step S21) detects that the abnormality has occurred. Can be detected. When the abnormality is detected in the abnormality detection step (step S1, step S21), if the door (51) has already passed the door check position (D1, D2, D3), the reversal operation is performed when abnormality is detected. By the steps (Steps S7 to S10, Steps S27 to S30), the door (51) is moved to the passed door check position (D1, D2, D3). Therefore, even when an obstacle such as an obstacle is likely to come into contact with the door (51) during automatic opening / closing or an obstacle or an occupant is caught between the door (51) and the vehicle body, the abnormality is It can be resolved.

  Even if the door (51) has an abnormality as described above, the door (51) is moved to the door check position (D1, D2, D2) by the reversal operation step at the time of abnormality detection (steps S7 to S10, steps S27 to S30). Since it returns to D3), the door (51) can be reliably held after the occurrence of abnormality by the door check force at the door check position (D1, D2, D3). Thereby, for example, even when a load is further applied to the door (51) while the door is stopped, the door is directly applied to the door opening / closing mechanism (44) and the driving force transmission mechanism (43). Can be prevented.

  Furthermore, the vehicle door opening and closing method of the present invention is a method of opening and closing the door (51) that can be held at the door check position (D1, D2, D3) having a predetermined opening degree. When the door is manually opened and closed, the door (51) can be held at a predetermined position by the door check force at the door check positions (D1, D2, D3). Thereby, for example, on a slope or a windy day, it is possible to prevent inconvenience such as the door (51) moving freely against the will of the occupant, and the space in the opening direction of the door (51) is narrow. Even in this case, it is possible to easily get on and off by holding the door (51) at the door check position (D1, D2, D3). Therefore, it is possible to improve convenience when getting on and off the vehicle as compared with the conventional case.

  At this time, as described in claim 7, the vehicle door opening and closing method according to claim 6 is more preferably configured such that when an abnormality is detected in the abnormality detection step (step S1, step S21), the door is opened. (51) When an abnormality occurs, a door opening / closing position detecting step (step S5, step S25) for detecting the position of the door (51) in the opening / closing direction and a door (51) when the door (51) is automatically opened / closed. ) Has already passed, the door check position (D1, D3) which is the shortest distance from the door open / close position detected in the door open / close position detection step (step S5, step S25) at the time of occurrence of abnormality. A shortest door check position extracting step (step S6, step S26) for extracting D2 and D3), and a reversal operation upon abnormality detection In step (steps S7 to S10, steps S27 to S30), the door (51) is moved to the door check position (D1, D2, D3) extracted in the shortest door check position extraction step (step S6, step S26). Is the method. According to such a method, even when the door (51) is returned in the direction opposite to the direction in which the door (51) is opened and closed in the event of an abnormality, the door check position (D1, D2, D3) located at the shortest distance from the position where the abnormality has occurred. Since the door (51) can be held, the amount of reverse movement of the door (51) after the occurrence of an abnormality can be kept to the minimum necessary. Therefore, it is possible to prevent the inconvenience that the door (51) greatly moves in the opposite direction due to the operation of avoiding or eliminating the abnormality.

  Further, according to the eighth aspect of the present invention, in the vehicle door opening / closing method according to the seventh aspect, more preferably, when the door (51) is automatically opened, the door opening / closing position is detected when an abnormality occurs. In step (step S5), the door open / close position when an abnormality occurs is the fully closed position (D0) in the door (51) and the first door check position (D1) in the opening direction from the fully closed position (D0). In the shortest door check position extraction step (step S6), the fully closed position (D0) is extracted, and in the reversal operation step upon abnormality detection (steps S7 to S10), the door (51 ) To the fully closed position (D0). According to such a method, even when an abnormality occurs in the door (51) between the fully closed position (D0) and the first door check position (D1) in the opening direction, the door (51) is fully opened. It can be returned to the closed position (D0). Therefore, even if an abnormality such as coming into contact with an obstacle immediately after opening the door (51) occurs, the abnormality can be quickly resolved.

  The vehicle door opening and closing method according to claim 7 or claim 8 is the door opening / closing position detecting step when an abnormality occurs when the door (51) is automatically closed. In (Step S25), the door open / close position when an abnormality occurs is between the fully open position (D3) of the door (51) and the first door check position (D2) in the closing direction from the fully open position (D3). In the shortest door check position extraction step (step S26), the fully open position (D3) is extracted, and in the abnormality detection reversal operation steps (steps S27 to S30), the door (51) is opened. A method of moving to (D3) may also be used. According to such a method, even when an abnormality occurs in the door (51) between the fully open position (D3) and the first door check position (D2) in the closing direction, the door (51) is opened to the fully open position. It is possible to return to (D3). Therefore, even if an abnormality such as an obstacle or an occupant being caught immediately after trying to close the door (51), the abnormality can be quickly resolved.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings. It should be noted that members, arrangements, and the like described below do not limit the present invention, and it goes without saying that various modifications can be made in accordance with the spirit of the present invention.
FIG. 1 to FIG. 8 are diagrams showing an embodiment of the present invention, FIG. 1 is a diagram showing a configuration of a vehicle door opening / closing device, and FIG. 2 is a diagram showing a configuration of a door opening / closing motor and a driving force transmission mechanism. 3 is a cross-sectional view taken along line AA in FIG. 2, FIG. 4 is a block diagram showing the overall configuration of the vehicle door opening / closing device, and FIG. 5 is a diagram for explaining the flow of the operation (door automatic opening operation) of the vehicle door opening / closing device. FIG. 6 is a diagram showing a reversing operation when an abnormality occurs during the automatic door opening operation, FIG. 7 is a diagram for explaining the flow of the operation (automatic door closing operation) of the vehicle door opening / closing device, and FIG. It is a figure which shows the inversion operation | movement when abnormality arises during this automatic closing operation | movement.

  First, the configuration of a vehicle door opening / closing device 1 according to an embodiment of the present invention will be described with reference to FIGS. 1 to 4. A vehicle door opening and closing device 1 according to an embodiment of the present invention is suitably disposed in a vehicle such as a passenger car, and opens and closes a door provided in the vehicle by switching between manual and automatic. As shown in FIG. 4, the vehicle door opening / closing device 1 includes an operation unit 10, a detection unit 20, a control unit 30 (corresponding to a control unit), and a door opening / closing driving unit 40 (corresponding to a door opening / closing driving unit). It is comprised.

  The operation unit 10 is for operating the vehicle door opening and closing device 1 and includes an inner operation button 11, an outer operation button 12, an inner door handle 13, and an outer door handle 14. As shown in FIG. 1, the inner operation button 11 is provided in the vicinity of the inner door handle 13 inside the door 51, and has an automatic door opening button 11a and an automatic door closing button 11b. On the other hand, the outer operation button 12 is provided integrally with the outer door handle 14 on the vehicle outer side of the door 51, and includes an automatic door opening button 12a and an automatic door closing button 12b.

  In this example, as described later, when the automatic door opening buttons 11a and 12a are operated, the door opening / closing motor 42 rotates to automatically open the door 51, and when the automatic door closing buttons 11b and 12b are operated, The opening / closing motor 42 rotates in the opposite direction to the above, and the door 51 is automatically closed. As shown in FIG. 1, the inner door handle 13 has a handle lever 13a, and the outer door handle 14 has a handle lever 14a. When the handle lever 13a of the inner door handle 13 or the handle lever 14a of the outer door handle 14 is pulled, the engagement of the lock member 52 and the striker member 53 is released, and the door 51 can be opened manually.

  As shown in FIG. 4, the detection unit 20 is for detecting each operation state of the operation unit 10, and includes door opening button operation detectors 21 and 22, door closing button operation detectors 23 and 24, door handles. Operation detectors 25 and 26, a rotary encoder 27 as a door opening / closing position detection means, an obstacle sensor 28 and a pressure sensor 29 as abnormality detection means are configured. The opening button operation detector 21 detects that the automatic opening button 11a of the inner operation buttons 11 has been operated, and outputs a door opening operation signal to the control circuit 31. The closing button operation detector 23 detects that the automatic door closing button 11b has been operated and outputs a door closing operation signal to the control circuit 31. Similarly, the door opening operation detector 22 detects that the automatic door opening button 12a of the outer operation buttons 12 has been operated, and outputs a door opening button operation signal to the control circuit 31. The operation detector 24 detects that the automatic door closing button 12b has been operated and outputs a door closing button operation signal to the control circuit 31.

  The door handle operation detector 25 detects that the inner door handle 13 has been operated and outputs a door handle operation signal to the control circuit 31. The door handle operation detector 26 operates the outer door handle 14. When this is detected, a door handle operation signal is output to the control circuit 31. As shown in FIG. 1, for example, the rotary encoder 27 is disposed on a rotation shaft 44g of a sector gear 44a, which will be described later, and controls a pulse signal (A phase, B phase) according to the swing angle of the sector gear 44a. This is output to the circuit 31. In this example, as will be described later, the pulse signal output from the rotary encoder 27 is counted by the control circuit 31, whereby the control circuit 31 calculates the opening / closing position of the door 51 in the opening / closing direction. The arrangement position of the rotary encoder 27 is not limited to the above, and may be anywhere as long as the opening / closing direction and the opening / closing position of the door 51 can be calculated based on the pulse signal from the rotary encoder 27.

  The obstacle sensor 28 is composed of, for example, an ultrasonic sensor, and is configured to transmit and receive ultrasonic waves to and from the obstacle located on the side of the door 51 at a predetermined time interval. As shown in FIG. 1, the obstacle sensor 28 is disposed on the outer surface on the free end side of the door 51, and outputs a distance signal to the obstacle to the side of the door 51 to a control circuit 31 described later. The pressure-sensitive sensor 29 is disposed at an edge portion inside the door 51 and detects that an obstacle or an occupant is sandwiched between the door 51 and the vehicle body. When the door 51 is closed with an obstacle or an occupant existing between the door 51 and the vehicle body, the pressure sensor 29 detects the obstacle or the occupant being caught, and the pressure sensor 29 controls the control circuit 31. An abnormality detection signal is output.

  The control unit 30 performs a calculation based on each of the signals output from the detection unit 20, and drives and controls the door opening / closing drive unit 40 based on the obtained calculation results. The control unit 30 according to the present embodiment includes a control circuit 31 and a drive circuit 32. The control circuit 31 includes a CPU for performing various calculations, a ROM in which a program for operating the CPU is stored, a RAM (not shown) that temporarily stores information processed by the CPU, and the like. It is comprised by the provided electric circuit. The control circuit 31 outputs a predetermined drive signal to the drive circuit 32 based on the detection signals obtained from the detection unit 20.

  As will be described later, the control circuit 31 includes an abnormality detection function (a function that executes steps S1 and S21), a door open / close position detection function when an abnormality occurs (a function that executes steps S5 and S25), and a shortest door check. It has a position extraction function (a function for executing steps S6 and S26) and an inversion operation function at the time of abnormality detection (a function for executing steps S7 to S10 and steps S27 to S30). The ROM of the control circuit 31 stores information related to the door check position (for example, the above-described door check positions D1, D2, and D3 correspond to the door openings α1, α2, and α3, respectively). Details of the operation of the control circuit 31 will be described later. The drive circuit 32 supplies necessary power to the door lock release motor 41, the door opening / closing motor 42, and the electromagnetic clutch 45 in accordance with each drive signal output from the control circuit 31, and drives them. .

  As shown in FIG. 1, the door opening / closing drive unit 40 is disposed in a space 51a formed inside the door 51, and includes a door lock release motor 41 (not shown in FIG. 1), a door opening / closing motor. 42, a driving force transmission mechanism 43, and a door opening / closing mechanism 44. The door lock release motor 41 is for releasing the engagement state between the lock member 52 and the striker member 53. When the inner door handle 13 or the outer door handle 14 is operated, the door lock release motor 41 is operated, and the engagement state between the lock member 52 and the striker member 53 is released.

  The door opening / closing motor 42 rotates the rotating shaft in forward and reverse directions based on the motor voltage applied by the drive circuit 32. As shown in FIG. 2, a worm gear 42b is disposed on the rotating shaft 42a of the door opening / closing motor 42, and a worm wheel 43d of the driving force transmission mechanism 43 is engaged with the worm gear 42b. The driving force transmission mechanism 43 transmits the driving force of the door opening / closing motor 42 to the door opening / closing mechanism 44. As shown in FIGS. 2 and 3, the mounting plate 43a, the bearing 43b, the rotating shaft 43c, the worm wheel. 43d, a rotating shaft 43e, a case 43f, a bearing 43g, an output gear 43h, and an electromagnetic clutch 45. The mounting plate 43a is fixed to the door 51, and a bearing 43b is disposed at the center of the mounting plate 43a. A rotary shaft 43c is rotatably supported on the bearing 43b, and a worm wheel 43d is fixed to the rotary shaft 43c. The rotating shaft 43e is rotatably supported by a bearing 43g disposed in the center of the case 43f, and an output gear 43h that meshes with a sector gear 44a described later is disposed at the protruding end of the rotating shaft 43e. It is installed.

  The electromagnetic clutch 45 includes an electromagnet 45a that forms a magnetic field, a rotating plate 45b, a fixed plate 45c, a metal suction plate 45d, and a spring 45e. The electromagnet 45a includes an annular yoke 45f formed around the rotation axis, and a coil 45g wound around the yoke 45f. The rotating plate 45b is fixed on the upper surface of the worm wheel 43d and rotates together with the worm wheel 43d. The fixed plate 45c is fixed to the rotating shaft 43e, and a spring 45e is disposed on the back surface of the fixed plate 45c. The suction plate 45d is movable in the axial direction with respect to the rotation shaft 43e, and is urged toward the fixed plate 45c by the spring 45e. The attracting plate 45d is separated from the rotating plate 45b by the urging force of the spring 45e when the electromagnetic clutch 45 is not operated, and is attracted to the fixed plate 45c by the magnetic field of the electromagnet 45a when the electromagnetic clutch 45 is operated.

  As shown in FIG. 1, the door opening / closing mechanism 44 includes a sector gear 44a, a link member 44b, a push / pull member 44c, universal joints 44d and 44e, and a door check member 44h. The sector gear 44a is formed in a substantially fan shape, and a gear meshed with the output gear 43h is formed on the arc portion 44f of the sector gear 44a. The sector gear 44a is swingable about a rotation shaft 44g, and one end of a link member 44b is connected to the swing end of the sector gear 44a via a universal joint 44d. One end of a push / pull member 44c is connected to the other end of the link member 44b via a universal joint 44e, and the other end of the push / pull member 44c is connected to a hinge mechanism 54 attached to the vehicle body.

  The hinge mechanism 54 is configured to have a rotation axis along the vertical direction of the vehicle, whereby the push-pull member 44c is rotatable about the rotation axis of the hinge mechanism 54. The vehicle 50 is provided with door hinges 55 and 56, and the door 51 is rotatable by the door hinges 55 and 56. The push / pull member 44c is formed with raised portions 44i (three in this example) that engage with an elastic body (not shown) in a door check member 44h described later. In this example, the push / pull member 44c passes through the door check member 44h as the door 51 opens and closes. At this time, when any one of the raised portions 44i (three places) of the push-pull member 44c is engaged with the elastic body in the door check member 44h, a predetermined door check force acts on the door 51, and the door 51 is determined in advance. It is held at the door check position with a certain opening.

  Here, in the present example, as described above, since three protruding portions 44i are formed on the push-pull member 44c, as shown in FIGS. 6 and 8, depending on the formation position of the protruding portion 44i, The door 51 is given a three-stage door check position. That is, the door check position D1 is set to the opening α1 (= 22 degrees) of the door 51, the door check position D2 is set to the opening α2 (= 37 degrees) of the door 51, and the opening α3 (= 63 degrees), the door check position D3 is set. When the door 51 is in a closed state (when the opening degree of the door 51 is 0 degree), the raised portion 44i of the push-pull member 44c does not engage with the elastic body in the door check member 44h, and the door 51 However, in the following description, the door check position D0 is defined as the time when the door 51 is in the fully closed state.

Next, the operation of the vehicle door opening and closing apparatus 1 according to an embodiment of the present invention will be described.
1. Manual Door Opening / Closing Operation In the vehicle door opening / closing device 1 according to the present embodiment, the door 51 can be manually opened / closed except that an occupant performs an automatic door opening / closing request operation described later. That is, the electromagnetic clutch 45 is in an inoperative state, the connection between the door opening / closing mechanism 44 and the door opening / closing motor 42 is released, and a load such as the door opening / closing motor 42 is not applied to the door opening / closing mechanism 44. . When the handle lever 13a of the inner door handle 13 or the handle lever 14a of the outer door handle 14 is pulled from the closed state of the door 51, the lock member 52 and the striker member 53 are disengaged, and the occupant is manually operated. Thus, the door 51 can be opened. Further, when the door 51 is open, the occupant can close the door 51 by manual operation.

  At this time, the push / pull member 44c passes through the door check member 44h as the passenger manually opens and closes the door, and one of the raised portions 44i of the push / pull member 44c engages with the elastic body in the door check member 44h. Then, the door 51 is held at an arbitrary opening / closing position by the door check force generated by the engagement between the door check member 44h and the raised portion 44i of the push / pull member 44c. Thus, according to the vehicle door opening and closing apparatus 1 according to the present embodiment, when the door 51 is manually opened and closed, the door 51 can be held at a predetermined position by the door check force at the door check position. Is possible. Thereby, for example, on a slope or a windy day, it is possible to prevent inconveniences such as the door moving freely against the will of the occupant, and the door 51 can be moved even when the space in the opening direction of the door 51 is narrow. Since it is easy to get on and off by holding at the door check position, it is possible to improve convenience at the time of getting on and off as compared with the prior art.

2. Automatic Door Opening Operation Next, the operation for automatically opening the door 51 will be described with reference to FIGS. 5 and 6 as appropriate. When the automatic opening button 11a or the automatic opening button 12a is pushed, this pushing operation is detected by the opening button operation detector 21 or the opening button operation detector 22, and the opening button operation detector 21 or the opening button is opened. An opening button operation signal is output from the door button operation detector 22 to the control circuit 31. The control circuit 31 detects an opening button operation signal output from the opening button operation detector 21 or the opening button detector 22 and detects a request operation for automatically opening the door 51 (hereinafter, an automatic door opening request operation). ) Is detected. Note that the automatic door opening request operation is not limited to pushing the automatic door opening button, and the inner door handle 13 or the outer door handle 14 is operated twice in a predetermined time, For example, the door 51 may be opened by a predetermined opening while the door handle 13 or the outer door handle 14 is pulled.

  Here, when the automatic door opening request operation is performed when the door 51 is in a half-open state, a driving signal for driving the door lock releasing motor 41 is output from the control circuit 31 to the driving circuit 32. Instead, a drive signal for driving the door opening / closing motor 42 from the control circuit 31 to the drive circuit 32 and an excitation signal for operating the electromagnetic clutch 45 are output. On the other hand, when the automatic door opening request operation is performed when the door is in the fully closed state, a drive signal for driving the door lock releasing motor 41 is output from the control circuit 31 to the drive circuit 32. A predetermined voltage is applied from the drive circuit 32 to the door lock releasing motor 41. Thereby, the door lock releasing motor 41 is driven, the engagement state between the lock member 52 and the striker member 53 is released, and the door 51 enters a half latch state. Subsequently, a drive signal for driving the door opening / closing motor 42 and an excitation signal for operating the electromagnetic clutch 45 are output from the control circuit 31 to the drive circuit 32, and the door opening / closing motor 42 and electromagnetic are driven from the drive circuit 32. A predetermined voltage is applied to the clutch 45.

  In this way, when a predetermined voltage is applied from the drive circuit 32 to the door opening / closing motor 42 and the electromagnetic clutch 45, the electromagnetic clutch 45 is engaged and the suction plate 45d is attracted to the rotating plate 45b to open and close the door. Motor 42 rotates. When the door opening / closing motor 42 rotates in the forward direction, the suction plate 45d rotates together with the worm wheel 43d, and this rotational force is transmitted to the fixed plate 45c via the spring 45e. Thereby, the rotating shaft 43e and the output gear 43h rotate in the R1 direction along with the rotation of the fixed plate 45c. When the output gear 43h rotates in the R1 direction, the sector gear 44a rotates in the R3 direction, and a force is applied to the push / pull member 44c in the H1 direction by the sector gear 44a and the link member 44b to open the door 51. Start.

  When the door 51 is automatically opened, output signals from the obstacle sensor 28 and the pressure sensor 29 are detected in the control circuit 31 (step S1: equivalent to an abnormality detection step), and it is determined whether there is an abnormality. (Step S2). If no abnormality is detected (step S2: NO), the control circuit 31 detects the opening / closing position of the door 51 in the opening / closing direction based on the pulse signal from the rotary encoder 27 (step S3). At 31, it is determined whether or not the door 51 is fully opened (step S4). If it is determined that the door 51 is fully open (step S4: YES), the drive of the door opening / closing motor 42 is stopped (step S10), and the series of processes is completed. At this time, a predetermined raised portion 44i in the push / pull member 44c is engaged with an elastic body in the door check member 44h, and the door 51 is held at the door check position D3 by a predetermined door check force. On the other hand, when it is determined that the door 51 is not fully opened in the process of step S2 (step S4: NO), the processes of step S1 to step S4 are performed again.

  On the other hand, if an abnormality is detected in the process of step S2 (step S2: YES), the control circuit 31 detects the opening / closing position of the door 51 when an abnormality is detected based on the pulse signal from the rotary encoder 27. (Step S5: equivalent to a door opening / closing position detection step when an abnormality occurs). Based on the detected opening / closing position of the door 51, the door check position at the shortest distance is extracted from the door check positions D0, D1, D2 through which the door 51 has already passed (step S6: shortest door check position extraction). Equivalent to a step). For example, when an abnormality is detected when the opening of the door 51 is 15 degrees, the door check position D0 (door opening = 0 degrees) is extracted as the door check position at the shortest distance. When an abnormality is detected when the opening degree of the door 51 is 30 degrees, the door check position D1 (door opening degree = 22 degrees) is extracted as the door check position at the shortest distance. When an abnormality is detected when the opening degree of the door 51 is 45 degrees, the door check position D2 (door opening degree = 37 degrees) is extracted as the door check position at the shortest distance.

  In this example, when an abnormality is detected as described above, the door opening / closing motor 42 is reversed (step S7), and the door 51 closes to the door check position extracted in step S6. It is returned (corresponding to the reversal operation step when abnormality is detected). At this time, when the door opening / closing motor 42 is reversed as described above and the door 51 is closed, the opening / closing position of the door 51 is detected (step S8), and the door 51 is detected by the control circuit 31 in step S6. It is determined whether or not the extracted door check position has been reached (step S9). If it is determined that the door 51 has reached the door check position extracted in step S6 (step S9: YES), the reversing operation of the door opening / closing motor 42 is stopped (step S10).

  At this time, in the processing of step S5 to step S10, for example, when an abnormality is detected when the opening degree of the door 51 is 15 degrees, the door 51 is returned to the door check position D0 and is fully closed. Retained. If an abnormality is detected when the opening degree of the door 51 is 30 degrees, the door 51 is returned to the door check position D1 and held at the opening degree α1 (= 22 degrees) by a predetermined door check force. Is done. If an abnormality is detected when the opening degree of the door 51 is 45 degrees, the door 51 is returned to the door check position D2 and held at the opening degree α2 (= 37 degrees) by a predetermined door check force. Is done.

  As described above, in the door opening / closing device 1 of this example, when an abnormality is detected when the door 51 is open, the door opening / closing motor 42 is reversed and the door 51 is returned to the direction in which the door 51 is closed by a predetermined opening degree. It is. Thereby, since it can be set as the state which eliminated the abnormality with respect to the door 51, it is possible to prevent inconvenience, such as stopping the door 51 in the state which approached the obstruction. In addition, when an abnormality is detected after the door 51 passes the door check position D1, the door 51 is returned to the door check position D1, and the abnormality is detected after the door 51 passes the door check position D2. In this case, the door 51 is returned to the door check position D2. When the door 51 is in the door check position D1 or the door check position D2, a predetermined door check force is applied to the door 51 by the engagement between the raised portion 44i of the push / pull member 44c and the elastic body in the door check member 44h. Therefore, the door 51 can be reliably held at a predetermined opening / closing position after the abnormality is resolved.

3. Automatic door closing operation When the automatic door closing button 11b or the automatic door closing button 12b is pushed by the occupant while the door 51 is open, the pushing operation is detected by the door closing button operation detector 23 or the door closing button operation detector 24. A closing button operation signal is output from the closing button operation detector 23 or the closing button operation detector 24 to the control circuit 31. In the control circuit 31, a closing button operation signal output from the closing button operation detector 23 or the closing button detector 24 is detected, and a request operation for automatically closing the door 51 (hereinafter referred to as an automatic door closing request operation). Is detected. The automatic door closing request operation is not limited to pressing the automatic door closing buttons 11b and 12b, and the door 51 is closed by a predetermined opening degree while the inner door handle 13 or the outer door handle 14 is pulled. It may be.

  In this way, when an automatic door closing request operation is performed, a drive signal for driving the door opening / closing motor 42 from the control circuit 31 to the drive circuit 32 and an excitation signal for operating the electromagnetic clutch 45 are output. A predetermined voltage is applied from the drive circuit 32 to the door opening / closing motor 42 and the electromagnetic clutch 45. As a result, the electromagnetic clutch 45 is actuated to be in a connected state, and the rotating shaft 43e and the output gear 43h rotate in the R2 direction with the reverse rotation of the door opening / closing motor 42. When the output gear 43h rotates in the R2 direction, the sector gear 44a rotates in the R4 direction, and the sector gear 44a and the link member 44b apply a force in the H2 direction to the push / pull member 44c to close the door 51. Start.

  When the door 51 is automatically closed, output signals from the obstacle sensor 28 and the pressure sensor 29 are detected in the control circuit 31 (step S21: equivalent to an abnormality detection step), and it is determined whether there is an abnormality. (Step S22). If no abnormality is detected (step S22: NO), the control circuit 31 detects the opening / closing position of the door 51 in the opening / closing direction based on the pulse signal from the rotary encoder 27 (step S23). At 31, it is determined whether or not the door 51 is fully closed (step S24). If it is determined that the door 51 is fully closed (step S24: YES), the drive of the door opening / closing motor 42 is stopped (step S20), and the series of processing ends. At this time, the lock member 52 and the striker member 53 are engaged, whereby the door 51 is held in a fully closed state. On the other hand, when it is determined in the process of step S22 that the door 51 is not fully closed (step S24: NO), the process of steps S21 to S24 is performed again.

  On the other hand, if an abnormality is detected in the process of step S22 (step S22: YES), the control circuit 31 detects the opening / closing position of the door 51 when an abnormality is detected based on the pulse signal from the rotary encoder 27. (Step S25: equivalent to a door opening / closing position detecting step when an abnormality occurs). Then, based on the detected opening / closing position of the door 51, the door check position at the shortest distance is extracted from the door check positions D1, D2, D3 through which the door 51 has already passed (step S26: shortest door check position extraction). Equivalent to a step). For example, when an abnormality is detected when the opening degree of the door 51 is 45 degrees, the door check position D3 (door opening degree = 63 degrees) is extracted as the door check position at the shortest distance. If an abnormality is detected when the opening degree of the door 51 is 30 degrees, the door check position D2 (door opening degree = 37 degrees) is extracted as the door check position at the shortest distance. When an abnormality is detected when the opening degree of the door 51 is 15 degrees, the door check position D1 (door opening degree = 22 degrees) is extracted as the door check position at the shortest distance.

  In this example, when an abnormality is detected as described above, the door opening / closing motor 42 is reversed (step S27), and the door 51 is opened to the door check position extracted in step S26. It is returned (corresponding to the reversal operation step when abnormality is detected). At this time, when the door opening / closing motor 42 is reversed and the door 51 is opened as described above, the opening / closing position of the door 51 is detected (step S28), and the door 51 is detected in the control circuit 31 in step S62. It is determined whether or not the extracted door check position has been reached (step S29). When it is determined that the door 51 has reached the door check position extracted in step S26 (step S29: YES), the reversing operation of the door opening / closing motor 42 is stopped (step S30).

  At this time, in the processing of step S25 to step S30, for example, when an abnormality is detected when the opening degree of the door 51 is 45 degrees, the door 51 is returned to the door check position D3 and fully opened ( Opening degree α3 = 63 degrees). If an abnormality is detected when the opening degree of the door 51 is 30 degrees, the door 51 is returned to the door check position D2 and held at the opening degree α2 (= 37 degrees) by a predetermined door check force. Is done. If an abnormality is detected when the opening degree of the door 51 is 15 degrees, the door 51 is returned to the door check position D1 and held at the opening degree α1 (= 22 degrees) by a predetermined door check force. Is done.

  Thus, in the door opening / closing apparatus 1 of this example, when an abnormality is detected when the door 51 is closed, the door opening / closing motor 42 is reversed and the door 51 is returned to the opening direction by a predetermined opening degree. It is. Thereby, since it can be set as the state which eliminated the abnormality with respect to the door 51, it is possible to prevent the inconvenience, such as stopping in a state where an obstacle or an occupant is caught in the door 51. If an abnormality is detected before the door 51 is fully closed, the door 51 is returned to any one of the door check positions D1, D2, and D3. When the door 51 is in the door check position D1, D2, D3, a predetermined door check force is applied to the door 51 by the engagement between the raised portion 44i of the push / pull member 44c and the elastic body in the door check member 44h. Therefore, the door 51 can be reliably held at a predetermined opening / closing position after the abnormality is resolved.

As described above, according to the present embodiment, the following effects are obtained.
(A) According to the vehicle door opening and closing device 1 according to the present embodiment, when the door 51 is automatically opened, even if an abnormality such as an obstacle is likely to come into contact with the door 51 during automatic opening or closing, the door Since 51 is returned in the direction opposite to the opening direction, it is possible to eliminate the abnormality in the door 51. Similarly, when the door 51 is automatically closed, even if an abnormality such as an obstacle or an occupant being caught between the door 51 and the vehicle body occurs, the door 51 is returned in the direction opposite to the closing direction. The abnormality in 51 can be eliminated.

  (B) According to the vehicle door opening and closing apparatus 1 according to the present embodiment, when the door 51 is manually opened and closed, the door 51 is brought to a position determined in advance by the door check force at the door check positions D1, D2, and D3. It is possible to hold. Thus, for example, on a slope or a windy day, it is possible to prevent inconvenience such as the door 51 moving freely against the will of the occupant, and the door 51 even when the space in the opening direction of the door 51 is narrow. Since it is possible to easily get on and off by holding the door check positions D1, D2 and D3, it is possible to improve convenience when getting on and off the vehicle as compared with the conventional case.

  (C) According to the vehicle door opening / closing device 1 according to the present embodiment, even when the door opening / closing drive unit 40 reverses when the abnormality occurs and the door 51 is returned in the direction opposite to the opening / closing direction, the abnormality occurs. Since the door 51 is held at the door check positions D1, D2 and D3 which are at the shortest distance from the position where the error has occurred, the amount of reverse movement of the door 51 after the occurrence of an abnormality can be kept to the minimum necessary. Therefore, it is possible to prevent the inconvenience that the door 51 is largely moved in the opposite direction due to the operation for avoiding or eliminating the abnormality.

  (D) According to the vehicle door opening and closing apparatus 1 according to the present embodiment, since the door 51 has the plurality of door check positions D1, D2, and D3 between the fully closed position and the fully open position, more doors are provided. It is possible to hold the door 51 in the open / close position. Thereby, at the time of manual opening and closing, the choice of the door stop position by a passenger | crew increases, and it becomes possible to improve the convenience at the time of getting on and off. In addition, when an abnormality occurs in the door 51 during automatic opening and closing, the amount of reverse movement of the door 51 after the occurrence of the abnormality is suppressed, so that the reverse movement operation of the door 51 after the occurrence of abnormality can be performed more finely. It becomes possible.

  (E) According to the vehicle door opening and closing apparatus 1 according to the present embodiment, even if an abnormality occurs in the door 51 between the fully closed position and the first door check position D1 in the opening direction, the door 51 is It can be returned to the fully closed position. Therefore, even if an abnormality such as coming into contact with an obstacle immediately after the door 51 is opened, the abnormality can be quickly resolved. Further, even when an abnormality occurs in the door 51 between the fully opened position and the first door check position D2 in the closing direction, the door 51 can be returned to the fully opened position. Therefore, even if an abnormality such as an obstacle or an occupant being caught immediately after trying to close the door 51, the abnormality can be quickly resolved.

The embodiment of the present invention can be modified as follows.
(1) In the vehicle door opening and closing apparatus 1 according to the above embodiment, the door check position is set in three stages, but the present invention is not limited to this. In addition, it is of course possible to freely set 2 steps or 4 steps.

  (2) In the above embodiment, the door 51 is described as being for the front seat. However, the present invention is not limited to this, and the door 51 may be for the rear seat. .

  (3) In the above embodiment, the electromagnetic clutch mechanism is used as the driving force transmission mechanism 43. However, the present invention is not limited to this, and a planetary gear mechanism or a differential gear mechanism is also used. It may be done.

It is a figure which shows the structure of the vehicle door opening / closing apparatus which concerns on this embodiment. It is a figure which shows the structure of the door opening / closing motor and drive force transmission mechanism which concern on one Embodiment of this invention. It is the sectional view on the AA line of FIG. 1 is a block diagram illustrating an overall configuration of a vehicle door opening and closing device according to an embodiment of the present invention. It is a figure explaining the flow of operation (door automatic opening operation) of the door opening and closing device for vehicles concerning this embodiment. It is a figure which shows the inversion operation | movement when abnormality arises during the automatic opening operation | movement of the door which concerns on this embodiment. It is a figure explaining the flow of operation (door automatic closing operation) of the door opening and closing device for vehicles concerning this embodiment. It is a figure which shows the inversion operation | movement when abnormality arises during the automatic closing operation | movement of the door which concerns on this embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Door opening and closing apparatus, 10 operation part, 11 inside operation button, 12 outside operation button, 11a, 12a automatic door opening button, 11b, 12b automatic door closing button, 13 inside door handle, 13a handle lever, 14 outside door handle, 14a Handle lever, 20 detector, 21, 22 Door open button operation detector, 23, 24 Door close button operation detector, 25, 26 Door handle operation detector, 27 Rotary encoder, 28 Obstacle sensor, 29 Pressure sensor, 30 Control unit, 31 control circuit, 32 drive circuit, 40 door opening / closing drive unit, 41 door unlocking motor, 42 door opening / closing motor, 42a rotating shaft, 42b worm gear, 43 driving force transmission mechanism, 43a mounting plate, 43b, 43g Bearing, 43c, 43e Rotating shaft, 43d Worm hoist , 43f case, 43h output gear, 44 door opening / closing mechanism, 44a sector gear, 44b link member, 44c push / pull member, 44d, 44e universal joint, 44f arc portion, 44g rotating shaft, 44h door check member, 44i raised portion , 45 electromagnetic clutch, 45a electromagnet, 45b rotating plate, 45c fixed plate, 45d suction plate, 45e spring, 45f yoke, 45g coil, 50 vehicle, 51 door, 51a space, 52 lock member, 53 striker member, 54 hinge mechanism 55,56 Door hinge

Claims (9)

In a vehicle door opening and closing device that opens and closes a door provided on a vehicle by switching between manual and automatic,
Door opening / closing drive means for applying an opening / closing force to the door at the time of automatic opening / closing, and capable of holding the door at a door check position of a predetermined opening degree at the time of manual opening / closing by an occupant;
Control means for controlling the door opening / closing drive means;
Door opening / closing position detection means for detecting a position in the opening / closing direction of the door and outputting a door opening / closing position detection signal corresponding to the door opening / closing position to the control means;
An abnormality detecting means for detecting an abnormality at the time of automatic opening and closing of the door, and outputting an abnormality detection signal to the control means,
The control means detects an abnormality based on an abnormality detection signal output from the abnormality detection means, and an abnormality detection function,
When the abnormality is detected by the abnormality detection function, if the door has already passed the door check position, the door opening / closing drive is performed so that the door moves to the door check position that has passed. A vehicle door opening and closing device comprising: a reversing operation function at the time of abnormality detection for reversing the means. When an abnormality is detected in the abnormality detection function, the control means determines a door opening / closing position when an abnormality occurs in the door based on a door opening / closing position detection signal output from the door opening / closing position detection means. A function to detect the opening / closing position of the door when an abnormality is detected,
The shortest door check position extraction that extracts the door check position that is the shortest distance from the door open / close position detected by the door open / close position detection function at the time of abnormality among the door check positions that the door has already passed during automatic door opening / closing A function,
2. The reversing operation function at the time of detecting an abnormality causes the door opening / closing driving means to perform a reversing operation so that the door moves to a door check position extracted by the shortest door check position extracting function. The vehicle door opening and closing device described in 1. The shortest door check position extraction function is configured such that when the door is automatically opened, the door open / close position detected by the door open / close position detection function when the abnormality occurs is opened from the fully closed position and the fully closed position of the door. Extract the fully closed position when it is between the first door check position in the direction,
The reverse operation function at the time of abnormality detection reverses the door opening / closing drive means so that the door moves to the fully closed position when the fully closed position is extracted by the shortest door check position extraction function. The vehicle door opening and closing device according to claim 2. In the shortest door check position extraction function, when the door is automatically closed, the door open / close position detected by the door open / close position detection function at the time of occurrence of abnormality is in the fully open position of the door and in the closing direction from the fully open position. If it is between the first door check position, extract the fully open position,
The reverse operation function at the time of abnormality detection reversely operates the door opening / closing drive means so that the door moves to the full open position when the full open position is extracted by the shortest door check position extraction function. The vehicle door opening and closing device according to claim 2 or 3.   The vehicle according to any one of claims 1 to 4, wherein the door opening / closing drive means has two or more door check positions between a fully closed position and a fully opened position of the door. Door opening and closing device. In a vehicle door opening and closing method for automatically opening and closing a door that can be held at a door check position with a predetermined opening degree,
An abnormality detection step for detecting an abnormality during automatic opening and closing of the door;
When an abnormality is detected by the abnormality detection step, if the door has already passed through the door check position, an abnormality detection reversal operation step for moving the door to the passed door check position; A method for opening and closing a vehicle door, comprising: When an abnormality is detected in the abnormality detection step, a door opening / closing position detection step upon occurrence of an abnormality for detecting a position in the opening / closing direction of the door when an abnormality occurs in the door;
The shortest door check position extraction step for extracting the door check position at the shortest distance from the door open / close position detected in the door open / close position detection step at the time of abnormality among the door check positions that the door has already passed during automatic opening / closing of the door And further comprising
The method for opening and closing a vehicle door according to claim 6, wherein the door is moved to the door check position extracted in the shortest door check position extraction step in the reversal operation step upon abnormality detection. When the door is automatically opened, the door opening / closing position when the abnormality occurs is the first position in the opening direction from the fully closed position and the fully closed position when the abnormality occurs. When it is determined that it is between the door check position of
In the shortest door check position extraction step, a fully closed position is extracted,
8. The method for opening and closing a vehicle door according to claim 7, wherein the door is moved to a fully closed position in the reversal operation step upon abnormality detection. When the door is automatically closed, in the door opening / closing position detecting step when an abnormality occurs, the door opening / closing position when the abnormality occurs is a fully opened position of the door and a first door in the closing direction from the fully opened position. If it is determined that it is between the check position,
In the shortest door check position extraction step, a fully open position is extracted,
The method for opening and closing a vehicle door according to claim 7 or 8, wherein the door is moved to a fully open position in the reversal operation step upon abnormality detection.

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