JP2007138566A - Control device for opening/closing body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device for an opening/closing body which prevents the opening/closing body from colliding with an obstacle. <P>SOLUTION: An obstacle sensor 100 is attached to a back door of a vehicle, a location and a distance to the obstacle are measured, and a signal is transmitted. A CPU 304 of an ECU 300 calculates the distance and the location from the back door to the obstacle based on an output from the obstacle sensor 100 and an output from an angle output device 208 of an actuator 200. During the opening operation of the back door, when the CPU 304 determines that the obstacle is present in a predetermined range from the back door, it controls a motor driver 204 of the actuator 200 so as to delay the opening operation of the back door, to stop the opening operation, or to close the back door. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an opening / closing body control device that detects the position of an obstacle and controls the operation of the opening / closing body according to the position of the obstacle.

A vehicle is known that opens and closes a back door with a switch in the vicinity of a driver. Patent Document 1 discloses a technique in which a sensor is built in a bumper of a back door of a vehicle, an obstacle behind the vehicle is detected, and the back door does not collide with the obstacle.
JP 2004-230993 A

  In the technique disclosed in Patent Document 1, when the sensor detects that there is an obstacle behind, the back door is prevented from opening, thereby preventing the back door from colliding with the obstacle. When the sensor detects that there is an obstacle behind the back door in an open state, the back door is closed so that the back door does not collide with the obstacle. Therefore, when the user who opens the back door is in the range where the back door is opened in advance, the sensor erroneously recognizes the user as an obstacle, and the back door does not open. Further, when the user moves backward in accordance with the opening operation of the back door, the sensor erroneously recognizes the user as an obstacle, and the opened back door is closed. Therefore, there is a problem that the back door is not easy to use.

  Further, in the conventional back door opening / closing mechanism, a buzzer sound is emitted during the opening and closing operations of the back door, but there is only one kind of this buzzer sound. When the sensor detects that there is an obstacle behind the back door during the opening operation of the back door, the back door closes, but the buzzer sound emitted during this time does not change. For this reason, there is no method for the user to know the operating state of the back door other than viewing the back door, and there is a problem that the back door is not easy to use.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a control device for an opening / closing body that is easy to use.

In order to solve the above-described problems, a control device for an opening / closing body according to an aspect of the present invention includes:
Driving means for opening and closing an opening / closing body installed so as to protrude from the vehicle;
Discriminating means for discriminating the position of the obstacle in the opening direction of the opening / closing body from the opening / closing body;
During opening of the opening / closing body by the driving means, the opening speed of the opening / closing body is reduced to the first speed when an obstacle is present in the first range based on the determination by the determination means. Control means for controlling the driving means so as to continue the opening drive of the opening and closing body,
It is comprised from these.

An informing means for informing a user of a first warning when an obstacle is present in the first range based on the discrimination by the discriminating means during the opening drive of the opening / closing body by the driving means;
May be further provided.

When the obstacle is present in the second range included in the first range based on the determination by the determination unit during the opening driving of the opening / closing body by the driving unit, the control unit Controlling the driving means to stop the opening drive of the opening and closing body;
This may be a feature.

When the obstacle is present in the second range included in the first range based on the determination by the determination unit during the opening driving of the opening / closing body by the driving unit, the notification unit A second warning to
This may be a feature.

Based on the determination by the determination means, it is determined that the obstacle exists in the third range after the first predetermined time has elapsed since it was determined that the obstacle is in the second range. When the control means, the control means to control the drive means to reverse to the closed drive,
This may be a feature.

Based on the determination by the determination means, it is determined that the obstacle exists in the third range after the first predetermined time has elapsed since it was determined that the obstacle is in the second range. The notification means notifies the user of a third warning,
This may be a feature.

Based on the determination by the determination means, the obstacle no longer exists in the third range after the first predetermined time has elapsed since it was determined that the obstacle is in the second range. When determining that, the control means controls the drive means to open at a second speed,
This may be a feature.

Based on the determination by the determination means, the obstacle no longer exists in the third range after the first predetermined time has elapsed since it was determined that the obstacle is in the second range. When determining that, the notification means notifies the user of a fourth warning,
This may be a feature.

Vehicle driving means for driving the vehicle;
A door closing determining means for determining whether or not the opening / closing body is closed;
Based on the determination by the door closing determination means and the determination by the determination means, the speed of the vehicle is reduced to the first vehicle speed when the opening / closing body is closed and the obstacle is in the fourth range. Vehicle speed control means for controlling the vehicle drive means so as to continue driving the vehicle,
May be further provided.

Based on the determination by the determination means, the vehicle speed control means controls the vehicle drive means to stop the vehicle when an obstacle exists in a fifth range included in the fourth range. To
This may be a feature.

Based on the determination by the determination means, the obstacle is no longer in the sixth range after the second predetermined time has elapsed since it was determined that the obstacle is in the fifth range. The vehicle speed control means controls the vehicle drive means so that the vehicle speed is the second vehicle speed.
This may be a feature.

  According to the present invention, when it is determined that an obstacle exists within a predetermined distance behind the opening / closing body while the opening / closing body is opened, the opening speed of the opening / closing body is reduced. For this reason, when the user is recognized as an obstacle, there is no inconvenience that the opening / closing body does not open or the opened opening / closing body suddenly closes.

  Hereinafter, a control device for an opening and closing body according to an embodiment of the present invention will be described with reference to the drawings.

  As shown in FIG. 1, the opening / closing body control device 1 includes, for example, an obstacle sensor 100, an actuator 200, an ECU (Electronic Controller Unit) 300, a start switch 400, a door warning sound generator 500, a vehicle The driving unit 600 and a body ECU 650 are included.

  The obstacle sensor 100 includes, for example, an ultrasonic transmitter 102, an ultrasonic receiver 104, an A / D converter 106, a communication unit 108, and a bus 110. The ultrasonic transmitter 102 generates ultrasonic waves. When the obstacle reflects the ultrasonic wave generated by the ultrasonic transmitter 102, the ultrasonic receiver 104 receives the ultrasonic wave and outputs a signal corresponding to the position and distance to the obstacle. The A / D converter 106 converts the signal output from the ultrasonic receiver 104 into a digital signal. Communication unit 108 is connected to ECU 300 and transmits and receives signals to and from ECU 300.

The actuator 200 includes, for example, a drive motor 202, a motor driver 204, an arm 206 that connects the drive motor 202 and the back door, an angle output device 208, a communication unit 210, and a bus 212.
The motor driver 204 controls the rotational direction and rotational speed of the drive motor 202 in accordance with a command from the ECU 300, and controls the arm 206 so that the opening angle of the back door becomes a predetermined angle. The arm 206 is installed in the vicinity of the back door in the vehicle body, and opens and closes the back door in accordance with the operation of the drive motor 202. The angle output unit 208 outputs an angle formed by the current position of the back door and the position of the back door in the initial state (back door in the closed state). Communication unit 210 is connected to ECU 300 through a line, and is responsible for data transmission / reception between actuator 200 and ECU 300.

  The ECU 300 includes, for example, a communication unit 302, a CPU 304 (Central Processing Unit), a RAM (Random Access Memory) 306, a ROM (Read Only Memory) 308, and a timing unit 310. The communication unit 302 is a part connected to other devices, and transmits and receives signals to and from other devices. The CPU 304 executes a calculation program and a control program stored in the ROM 308, and performs predetermined calculations and processing. Further, when the CPU 304 receives the “open” signal from the activation switch 400, the CPU 304 causes the motor driver 204 of the actuator 200 to drive the drive motor 202 to open the back door, and upon receiving the “close” signal, causes the motor driver 204 to The drive motor 202 is driven to close the back door. The RAM 306 provides a work area for the calculation of the CPU 304. The ROM 308 stores a calculation program and a control program for the CPU 304, and stores a range of an obstacle first determination area and an obstacle second determination area, which will be described later. The timer unit 310 measures the current time.

  The start switch 400 is connected to the ECU 300 and outputs a back door opening / closing instruction signal to the ECU 300.

  The door warning sound generator 500 includes, for example, a communication unit 502, a CPU 504, a RAM 506, a ROM 508, a D / A converter 510, a speaker 512, and a bus 514. The communication unit 502 receives a signal from the ECU 300 and transmits a signal to the CPU 504 to generate a warning sound. Based on the signal from the communication unit 502, the CPU 504 determines what kind of warning sound is to be generated by executing a program stored in the ROM 508, processes the warning sound data stored in the ROM 508, and D To / A converter 510. The RAM 506 provides a work area for the CPU 504. The D / A converter 510 converts the warning sound data passed from the CPU 504 into an analog signal and emits the sound through the speaker 512.

  The vehicle drive unit 600 includes, for example, a drive motor 602, an electromagnetic clutch 604, and a motor driver 606. The drive motor 602 drives the vehicle. The electromagnetic clutch 604 transmits the driving force of the driving motor 602 to the vehicle or stops the transmission. The motor driver 606 controls the drive motor 602 and the electromagnetic clutch 604 to control driving of the vehicle.

  Body ECU 650 includes, for example, gear position discriminator 652, vehicle speed measuring device 654, communication unit 656, and bus 658. The gear position discriminator 652 discriminates the position of the vehicle gear and outputs the output result to the communication unit 656. Vehicle speed measuring device 654 measures the speed of the vehicle and outputs the output result to communication unit 656. Communication unit 656 transmits information on gear position and vehicle speed to ECU 300.

  Next, the obstacle detection area and the obstacle determination area when the obstacle sensor 100 of the control device 1 for the opening / closing body is installed at the rear portion of the back door 700 will be described with reference to FIGS. 2 and 3.

  FIG. 2 is a diagram showing an obstacle detection area and an obstacle determination area when the obstacle sensor 100 is installed at the rear part of the back door 700 and viewed from the rear part of the vehicle, and FIG. 3 is a side part of the vehicle. It is a figure which shows the obstruction detection area and obstruction determination area when it sees from.

  Here, the obstacle detection area 702 refers to an area where the obstacle sensor 100 can detect an obstacle. The obstacle first determination area 704 is an area where the movement of the back door 700 stops when it is detected that an obstacle exists in this area. The obstacle second determination area 706 is an area where the opening speed of the back door 700 is slower than the standard opening speed when it is detected that an obstacle exists in this area.

  Since the position and distance of the obstacle cannot be determined unless the obstacle is detected, the obstacle first determination area 704 and the obstacle second determination area 706 are included in the obstacle detection area 702. Also, the obstacle second determination area 706 is wider than the obstacle first determination area 704.

  2 and 3, the obstacle first determination area 704 and the obstacle second determination area 706 are regions within a predetermined distance from the front of the door panel of the back door 700 (in the case of FIG. The first determination area 704 is set to 10 cm from the front of the door panel of the back door 700. The obstacle sensor 100 is attached to the rear portion of the back door 700 at an angle of 40 ° to 50 °, preferably 45 ° with respect to the vertical direction of the road surface.

  Next, control for opening the back door 700 of the vehicle will be described based on the flowcharts of FIGS. 4 and 5.

  The user operates the start switch 400 and transmits a signal to the ECU 300 to open the back door 700. The CPU 304 of the ECU 300 receives this signal and transmits a back door opening signal to the motor driver 204 of the actuator 200 (step S1). The motor driver 204 receives this signal, controls the drive motor 202 and the arm 206, and opens the back door 700 at a standard opening speed. In addition, the CPU 304 transmits to the CPU 504 of the door warning sound generation unit 500 a door opening warning sound generation signal for generating a warning sound indicating that the back door opening operation is being performed. The CPU 504 receives this signal, reads out door opening warning sound data from the ROM 508, and causes the speaker 512 to emit a warning sound via the D / A converter 510.

  Subsequently, the obstacle sensor 100 measures and outputs the position and distance of the obstacle behind the vehicle, and the angle output unit 208 measures and outputs the angle at which the door is opened. The CPU 304 performs calculation to convert the position and distance of the obstacle from the detection signal of the angle output device 208 and the detection signal of the obstacle sensor 100 into the position and distance of the obstacle from the front of the door panel of the back door 700 ( Step S2).

  Subsequently, the CPU 304 determines whether or not the obstacle is in the obstacle second determination area 706 based on the calculation result of step S2 and the range of the obstacle second determination area 706 stored in the ROM 308 ( Step S3). That is, in the case of FIGS. 2 and 3, it is determined whether or not an obstacle exists within a predetermined first distance from the door panel of the back door 700. When it is determined that the obstacle is in the obstacle second determination area 706 (step S3; Yes), the CPU 304 causes the motor driver 204 to reduce the opening speed of the back door 700 to a predetermined speed slower than the normal speed. A speed switching signal to continue opening the door is transmitted (step S4). The motor driver 204 receives this signal and controls the drive motor 202 and the arm 206 to reduce the opening speed of the back door 700 to a predetermined speed lower than the normal speed and continue to open the back door 700. The speed switching signal may be a signal for instructing an opening speed or a signal for instructing a decrease in speed.

  Further, the CPU 304 transmits a first warning sound generation signal for generating a warning sound indicating that an obstacle is located near the back door to the CPU 504 of the door warning sound generation unit 500 (step S5). . The CPU 504 receives this signal, reads the first warning sound data from the ROM 508, and causes the speaker 512 to emit a warning sound via the D / A converter 510.

  On the other hand, when the CPU 304 does not determine that the obstacle is in the obstacle second determination area 706 (step S3; No), the process proceeds to step S6. That is, the CPU 304 instructs the motor driver 204 to keep opening the back door 700 at the same speed.

  Subsequently, the CPU 304 determines whether or not the obstacle is in the obstacle first determination area 704 based on the calculation result in step S2 and the range of the obstacle first determination area 704 stored in the ROM 308 ( Step S6). That is, in the case of FIGS. 2 and 3, it is determined whether or not the obstacle exists within a predetermined second distance shorter than the first distance from the front of the door panel of the back door 700. When it is determined that the obstacle is in the obstacle first determination area 704 (step S6; Yes), the CPU 304 transmits a stop instruction signal for stopping the opening of the back door 700 to the motor driver 204 (step S7). The motor driver 204 receives this signal, controls the drive motor 202 and the arm 206, and stops the opening of the back door 700. Further, the CPU 304 transmits a second warning sound generation signal for generating a warning sound indicating that the obstacle is located very close to the back door to the CPU 504 of the door warning sound generating unit 500 (step S8). The CPU 504 receives this signal, reads the second warning sound data from the ROM 508, and causes the speaker 512 to emit a warning sound via the D / A converter 510.

  Thereafter, the CPU 304 obtains the signal at step S7, that is, the time when the back door stop signal was sent from the time measuring unit 310, stores it in the RAM 306, and whether the vehicle stop instruction signal is transmitted to the motor driver 606. The data is stored in the RAM 306 (step S9).

  Based on the signals from the obstacle sensor 100 and the angle output device 208, the CPU 304 determines whether or not the obstacle is in the obstacle second determination area 706 when a predetermined time has elapsed from that time (step S10). . When it is determined that the obstacle is in the obstacle second determination area when the predetermined time has elapsed from the time stored in the RAM 306 in step S6 (step S10; Yes), the CPU 304 sends a closing signal of the back door 700 to the motor. This is transmitted to the driver 204 (step S11). The motor driver 204 receives this signal and controls the drive motor 202 and the arm 206 to close the back door 700. In addition, the CPU 304 transmits a third warning sound generation signal for generating a warning sound indicating that the back door is closed to the CPU 504 of the door warning sound generation unit 500 (step S12). The CPU 504 receives this signal, reads out the third warning sound data from the ROM 508, causes the speaker 512 to emit a warning sound via the D / A converter 510, and ends the control of the back door 700.

  On the other hand, when it is determined that the obstacle has disappeared from the obstacle second determination area 706 after a predetermined time has elapsed from the time stored in the RAM 306 in step S9 (step S10; No), the CPU 304 sends a request to the motor driver 204. Then, a signal to open the back door 700 at a predetermined speed slower than the standard speed is transmitted (step S13). The motor driver 204 receives this signal and controls the drive motor 202 and the arm 206 to open the back door 700 at a predetermined speed lower than the standard speed. Further, the CPU 304 transmits a fourth warning sound generation signal for generating a warning sound indicating that there is no obstacle near the back door to the CPU 504 of the door warning sound generation unit 500 (step S14). ). The CPU 504 reads the fourth warning sound data from the ROM 508 and causes the speaker 512 to emit a warning sound via the D / A converter 510.

  If the CPU 304 of the ECU 300 does not determine that the obstacle is in the obstacle first determination area 704 (step S6; No), the process returns to step S2.

  As described above, the control device 1 of the opening / closing body according to the present invention calculates the position of the obstacle from the front of the door panel of the back door 700 based on the outputs of the obstacle sensor 100 and the angle output device 208, The opening speed of the back door 700 is changed according to this position, or the back door 700 is stopped or closed. Thereby, even if an obstacle exists in the vicinity of the front of the door panel of the back door 700, the possibility that the obstacle collides with the back door 700 can be reduced. In particular, when the user is near the back door 700, the opening speed of the back door 700 decreases after the back door 700 approaches the user, so that the user can obtain a sense of security that the user does not collide with the back door 700.

  Even if an obstacle exists within a predetermined range in the vicinity of the back door 700, the back door 700 stops only for a predetermined time and does not suddenly reverse and close. Further, when the obstacle leaves the predetermined range near the back door 700 before the predetermined time elapses, the back door 700 is opened again. This improves the convenience when the user opens the back door.

  Furthermore, the control device 1 of the opening / closing body calculates the position of the obstacle from the front of the door panel of the back door 700, and the warning sound generated by the door warning sound generator 500 changes according to this position. Further, the door warning sound generator 500 is generated according to the operation state of the back door 700, such as the opening operation of the back door 700, the opening operation at a reduced speed, the stopping operation, the closing operation, and the restarting of the opening operation after the stopping operation. The warning sound to be changed changes. Thus, the user can know whether there is an obstacle in the vicinity of the back door 700 by the warning sound without visually recognizing the back door 700, and can know the operation state of the back door 700. it can.

  The present invention is not limited to the above-described embodiment, and various modifications and applications are possible.

  For example, in the above embodiment, when an obstacle is detected in a state where the back door 700 is open, the opening speed of the back door is reduced (step S4) or stopped (step S7). The present invention is not limited to this, and in a state where the back door 700 is closed, the control device 1 of the opening / closing body can be configured to control the vehicle speed when an obstacle is detected.

  Hereinafter, an operation example in this case will be described with reference to FIG.

First, when the CPU 304 of the ECU 300 determines from the signal from the gear position discriminator 652 that the gear is engaged in the back gear, the speed control process of FIG. 6 is started. First, the CPU 304 determines from the output signal of the angle output device 208 whether the back door 700 is closed or open (step S101). If the back door 700 is open or is being opened / closed (step S101; No), the process proceeds to FIG.
On the other hand, when the back door 700 is closed (step S101; Yes), the CPU 304 determines whether there is an obstacle in the obstacle first determination area 704 from the measurement result of the obstacle sensor 700. (Step S102).
If it is determined that there is an obstacle in the obstacle first determination area 704 (step S102; Yes), the CPU 304 transmits a vehicle stop signal to the motor driver 606 (step S103). The motor driver 606 controls the drive motor 602 and the electromagnetic clutch 604 to stop the vehicle.

Subsequently, the CPU 304 acquires the signal transmission time at which the vehicle stop signal in step S <b> 103 was transmitted from the timer unit 310 and stores it in the RAM 306. It is determined from the output result of the obstacle sensor 100 whether or not an obstacle is present in the obstacle second determination area 706 after a predetermined time from the signal transmission time (step S104). If it is determined that it exists (step S104; Yes), the stopped state is maintained, and the process proceeds to step S108.
On the other hand, when it is determined that the obstacle no longer exists in the obstacle second determination area 706 after a predetermined time has elapsed since the vehicle was stopped (step S104; No), the CPU 304 causes the motor driver 606 to move the vehicle backward. A speed switching signal for restarting is transmitted (step S105). The motor driver 606 controls the drive motor 602 and the electromagnetic clutch 604 to resume the backward movement of the vehicle.

  After the completion of step S105, or when it is determined that there is no obstacle in the obstacle first determination area 704 (step S102; No), the CPU 304 displays an obstacle in the obstacle second determination area 706. Is determined from detection signals from the obstacle sensor 100 and the angle output device 208 (step S106).

If it is determined that there is an obstacle in the obstacle second determination area 706 (step S106; Yes), the CPU 304 transmits a speed switching signal for decreasing the vehicle speed to the motor driver 606 (step S106). S107). The motor driver 606 controls the drive motor 602 and the electromagnetic clutch 604 to reduce the speed of the vehicle. Subsequently, the process proceeds to step S108.
If it is determined that there is no obstacle in the obstacle second determination area 706 (step S106; No), the process proceeds to step S108.

  In step S108, the CPU 304 determines from the detection signal of the gear position discriminator 652 whether or not the gear is a back gear. If it is not a back gear, the current process is terminated. Returning to S101, the above-described processing is repeated.

As described above, the control device 1 of the opening / closing body according to the present invention calculates the position of the obstacle from the front of the door panel of the back door 700, and when the obstacle exists in the vicinity of the door panel of the back door 700, Depending on the position of the obstacle, the speed of the vehicle is reduced or the vehicle is stopped. Thereby, even if an obstacle exists in the vicinity of the front of the door panel of the back door 700, the possibility that the obstacle collides with the back door 700 can be reduced.
Further, if the obstacle moves away from a predetermined range near the back door 700 before a predetermined time elapses after the vehicle stops, the vehicle moves again. As a result, the vehicle can be further moved back without fear of an obstacle colliding with the back door 700, and the convenience for the user is improved.

  In the above-described embodiment, one obstacle sensor 100 is disposed on the back door 700, but the number of obstacle sensors and installation locations can be selected as appropriate. For example, the obstacle sensor 100 is arranged on the back door 700, and another obstacle sensor is arranged at a fixed position such as a bumper different from the back door 700. Then, the opening / closing of the back door 700 may be controlled from the output result of the obstacle sensor 100 arranged on the back door 700, and the vehicle speed may be controlled from the output result of the obstacle sensor arranged on the bumper or the like.

  In the above-described embodiment, the door warning sound generator 500 is provided in the control device 1 for the opening and closing body. However, the door warning sound generator 500 may be omitted. This can be realized by not sending a signal from the CPU 304 of the ECU 300 to the door warning sound generator 500 and not performing the processes of steps S5, S8, S12, and S14 in the control of the back door 700 described above.

  The warning sound generated by the door warning sound generation unit 500 may be set freely, and whether or not the CPU 504 of the door warning sound generation unit 500 performs processing to generate a warning sound is also free. Further, in the control of the back door 700 described above, it is also free to determine whether or not the CPU 304 of the ECU 300 transmits a signal to the door warning sound generator 500 so as to generate a predetermined warning sound.

  In the above-described embodiment, the vehicle drive unit 600 is provided in the opening / closing body control device 1, but the vehicle drive unit 600 may be omitted. This can be realized by not sending a signal from the CPU 304 of the ECU 300 to the vehicle drive unit 600 and not performing the processing of FIG.

  In the above-described embodiment, the vehicle drive unit 600 is provided with the drive motor 602, the electromagnetic clutch 604, and the motor driver 606 that controls the drive motor 602 and the electromagnetic clutch 604. It is not limited. For example, an internal combustion engine is used as a part for driving a vehicle instead of the drive motor 602, an AT (Automatic Transmission) is used as a part for controlling transmission of driving force, and a motor is used as a part for controlling the internal combustion engine and AT. The vehicle drive unit 600 may be configured by providing an engine ECU instead of the driver 606.

  In the process of FIG. 6 described above, it is free whether the CPU 304 of the ECU 300 transmits a signal for controlling the speed of the vehicle to the vehicle driving unit 600. Furthermore, the vehicle speed set when the vehicle drive unit 600 receives an instruction from the CPU 304 of the ECU 300 may be freely set.

  In the above-described embodiment, the CPU 304 of the ECU 300 transmits a speed switching signal and a stop instruction signal of the back door 700 to the motor driver 204, and the motor driver 204 calculates a gear ratio, a motor rotation speed, and the like according to the signals. The drive motor 202 and the arm 206 were controlled. However, the actual embodiment is not limited to this, and the CPU 304 may calculate the gear ratio and the motor rotation speed instead of the motor driver 204 and transmit the calculation result to the motor driver 204 together with a signal (for example, a predetermined value) Change to gear position, etc.).

  In the above-described embodiment, the CPU 304 of the ECU 300 transmits a vehicle speed switching signal and a vehicle stop instruction signal to the motor driver 606, and the motor driver 606 calculates a gear ratio, a motor rotation speed, and the like according to the signal to drive The motor 602 and the electromagnetic clutch 604 were controlled. However, the actual embodiment is not limited to this, and the CPU 304 may calculate a gear ratio, a motor rotation speed, and the like instead of the motor driver 606 and transmit the calculation result to the motor driver 606 together with a signal (for example, a predetermined value). Change the gear position to

  In the above-described embodiment, the user is notified of the operation state of the back door 700 by a warning sound generated from the door warning sound generation unit 500, but the method of notifying the operation state of the back door 700 is not limited to the warning sound. . For example, the user may be notified of the operating state of the back door 700 by changing the blinking of the hazard lamp according to the operating state of the back door 700. Further, the user may be notified of the operation state of the back door 700 by vibrating the brake pedal or vibrating the seat. Furthermore, you may notify a user of the state of operation | movement of the back door 700 combining these methods.

  In step S10 described above, when it is determined that the obstacle has disappeared from the obstacle second determination area 706 after the predetermined time has elapsed, the area where it is determined that the obstacle exists after the predetermined time has elapsed is as follows. It is not limited to the obstacle second determination area 706 and may be set freely.

  In step S104 described above, it is determined whether or not an obstacle exists in the obstacle second determination area 706 after a predetermined time from the signal transmission time, but it is determined that an obstacle exists after the predetermined time. Is not limited to the obstacle second determination area 706 and may be set freely.

  In step S102 described above, it is determined whether or not an obstacle exists in the obstacle first determination area 704. In step S106, it is determined whether or not an obstacle exists in the obstacle second determination area 706. However, the range determined in steps S102 and S106 is within the range of the obstacle detection area 702 where the obstacle sensor 100 detects an obstacle, and the range determined in step S106 is the range determined in step S102. If the range to be determined is included, the range determined in step S106 and the range determined in step S102 may be freely set.

  When an obstacle sensor is separately provided in front of the back door 700, that is, in a direction opposite to the obstacle sensor 100, and the obstacle sensor detects an obstacle within a predetermined distance when the back door 700 is closed. The CPU 304 may decrease the speed at which the motor driver 204 closes the back door 700 or stop the back door 700. By doing so, for example, it is possible to reduce the possibility of a user or an obstacle being caught between the vehicle body and the back door 700.

The obstacle first determination area 704 and the obstacle second determination area 706 are within the range of the obstacle detection area 702 where the obstacle sensor 100 detects an obstacle, and the obstacle first determination area 704 is the obstacle first. If it includes the 2 determination area 706, it may be set freely and stored in the ROM 308. For example, the normal obstacle first determination area 704 may be set within 30 cm from the front of the door panel of the back door 700, and may be set within 20 cm only from the front of the edge (end) of the back door 700.
Thus, by making it possible to customize the obstacle determination area, it is possible to improve the usability of the back door 700 while maintaining the user's sense of security that the back door 700 does not collide with the obstacle.

  Since the back door 700 may move freely in the closing direction or the opening direction while the vehicle is stopped or decelerated, a plurality of combinations of the obstacle first determination area 704 and the obstacle second determination area 706 are previously set. An optimal combination may be selected as appropriate according to the situation of the vehicle.

It is a block diagram of the control apparatus of an opening-closing body. It is an example of an obstacle detection area and an obstacle determination area when the obstacle sensor is installed at the rear part of the back door and viewed from the rear part of the vehicle. It is an example of an obstruction detection area and an obstruction judgment area when an obstruction sensor is installed in the rear part of a back door, and it sees from the side part of a vehicle. It is a part of flowchart of control of a back door. It is a part of flowchart of control of a back door. It is a flowchart of the speed control process in the state in which the vehicle is in the back gear.

Explanation of symbols

100 Obstacle sensor (discrimination means)
102 Ultrasonic Transmitter 104 Ultrasonic Receiver 106 A / D Converter 108 Communication Unit 110 Bus 200 Actuator (Drive Unit)
202 Drive motor 204 Motor driver 206 Arm 208 Angle output device (door closing determination means)
210 Communication unit 212 Bus 300 ECU (control means, vehicle speed control means)
302 Communication unit 304 CPU
306 RAM
308 ROM
310 Timekeeping unit 312 Bus 400 Start switch 500 Door warning sound generating unit (notification means)
502 communication unit 504 CPU
506 RAM
508 ROM
510 D / A converter 512 Speaker 600 Vehicle drive unit (vehicle drive means)
602 Drive motor 604 Electromagnetic clutch 606 Motor driver 650 Body ECU
652 Gear position discriminator 654 Vehicle speed measuring device 656 Communication unit 658 Bus 700 Back door

Claims (11)

Driving means for opening and closing an opening / closing body installed so as to protrude from the vehicle;
Discriminating means for discriminating the position of the obstacle in the opening direction of the opening / closing body from the opening / closing body;
During opening of the opening / closing body by the driving means, the opening speed of the opening / closing body is reduced to the first speed when an obstacle is present in the first range based on the determination by the determination means. Control means for controlling the driving means so as to continue the opening drive of the opening and closing body,
A control device for an opening / closing body comprising: An informing means for informing a user of a first warning when an obstacle is present in the first range based on the discrimination by the discriminating means during the opening drive of the opening / closing body by the driving means;
The opening / closing body control device according to claim 1, further comprising: When the obstacle is present in the second range included in the first range based on the determination by the determination unit during the opening driving of the opening / closing body by the driving unit, the control unit Controlling the driving means to stop the opening drive of the opening and closing body;
The opening / closing body control apparatus according to claim 1. When the obstacle is present in the second range included in the first range based on the determination by the determination unit during the opening driving of the opening / closing body by the driving unit, the notification unit A second warning to
The control device for an opening and closing body according to claim 2. Based on the determination by the determination means, it is determined that the obstacle exists in the third range after the first predetermined time has elapsed since it was determined that the obstacle is in the second range. When the control means, the control means to control the drive means to reverse to the closed drive,
The control device for an opening and closing body according to claim 3. Based on the determination by the determination means, it is determined that the obstacle exists in the third range after the first predetermined time has elapsed since it was determined that the obstacle is in the second range. The notification means notifies the user of a third warning,
The control device for an opening and closing body according to claim 4. Based on the determination by the determination means, the obstacle no longer exists in the third range after the first predetermined time has elapsed since it was determined that the obstacle is in the second range. When determining that, the control means controls the drive means to open at a second speed,
The control device for an opening and closing body according to claim 5. Based on the determination by the determination means, the obstacle no longer exists in the third range after the first predetermined time has elapsed since it was determined that the obstacle is in the second range. When determining that, the notification means notifies the user of a fourth warning,
The control device for an opening / closing body according to claim 6. Vehicle driving means for driving the vehicle;
A door closing determining means for determining whether or not the opening / closing body is closed;
Based on the determination by the door closing determination means and the determination by the determination means, the speed of the vehicle is reduced to the first vehicle speed when the opening / closing body is closed and the obstacle is in the fourth range. Vehicle speed control means for controlling the vehicle drive means so as to continue driving the vehicle,
The opening / closing body control device according to claim 1, further comprising: Based on the determination by the determination means, the vehicle speed control means controls the vehicle drive means to stop the vehicle when an obstacle exists in a fifth range included in the fourth range. To
The control device for an opening and closing body according to claim 9. Based on the determination by the determination means, the obstacle is no longer in the sixth range after the second predetermined time has elapsed since it was determined that the obstacle is in the fifth range. The vehicle speed control means controls the vehicle drive means so that the vehicle speed is the second vehicle speed.
The control device for an opening and closing body according to claim 10.

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