JP2008180013A - Door opening/closing assist device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a door opening/closing assist device allowing an simple operation of making an input to switch an assist operation mode to an automatic operation mode. <P>SOLUTION: The door opening/closing assist device is formed of: a motor 1 for assisting an operating force of a door of a vehicle; a torque sensor 10 for detecting the door opening/closing operating force applied to a door knob of the vehicle; and a door opening/closing control computing section 81 for computing a driving command value of the motor 1, based on a sense of ideal door operation, set beforehand, from the door opening/closing force, and controlling the device. The door opening/closing assist device is comprised of a pressure sensor 17 for detecting an action of tapping the door knob. Then upon detection of the action of tapping the door knob by the pressure sensor 17, the door opening/closing control computing section 81 switches its control so as to output the driving command value for automatically opening/closing the door. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention belongs to the technical field of a door opening / closing assist device that assists the force of an actuator so that a vehicle door can be operated with a light force.

  It has control means consisting of target current signal setting means, acceleration calculation means, acceleration coefficient generation means, speed coefficient generation means, correction means, deviation calculation means, and drive control means, and corresponds to target current signals and acceleration signals corresponding to torque signals. A correction signal corresponding to the acceleration coefficient and the speed coefficient corresponding to the speed signal is generated, and the motor is driven based on the correction signal to generate an assist force (open / close assist force), so that the door can be operated with a small operation force. (For example, refer to Patent Document 1).

In addition, when an open / close switch is operated, an electromagnetic clutch is connected and an electric motor is activated to automatically open and close the slide door (see, for example, Patent Document 2).
JP-A-9-328957 (page 2-11, all figures) Japanese Patent Laying-Open No. 2006-22513 (page 2-12, full view)

  Conventionally, when sliding automatically, switch input may be used. However, when both an assist force is applied to the opening / closing operation force and an automatic slide is provided, any input is provided. The problem was whether to slide automatically.

This will be described in detail.
Since automatic slides have to be at a low speed in consideration of contact with people and objects, when switch input is troublesome to operate, time close to opening and closing operations in assist mode will pass by only switch input. , The convenience is greatly impaired.
Therefore, in particular, an operation input for changing from the assist mode to the automatic slide mode has been a problem.

  The present invention has been made paying attention to the above-mentioned problems, and an object thereof is to provide a door opening / closing assist device capable of performing switching input from an operation in the assist mode to an automatic operation with a simple operation. There is to do.

  In order to achieve the above object, according to the present invention, an actuator for assisting the operation force of the vehicle door, an operation force detecting means for detecting the door opening / closing operation force to the door knob of the vehicle, and the door opening / closing operation force are set in advance. Door control means for calculating and controlling a drive command value of the actuator based on an ideal feeling of door operation, and provided with an operation input detection means for detecting an operation of hitting a door knob, the door control means comprising: When the operation of detecting the door knob is detected by the operation input detecting means, the control is switched to the control for automatically outputting the drive command value for opening and closing the door.

  Therefore, in the present invention, it is possible to perform switching input from the operation in the assist mode to the automatic operation with a simple operation.

  Hereinafter, the embodiment for realizing the door opening / closing assist device of the present invention will be described with reference to the first embodiment corresponding to claim 1, the second embodiment corresponding to claims 1 and 2, and the implementation corresponding to claims 1 and 3. Example 3, Example 4 corresponding to claims 1 and 4, Example 5 corresponding to claims 1 and 5, Example 6 corresponding to claims 5 and 6, Example 7 corresponding to claims 5 and 7 Example 8 corresponding to claims 5 and 8, Example 9 corresponding to claims 1 to 9, Example 10 corresponding to claims 1 to 10, Example 11 corresponding to claims 10 and 11, Description will be made based on Example 12 corresponding to the items 10 and 12.

First, the configuration will be described.
FIG. 1 is an explanatory diagram illustrating an outline of the door opening / closing assist device according to the first embodiment. FIG. 2 is an explanatory diagram of a vehicle in which the door opening / closing assist device according to the first embodiment is mounted on the vehicle. FIG. 3 is an explanatory diagram of a torque sensor and a pressure sensor of the door opening / closing assist device according to the first embodiment.

The door opening / closing assist device according to the first embodiment includes a motor 1, speed reduction mechanisms 2a to 2e, a drive pulley 3, guide pulleys 4a and 4b, a drive arm 5, a slide door 6, a support member 7, a position sensor 71, a controller 8, and a clutch 16. Is the main component.
The motor 1 outputs a driving force for assisting to the output shaft under the control of the controller 8.
The gears 2a to 2e of the speed reduction mechanism perform a constant speed reduction on the output of the motor 1 according to the ratio of the number of gear teeth, and obtain a large torque corresponding to the speed reduction.

The drive pulley 3 engages with the gears 2a to 2e of the speed reduction mechanism and rotates at a predetermined rotation speed, and rotates the belt 9.
The guide pulleys 4a, 4b are smoothly rotated while being stretched over a set path by free rotation.
The drive arm 5 has one end attached to the support member 7 and the other end attached to the slide door 6, and transmits the moving force of the support member 7 to the slide door 6.
As shown in FIG. 2, the sliding door 6 is a door that opens and closes by sliding along the side surface of the vehicle, rather than opening and closing on the side surface of the vehicle. (Hereinafter, the term “door” refers to the sliding door 6)

The support member 7 is fixed to the belt 9 and transmits the rotating force of the belt 9 to the drive arm 5.
A position sensor 71 that detects the open / close position of the slide door 6 by detecting the position of the support member 7 is provided inside the support member 7.
The clutch 16 performs on / off switching of rotation transmission between the gears 2 b and 2 c of the gears 2 a to 2 e of the speed reduction mechanism under the control of the controller 8.

In the first embodiment, as shown in FIG. 2, the detection of the door operating force is performed by a torque sensor 10 provided at the door knob portion.
The torque sensor 10 is mainly composed of a substrate 11, a brush 12, a door knob 13, and a spring 14.
The substrate 11 detects a change in the contact position with the brush 12 as a change in resistance.
The brush 12 has a proximal end attached to the inside of the door of the door knob 13, the distal end portion contacts the substrate 11, and slides while being in contact with the substrate 11 as the door knob 13 slides.

The door knob 13 is a portion that the operator holds when opening and closing the door and applies force in each of the opening and closing directions. In the first embodiment, the door knob 13 is predetermined in each of the opening and closing directions. It is a structure that slides by an amount.
The spring 14 applies a force to hold the door knob 13 in the neutral position of opening and closing, and when a force in either the opening or closing direction is applied to the door knob 13 by an operation, a displacement amount corresponding to the spring property is generated. is there.

  That is, the door knob 13 to which the operating force is applied is held in the neutral position by the spring 14, and the brush 12 and the substrate 11 attached to the door knob 13 constitute a sliding potentiometer, so that the position change detected by the potentiometer is Since this corresponds to the amount of displacement of compression or tension of the spring 14, the operating force applied to the door knob is detected.

  Further, in the first embodiment, as shown in FIG. 2, there is provided a pressure sensor 17 for detecting an operation input by tapping the doorknob portion.

The controller 8 processes the detection information of the torque sensor 10 and the position sensor 71 and controls the motor 1 based on the results.
FIG. 4 is a block diagram of the controller 8 of the door opening / closing assist device.
The controller 8 has a door opening / closing control calculation unit 81 and a motor drive control unit 82 as main components.
The door opening / closing control calculation unit 81 calculates an assist force from the door opening / closing operation force from the torque sensor 10 and the door position from the position sensor 71 and outputs a drive command value.
Further, when there is a predetermined operation input, the door opening / closing control calculation unit 81 enters an operation mode in which the door is automatically slid and automatically controls the door.
The motor drive control unit 82 drives the motor 1 according to the drive command value.

FIG. 5 is a block diagram of the automatic slide mode portion of the door opening / closing control calculation unit 81 of the first embodiment.
The door opening / closing control calculation unit 81 mainly includes a drive command value calculation unit 811.
The drive command value calculation unit 811 outputs a drive command value so as to switch to the automatic mode and perform a door operation at a predetermined constant speed based on an operation input of a tapping force by the pressure sensor 17.

Next, the operation will be described.
[Assist control processing]
In the door opening / closing assist device according to the first embodiment, an ideal door is selected according to the door opening / closing operation force detected by the torque sensor 10, the door opening / closing position detected by the position sensor 71, and the actual door speed obtained by calculation. A drive command value is calculated so that a light operation can be performed, and the motor 1 is driven to assist.

[Switching to automatic slide mode]
FIG. 6 is a time chart of the force to drive the door and the drive command value in the door opening / closing assist device of the first embodiment.
In the first embodiment, when the force of hitting the door detected by the pressure sensor 17 exceeds a predetermined threshold, it is determined that the operation input is the automatic slide mode (see FIG. 6A), and the automatic slide mode is switched.
In the automatic slide mode, a predetermined drive command value is output (see FIG. 6B).

  In this way, when the transition to the automatic slide mode is switched to an operation of hitting the door, the door can be opened and closed, and an input for switching can be performed immediately and easily from the state where the assist force is obtained.

Next, the effect will be described.
The door opening / closing assist device according to the first embodiment has the following effects.

  (1) Based on the ideal door operation feeling preset from the motor 1 that assists the operation force of the vehicle door, the torque sensor 10 that detects the door opening / closing operation force to the door knob of the vehicle, and the door opening / closing operation force. A door opening / closing control calculation unit 81 for calculating and controlling the drive command value of the motor 1, and a pressure sensor 17 for detecting an operation of hitting the door knob is provided. When a hitting operation is detected, the control is automatically switched to output a drive command value that opens and closes the door. Therefore, it is possible to perform a switching input from the operation in the assist mode to the automatic operation with a simple operation.

The second embodiment is an example in which the drive command value is calculated based on the peak value of the force of hitting the door knob.
The configuration will be described.
FIG. 7 is a block diagram of a drive command value calculation unit 83 that is an automatic slide mode portion of the door opening / closing control calculation unit 81 of the door opening / closing assist device of the second embodiment.

The drive command value calculation unit 83 according to the second embodiment mainly includes a zero output unit 831, a comparator 832, a calculation unit 833, a peak detection unit 834, a memory unit 835, and a drive command value calculation table 836.
The zero output unit 831 stores the comparison value 0 and outputs it.
The comparator 832 compares whether or not the detected value of the tapping force from the pressure sensor 17 is the same as 0. If it becomes 0, 1 is output, otherwise 0 is output.
The calculation unit 833 outputs the output of the comparator 832 before one calculation.
The peak detection unit 834 detects the peak value of the detection value of the tapping force from the pressure sensor 17, performs peak measurement when 0 is input from the calculation unit 833, and resets when 1 is input.
The memory unit 835 releases the hold when 0 is input from the comparator 832, and stores the hold, that is, the peak value from the peak detection unit 834 when 1 is input.

The drive command value calculation table 836 outputs a drive command value based on the peak value of the force of hitting the door.
FIG. 8 is an explanatory graph of a drive command value calculation table according to the second embodiment.
As shown in FIG. 8, the drive command value calculation table 836 sets the drive command value to 0 in the range where the detection value is small in order to prevent malfunction due to sensor noise, and detects the detection value based on the preset electric sliding door operation speed. Accordingly, the drive command value is increased so as to be a constant value at a predetermined value.
Since other configurations are the same as those of the first embodiment, description thereof is omitted.

The operation will be described.
[Actions input by hitting the door opening / closing speed]
FIG. 9 is a time chart of the force for driving the door knob and the drive command value in the second embodiment.
In the second embodiment, as shown in FIG. 9, when the operation of hitting the door knob is performed, the hitting force is detected by the pressure sensor 17, and 1 is output from the comparator 832 when the detected value becomes zero. . Then, the memory unit 835 holds the peak value, and a drive command value corresponding to the peak value is output by the drive command value calculation table 836. Then, in the calculation, 1 is input from the calculation unit 833 to the peak detection unit 834, and the peak value calculation is reset.
Next, when the detected value exceeds 0, 0 is input to the memory unit 835 and the hold is released.

  Therefore, as shown in FIG. 9, a drive command value corresponding to the strength of the peak of the force of hitting the door is output. Therefore, when it is felt that the speed is slow during the operation of the electric slide door, the door opening / closing speed can be increased by hitting the door knob with a stronger force than before.

Explain the effect.
The door opening / closing assist device of Embodiment 2 has the following effects in addition to the effect of (1).
(2) The drive command value calculation unit 83 includes a peak detection unit 834 that calculates the peak of the detection value of the operation of hitting the door knob by the pressure sensor 17, and a memory unit 835 that temporarily holds the peak value of the peak detection unit 834. Since the drive command value calculation table 836 for outputting the drive command value corresponding to the peak value held in the memory unit 835 is provided, the operation speed of the slide door is changed by an easy operation input according to the magnitude of the force of hitting the door knob. And good operability can be obtained.
Since other functions and effects are the same as those of the first embodiment, description thereof is omitted.

The third embodiment is an example in which the drive command value is calculated based on the impulse of the force of hitting the door knob.
The configuration will be described.
FIG. 10 is a block diagram of a drive command value calculation unit 84 that is an automatic slide mode portion of the door opening / closing control calculation unit 81 of the door opening / closing assist device of the third embodiment.

The drive command value calculation unit 84 of the third embodiment mainly includes a zero output unit 841, a comparator 842, a calculation unit 843, an integrator 844, a memory unit 845, and a drive command value calculation table 846.
The zero output unit 841 stores the comparison value 0 and outputs it.
The comparator 842 compares whether or not the detected value of the tapping force from the pressure sensor 17 is the same as 0. If the detected value becomes 0, 1 is output, otherwise 0 is output.
The computing unit 843 outputs the output of the comparator 842 before one computation.
The integrator 844 performs an integral calculation of the detection value of the tapping force from the pressure sensor 17 to detect the impulse value, performs an integration calculation when 0 is input from the calculation unit 843, and resets when 1 is input. To do.
The memory unit 845 releases the hold when 0 is input from the comparator 842 and stores the hold, that is, the impulse value from the integrator 844 when 1 is input.

The drive command value calculation table 846 outputs a drive command value based on the impulse value of the force of hitting the door.
FIG. 11 is an explanatory graph of a drive command value calculation table according to the third embodiment.
As shown in FIG. 11, the drive command value calculation table 846 has a drive command value of 0 in the range where the detection value is small to prevent malfunction due to sensor noise, and the detection value based on the preset electric sliding door operation speed. Accordingly, the drive command value is increased so as to be a constant value at a predetermined value.
Since other configurations are the same as those of the first embodiment, description thereof is omitted.

The operation will be described.
[Actions input by hitting the door opening / closing speed]
FIG. 12 is a time chart of force, impulse value, and drive command value for hitting the door knob in the third embodiment.
In the third embodiment, as shown in FIG. 12, when the door knob is hit, the hitting force is detected by the pressure sensor 17, and 1 is output from the comparator 842 when the detected value becomes zero. . Then, in the memory unit 845, the impulse value is held, and a drive command value corresponding to the impulse value is output by the drive command value calculation table 846. In the next calculation, 1 is input from the calculation unit 843 to the integrator 844, and the integration calculation is reset.
Next, when the detected value exceeds 0, 0 is input to the memory unit 845 and the hold is released.

  Therefore, as shown in FIG. 12, the drive command value corresponding to the strength of the force of hitting the door and the input time is output. Therefore, if you feel that the speed is slow during the operation of the electric sliding door, increase the door opening and closing speed by hitting the door knob with a force that is stronger than before or weak, but it will be input for a long time. Can do.

Explain the effect.
The door opening / closing assist device according to the third embodiment has the following effects in addition to the effect (1).
(3) The drive command value calculation unit 84 includes an integrator 844 that calculates the impulse of the detected value of the operation of hitting the door knob by the pressure sensor 17, and a memory unit 845 that temporarily holds the impulse value of the integrator 844. Since the drive command value calculation table 846 for outputting the drive command value corresponding to the impulse value held in the memory unit 845 is provided, the operation speed of the sliding door can be easily input by the magnitude of the force applied to the doorknob and the addition method. Can be changed, and good operability can be obtained.
Since other functions and effects are the same as those of the first embodiment, description thereof is omitted.

The fourth embodiment is an example in which the drive command value is calculated based on the number of times the door knob is hit.
The configuration will be described.
FIG. 13 is a block diagram of a drive command value calculation unit 85 that is an automatic slide mode portion of the door opening / closing control calculation unit 81 of the door opening / closing assist device according to the fourth embodiment.

The drive command value calculation unit 85 of the fourth embodiment mainly includes a number detection unit 851, a timer 852, a predetermined time output unit 853, a comparator 854, a memory unit 855, and a drive command value calculation table 856.
The number-of-times detecting unit 851 detects the number of times of hitting within a predetermined time from the first input when detecting the force of hitting the door.
The timer 852 counts the passage of time.
The predetermined time output unit 853 outputs a predetermined time set in advance.
The comparator 854 compares whether or not a predetermined time has elapsed since the first input, and outputs 1 if the predetermined time has elapsed, and 0 otherwise.
The memory unit 855 releases the hold when 0 is input from the comparator 854, and stores the hold, that is, the count value from the count detection unit 851 when 1 is input.

The drive command value calculation table 856 outputs a drive command value based on the number of times the door is hit.
FIG. 14 is an explanatory graph of a drive command value calculation table according to the fourth embodiment.
As shown in FIG. 14, the drive command value calculation table 856 sets the drive command value to 0 in a range where the number of times the door is struck in order to prevent malfunction due to sensor noise, and is based on a preset electric sliding door operating speed. Thus, the drive command value is increased in accordance with the number of times the door is struck, so that the predetermined value becomes a constant value.
In the fourth embodiment, the maximum value of the drive command value is divided into five equal parts.
Since other configurations are the same as those of the first embodiment, description thereof is omitted.

The operation will be described.
[Actions that are input by the number of times the door is opened and closed]
FIG. 15 is a time chart of the force of hitting the door knob, the number of times of hitting, and the drive command value in the fourth embodiment.
In the fourth embodiment, as shown in FIG. 15, when the door knob is hit, the hitting force is detected by the pressure sensor 17, and when a predetermined time elapses from the first input, the comparator 854 outputs 1. Is done. Then, the memory unit 855 holds the hit count value, and the drive command value calculation table 856 outputs a drive command value corresponding to the count value. In the next calculation, 1 is input from the comparator 854 to the timer 852, and the time count is reset.

  Therefore, as shown in FIG. 15, a drive command value corresponding to the number of times the door is hit is output. Therefore, when the speed is felt during the operation of the electric sliding door, the door opening / closing speed can be increased by hitting the door knob more times than before.

Explain the effect.
The door opening / closing assist device according to the fourth embodiment has the following effects in addition to the above-described effect (1).
(4) The drive command value calculation unit 85 calculates the number of detections of the number of times that the pressure sensor 17 has hit the door knob, and a memory unit that temporarily holds the number of times within a predetermined time of the number detection unit 851. 855 and a drive command value calculation table 856 that outputs a drive command value corresponding to the number of times held in the memory unit 855, the slide door operating speed can be changed by an easy operation input depending on the number of times the door knob is tapped. And good operability can be obtained.
Further, the target drive speed can be easily set by dividing the maximum drive command value into five equal parts and changing the number of times the door knob is hit.
Since other functions and effects are the same as those of the first embodiment, description thereof is omitted.

In the fifth embodiment, when it is detected that the door knob is hit, a predetermined target speed is output, a difference from the actual speed is calculated, and a predetermined gain is applied to calculate the drive command value.
The configuration will be described.
FIG. 16 is a block diagram of an automatic slide mode portion of the door opening / closing control calculation unit 81 of the door opening / closing assist device according to the fifth embodiment.

The door opening / closing control calculation unit 81 according to the fifth embodiment mainly includes a drive command value calculation unit 86, a target speed calculation unit 18, and an actual door speed detection unit 19.
The drive command value calculation unit 86 has an adder 861 and a multiplier 862 as main components.
The adder 861 subtracts the actual door speed from the target speed.
The multiplier 862 multiplies the deviation from the target speed by the gain.
The target speed calculation unit 18 outputs a predetermined target speed when it is detected that the door knob has been hit.
The actual door speed detector 19 calculates the actual value of the door speed from the actual value of the door position detected by the position sensor 71.

The operation will be described.
[Action that automatically moves by hitting the door opening / closing speed]
FIG. 17 is a time chart of force, speed, and drive command value for hitting the door knob in the fifth embodiment.
In the fifth embodiment, as shown in FIG. 17, when the operation of hitting the door knob is performed, the hitting force is detected by the pressure sensor 17, and the target speed is output from the target speed calculation unit 18 by exceeding a predetermined threshold value.
Then, a drive command value obtained by multiplying the deviation from the target speed by the gain from the target door speed is output, and the door is automatically operated.
Therefore, an automatic operation with high responsiveness is performed, and as shown in FIG. 17, the door can rise quickly to reach the target speed, and the door can be automatically operated with a better operational feeling.

Explain the effect.
The door opening / closing assist device according to the fifth embodiment has the following effects in addition to the above-described effect (1).
(5) An actual door speed detection unit 19 for detecting the actual door speed is provided, and the door opening / closing control calculation unit 81 outputs a target door speed when the pressure sensor 17 detects an operation of hitting the door knob. And a drive command value calculation unit 86 that calculates a drive command value by multiplying the deviation between the target door speed and the actual door speed by a gain. , Feedback control can be performed, an automatic slide operation with a fast rise in speed can be performed, and good operability can be obtained.

In the sixth embodiment, the target speed is calculated based on the peak value of the force with which the doorknob is struck, the difference from the actual speed is calculated, and the drive command value is calculated by applying a predetermined gain.
The configuration will be described.
FIG. 18 is a block diagram of the automatic slide mode portion of the door opening / closing control calculation unit 81 of the door opening / closing assist device of the sixth embodiment.

The door opening / closing control calculation unit 81 according to the sixth embodiment mainly includes a door opening / closing control calculation unit 86, a target speed calculation unit 20, and an actual door speed detection unit 19.
Since the door opening / closing control calculation unit 86 and the actual door speed detection unit 19 are the same as those in the fifth embodiment, description thereof is omitted.
The target speed calculation unit 20 mainly includes a zero output unit 201, a comparator 202, a peak detection unit 203, a calculation unit 204, a memory unit 205, and a target speed calculation table 206.
The zero output unit 201 stores and outputs the comparison value 0.
The comparator 202 compares whether or not the detected value of the tapping force from the pressure sensor 17 is equal to 0, and outputs 1 if it becomes 0, and 0 otherwise.
The peak detection unit 203 detects the peak value of the detection value of the tapping force from the pressure sensor 17, performs peak measurement when 0 is input from the calculation unit 204, and resets when 1 is input.
The calculation unit 204 outputs the output of the comparator 202 before one calculation.
The memory unit 205 releases the hold when 0 is input from the comparator 202 and stores the hold, that is, the peak value from the peak detection unit 203 when 1 is input.

The target speed calculation table 206 outputs a target speed based on the peak value of the force of hitting the door.
FIG. 19 is an explanatory graph of a target speed calculation table of the sixth embodiment.
As shown in FIG. 19, the target speed calculation table 206 sets the target speed to 0 in the range where the detected value is small in order to prevent malfunction due to sensor noise, and responds to the detected value based on the preset electric sliding door operating speed. Thus, the target speed is increased so as to be a constant value at a predetermined value.
Since other configurations are the same as those of the first embodiment, description thereof is omitted.

The operation will be described.
[Operation to input target speed at peak value hitting door opening / closing speed]
FIG. 20 is a time chart of the force for hitting the door, the door speed, and the drive command value in the automatic operation mode of the door opening / closing assist device of the sixth embodiment.
In the sixth embodiment, as shown in FIG. 20, when the operation of hitting the door knob is performed, the hitting force is detected by the pressure sensor 17, and 1 is output from the comparator 202 when the detected value becomes zero. . Then, the memory unit 205 holds the peak value, and a target speed corresponding to the peak value is output by the target speed calculation table 206. In the next calculation, 1 is input from the calculation unit 204 to the peak detection unit 203, and the peak value calculation is reset.
Next, when the detected value exceeds 0, 0 is input to the memory unit 205 and the hold is released.

Then, the drive command value calculation unit 86 calculates the drive command value according to the deviation between the target speed and the actual door speed calculated in this way.
Therefore, as shown in FIG. 20, a target speed is set in accordance with the strength of the peak force of hitting the door, and a drive command value is output based on this target speed. Therefore, when it is felt that the speed is slow during the operation of the electric slide door, the door opening / closing speed can be increased by hitting the door knob with a stronger force than before.

Explain the effect.
The door opening / closing assist device of Embodiment 6 has the following effects in addition to the effects (1) and (5).
(6) The target speed calculation unit 20 includes a peak detection unit 203 that calculates the peak of the detection value of the operation of hitting the door knob by the pressure sensor 17, a memory unit 205 that temporarily holds the peak value of the peak detection unit 203, Since the target speed calculation table 206 that outputs the target speed corresponding to the peak value held in the memory unit 205 is provided, the slide operation speed can be changed according to the magnitude of the force of hitting the door knob, and good operability can be obtained. .

The seventh embodiment is an example in which a target speed is calculated based on the impulse of the force hitting the door knob, a difference from the actual speed is calculated, and a drive command value is calculated by applying a predetermined gain.
The configuration will be described.
FIG. 21 is a block diagram of the automatic slide mode portion of the door opening / closing control calculation unit 81 of the door opening / closing assist device of the seventh embodiment.

The door opening / closing control calculation unit 81 according to the seventh embodiment mainly includes a door opening / closing control calculation unit 86, a target speed calculation unit 21, and an actual door speed detection unit 19.
Since the door opening / closing control calculation unit 86 and the actual door speed detection unit 19 are the same as those in the fifth embodiment, description thereof is omitted.
The target speed calculation unit 21 mainly includes a zero output unit 211, a comparator 212, a calculation unit 213, an integrator 214, a memory unit 215, and a target speed calculation table 216.
The zero output unit 211 stores the comparison value 0 and outputs it.
The comparator 212 compares whether or not the detected value of the tapping force from the pressure sensor 17 is the same as 0. If it becomes 0, 1 is output, otherwise 0 is output.
The calculation unit 213 outputs the output of the comparator 842 before one calculation.
The integrator 214 performs an integral calculation of the detection value of the tapping force from the pressure sensor 17, detects the impulse value, performs an integration calculation when 0 is input from the calculation unit 213, and is reset when 1 is input. To do.
The memory unit 215 releases the hold when 0 is input from the comparator 212 and stores the hold, that is, the impulse value from the integrator 214 when 1 is input.

The target speed calculation table 216 outputs a target speed based on the impulse value of the force of hitting the door.
FIG. 22 is an explanatory graph of a target speed calculation table according to the seventh embodiment.
As shown in FIG. 22, the target speed calculation table 216 sets the target speed to 0 in the range where the detection value is small in order to prevent malfunction due to sensor noise, and responds to the detection value based on the preset electric sliding door operation speed. Thus, the target speed is increased so as to be a constant value at a predetermined value.
Since other configurations are the same as those of the first embodiment, description thereof is omitted.

The operation will be described.
[Actions input by hitting the door opening / closing speed]
FIG. 23 is a time chart of force, impulse, speed, and drive command value for hitting the door in the seventh embodiment.
In the seventh embodiment, as shown in FIG. 23, when the doorknob is hit, the hitting force is detected by the pressure sensor 17, and 1 is output from the comparator 212 when the detected value becomes zero. . Then, in the memory unit 215, the impulse value is held, and the target speed corresponding to the impulse value is output by the target speed calculation table 216. Then, in the calculation, 1 is input from the calculation unit 213 to the integrator 214, and the integration calculation is reset.
Next, when the detected value exceeds 0, 0 is input to the memory unit 215 and the hold is released.
Then, the drive command value calculation unit 86 calculates the drive command value according to the deviation between the target speed and the actual door speed calculated in this way.

  Therefore, as shown in FIG. 23, the target speed is set according to the strength of the force of hitting the door and the input time, and the drive command value is output based on the target speed. Therefore, if you feel that the speed is slow during the operation of the electric sliding door, increase the door opening and closing speed by hitting the door knob with a force that is stronger than before or weak, but it will be input for a long time. Can do.

Explain the effect.
The door opening / closing assist device of the seventh embodiment has the following effects in addition to the effects (1) and (5).
(7) The target speed calculation unit 21 includes an integrator 214 that calculates the impulse of the detected value of the operation of hitting the door knob by the pressure sensor 17, a memory unit 215 that temporarily holds the impulse value of the integrator 214, Since the target speed calculation table 216 for outputting the target speed corresponding to the impulse value held in the memory unit 215 is provided, the operating speed of the sliding door can be changed by an easy operation input depending on the magnitude of the force applied to the door knob and how to apply it. And good operability can be obtained.
Since other functions and effects are the same as those of the first embodiment, description thereof is omitted.

In the eighth embodiment, the target speed is calculated based on the number of times the door knob is struck, the difference from the actual speed is calculated, and the drive command value is calculated by applying a predetermined gain.
The configuration will be described.
FIG. 24 is a block diagram of the automatic slide mode portion of the door opening / closing control calculation unit 81 of the door opening / closing assist device of the eighth embodiment.

The door opening / closing control calculation unit 81 according to the eighth embodiment mainly includes a door opening / closing control calculation unit 86, a target speed calculation unit 22, and an actual door speed detection unit 19.
Since the door opening / closing control calculation unit 86 and the actual door speed detection unit 19 are the same as those in the fifth embodiment, description thereof is omitted.
The target speed calculation unit 22 mainly includes a number detection unit 221, a timer 222, a predetermined time output unit 223, a comparator 224, a memory unit 225, and a target speed calculation table 226.
The number-of-times detecting unit 221 detects the number of times of tapping within a predetermined time from the first input when detecting the force of tapping the door.
The timer 222 counts the passage of time.
The predetermined time output unit 223 outputs a predetermined time set in advance.
The comparator 224 compares whether or not a predetermined time has elapsed from the first input, and outputs 1 if the predetermined time has elapsed, and 0 otherwise.
The memory unit 225 releases the hold when 0 is input from the comparator 224 and stores the hold, that is, the count value from the count detection unit 221 when 1 is input.

The target speed calculation table 226 outputs a target speed based on the number of times the door is hit.
FIG. 25 is an explanatory graph of a target speed calculation table according to the eighth embodiment.
As shown in FIG. 25, the target speed calculation table 226 sets the target speed to 0 in a range where the number of times the door is struck in order to prevent malfunction due to sensor noise, and based on the preset electric sliding door operation speed, The target speed is increased in accordance with the value of the number of times the door is struck, and a predetermined value is set to a constant value.
In Example 8, the maximum value of the target speed is equally divided into five.
Since other configurations are the same as those of the first embodiment, description thereof is omitted.

The operation will be described.
[Actions that are input by the number of times the door is opened and closed]
FIG. 26 is a time chart of force, impulse, speed, and drive command value for hitting the door in the eighth embodiment.
In the eighth embodiment, as shown in FIG. 26, when an operation of hitting the door knob is performed, the hitting force is detected by the pressure sensor 17, and when a predetermined time elapses from the first input, the comparator 224 outputs 1 Is done. Then, in the memory unit 225, the value of the number of hits is held, and the target speed corresponding to the number of times is output by the target speed calculation table 226. Then, in the next calculation, 1 is input from the comparator 224 to the timer 222, and the time count is reset.

Then, the drive command value calculation unit 86 calculates the drive command value according to the deviation between the target speed and the actual door speed calculated in this way.
Therefore, as shown in FIG. 26, a target speed corresponding to the number of times the door is hit is output, and a drive command value is output based on the target speed. Therefore, when the speed is felt during the operation of the electric sliding door, the door opening / closing speed can be increased by hitting the door knob more times than before.

Explain the effect.
The door opening / closing assist device of the eighth embodiment has the following effects in addition to the effects (1) and (5).
(8) The target speed calculation unit 22 calculates the number of detections of the number of times that the pressure sensor 17 hits the door knob, and the memory unit 225 temporarily holds the number of times within a predetermined time of the number detection unit 221. And a target speed calculation table 226 that outputs a target speed according to the number of times held in the memory unit 225, the target speed of the sliding door can be changed by an easy operation input according to the number of times the door knob is hit. Operability can be obtained.
Further, the target door speed can be easily set by dividing the maximum target speed into five equal parts and changing the number of times the door knob is hit.
Since other functions and effects are the same as those of the first embodiment, description thereof is omitted.

The ninth embodiment is an example in which a signal after passing through a high-pass filter is used as the force of hitting the door knob.
The configuration will be described.
FIG. 27 is a partial block diagram of the automatic slide mode portion of the door opening / closing control calculation unit 81 of the door opening / closing assist device according to the ninth embodiment.
In the ninth embodiment, the input from the pressure sensor 17 is passed through the high-pass filter 23.
The high pass filter 23 passes the high frequency component of the input value and cuts the middle and low frequency components.
The subsequent control configuration may be any configuration of the first to eighth embodiments.

The operation will be described.
[Operation to detect operation input to hit the door knob reliably]
FIG. 28 is a time chart of the force of hitting the door in the door opening / closing assist device of the ninth embodiment.
In the ninth embodiment, as shown in FIG. 28, the conditions for automatically opening and closing the door are surely limited by hitting the door knob. That is, as shown on the right side of FIG. 28, the signal when the door knob is slowly touched is suppressed by the high-pass filter 23. Therefore, it is possible to detect an operation input that clearly hits the door knob, and it is possible to reliably perform an automatic sliding door operation with an easy operation.

Explain the effect.
The door opening / closing assist device according to the ninth embodiment has the following effects in addition to the effects (1) to (8).
(9) Since the high-pass filter 23 that passes only the high-frequency component of the value detected by the pressure sensor 17 is provided, the automatic sliding door operation start can be surely limited to the operation of hitting the door knob, thereby preventing malfunction. it can.
Other functions and effects are the same as those of the first to eighth embodiments, and thus description thereof is omitted.

The tenth embodiment is an example in which the output of the drive command value is permitted when the door knob is hit several times within a predetermined time.
FIG. 29 is a partial block diagram of the automatic slide mode portion of the door opening / closing control calculation unit 81 of the door opening / closing assist device of the tenth embodiment.
The automatic slide mode portion of the door opening / closing control calculation unit 81 according to the tenth embodiment includes a high-pass filter 23, an operation permission determination unit 24, and a drive command value calculation unit 811.
The operation permission determination unit 24 outputs the operation permission by hitting the door knob several times within a predetermined time.
Since the high-pass filter 23 is the same as that of the ninth embodiment and the drive command value calculation unit 811 is the same as that of the first embodiment, the description thereof is omitted.
Since other configurations are the same as those of the first embodiment, description thereof is omitted.

The operation will be described.
[Permit operation by hitting the doorknob]
FIG. 30 is a flowchart showing a flow of processing for permitting an operation by hitting a door knob performed by the operation permission determining unit 24 of the door opening / closing control calculating unit 81 according to the tenth embodiment. Each step will be described below. .

  In step S1, it is determined whether or not the detected value of the pressure sensor 17 that has passed through the high-pass filter 23 exceeds a predetermined value. If it exceeds, the process proceeds to step S2, and if not, the process proceeds to step S18.

  In step S2, it is determined whether rising or falling of the detected value has been detected. If detected, the process proceeds to step S3, and if not detected, the process proceeds to step S12.

  In step S3, the timer is reset.

  In step S4, it is determined whether the count time of the timer has exceeded the first predetermined time. If it has exceeded, the process proceeds to step S5, and if not, the process proceeds to step S13.

  In step S5, the timer flag is turned on.

  In step S6, it is determined whether or not the timer flag one cycle before is on. If it is on, the process proceeds to step S7, and if it is off, the process proceeds to step S14.

  In step S7, the first flag is turned on.

  In step S8, the second timer is reset and the second flag is turned on.

  In step S9, the second timer is counted up.

  In step S10, it is determined whether or not the second timer has exceeded the second predetermined time. If exceeded, the process proceeds to step S11, and if not, the process proceeds to step S15.

  In step S11, the second timer is reset, the second flag is turned off, the permission flag is turned off, and automatic door operation is prohibited.

  In step S12, the timer is counted up.

  In step S13, the timer flag is turned off.

  In step S14, the first flag is turned off.

  In step S15, it is determined whether or not the second flag one cycle before is on and the first flag is on. If the condition is satisfied, the process proceeds to step S16, and if not, the process proceeds to step S17.

  In step S16, the permission flag is turned on and automatic door operation is permitted.

  In step S17, the permission flag is turned off and automatic door operation is prohibited.

  In step S18, the timer is counted up.

  In step S19, it is determined whether or not the second flag is on. If it is on, the process proceeds to step S20, and if it is off, the process proceeds to step S21.

  In step S20, the count of the second timer is increased.

  In step S21, it is determined whether the permission flag is on. If it is on, the process proceeds to step S22, and if it is off, the process proceeds to step S23.

  In step S22, the permission flag is turned on and automatic door operation is permitted.

  In step S23, the permission flag is turned off, and automatic door operation is prohibited.

[Action that allows automatic operation by hitting the doorknob several times]
FIG. 31 is a time chart of the force for hitting the door knob, the door position, the door speed, and the drive command value in the tenth embodiment. FIG. 32 is a time chart of a timer, a timer flag, a first flag, a second timer, a second flag, and a permission flag in the tenth embodiment.
In the tenth embodiment, when a signal obtained by passing the input of the pressure sensor 17 through the high-pass filter 23 is obtained (see FIG. 31A), the first timer is started (steps S2 → S3, FIG. 32A). reference). When the first timer has passed a predetermined time (steps S4 → S5, see FIG. 32 (a)), the timer flag is turned on (see step S5, FIG. 32 (b)).

Then, the second timer is counted up (step S9, see FIG. 32 (d)).
If the second timer has a detection value exceeding the second predetermined value within a predetermined time, the first flag is turned on (see step S7, FIG. 32 (c)), and the second flag is turned on ( Step S8, see FIG. 32 (e)).
As a result, the condition is satisfied in step S15, and the drive is permitted.
After that, the drive permission is maintained by turning on the second flag and the permission flag (steps S19 and S21) (see FIGS. 32E and 32F).
That is, as shown in FIGS. 31 (a) to 31 (c), if there is an operation input for hitting the door knob exceeding a predetermined value, the drive is permitted and the drive command value is output.
Thereby, even if the door knob is hit unexpectedly, it is possible to prevent the occurrence of a malfunction in which the door automatically starts the opening / closing operation.

Explain the effect.
The door opening / closing assist device of the tenth embodiment has the following effects in addition to the effects (1) to (9).
(10) Since the door opening / closing control calculation unit 81 includes the operation permission determination unit 24 that permits the output of the drive command value when the pressure sensor 17 detects a plurality of operations of hitting the door knob, the occurrence of malfunction is prevented. Can do.

In the eleventh embodiment, when the door knob is tapped once during the output of the drive command value, the output of the drive command value is prohibited.
The configuration will be described.
The configuration in the eleventh embodiment is the same as the configuration in the tenth embodiment shown in FIG.

The operation will be described.
[Process to permit operation by hitting the doorknob and process to prohibit operation during operation]
FIG. 33 shows a process for permitting an operation by hitting a door knob and a process for prohibiting an operation by hitting an operating doorknob, which are executed by the operation permission determining unit 24 of the door opening / closing control calculation unit 81 according to the eleventh embodiment. Each step will be described below with reference to a flow chart.
Note that steps that are the same as those in the flowchart of FIG. 30 are denoted by the same reference numerals and description thereof is omitted.

  In step S31, it is determined whether or not the permission flag is on. If it is on, the process proceeds to step S32. If it is off, the process proceeds to step S8.

  In step S32, the permission flag is turned off and the operation is prohibited. In the eleventh embodiment, when the drive is prohibited, the drive command value is set to zero.

[Action to make the drive command value 0 by the operation input that is hit during operation]
In the eleventh embodiment, the drive is permitted and the automatic door operation is permitted in an operation within a predetermined time.
Then, if there is an operation input for further hitting the door knob during the automatic door operation (steps S1 to S31), an operation prohibition process for setting the drive command value to 0 is performed.
When the drive command value becomes 0, the door operation stops.
Therefore, the door opening / closing movement can be stopped by an easy operation of hitting the door knob at an arbitrary door position, and the operation can be stopped as intended. Therefore, the door opening / closing assist device performs an operation as intended by the operator.

Explain the effect.
The door opening / closing assist device according to the eleventh embodiment has the following effect in addition to the effect of (10).
(11) The operation permission determining unit 24 sets the drive command value to 0 and prohibits the drive when the operation of hitting the door knob by the pressure sensor 17 is detected while the output of the drive command value is permitted. The door opening / closing movement can be stopped by an easy operation of hitting the door knob, and a good operational feeling can be obtained regarding the stopping.

In the twelfth embodiment, when the door knob is hit once during the output of the drive command value, the output of the drive command value is prohibited.
The configuration will be described.
The configuration in the twelfth embodiment is the same as the configuration in the tenth embodiment shown in FIG.

The operation will be described.
[Process to permit operation by hitting the doorknob and process to prohibit operation during operation]
The flow of the process for permitting operation by the operation of tapping the door knob and the process for prohibiting the operation during the operation in the twelfth embodiment is the same as the process in the eleventh embodiment shown in FIG.
In the twelfth embodiment, when the drive is prohibited in step S32, the target speed is set to zero.

[Action to set the target speed to 0 by tapping the operation during operation]
In the twelfth embodiment, the drive is permitted and the automatic door operation is permitted in the operation within a predetermined time.
When there is an operation input for hitting the door knob during the automatic door operation (steps S1 to S31), an operation prohibition process for setting the target speed to 0 is performed.
When the target speed becomes 0, the drive command value is controlled and the door operation is stopped. In this control, by setting the target speed to 0, the drive command value follows with a delay, so that the door operation is smoothly stopped without a sudden door stop.
Therefore, the door opening / closing movement can be smoothly stopped by an easy operation of hitting the door knob at an arbitrary door position, and the operation can be stopped as intended. Therefore, the door opening / closing assist device performs an operation as intended by the operator.

Explain the effect.
The door opening / closing assist device of the twelfth embodiment has the following effect in addition to the effect of (10).
(12) When the operation permission determination unit 24 detects an operation of hitting the door knob by the pressure sensor 17 while the output of the drive command value is permitted, the operation permission determination unit 24 sets the target speed to 0 and prohibits the drive. By an easy operation of hitting the door knob, the door opening / closing movement can be stopped smoothly, and a good operational feeling can be obtained with regard to stopping.

  As mentioned above, although the door opening / closing assist apparatus of this invention has been demonstrated based on Example 1-Example 12, it is not restricted to these Examples about a concrete structure, Each claim of a claim Design changes and additions are permitted without departing from the spirit of the invention.

The light door set as the ideal door does not need to have a constant mass, and may be changed in an initial stage of operation, a moving state, an end stage of operation, or the like, or non-linearly.
The torque sensor may be a magnetostrictive type.
The position sensor includes a contact type and a non-contact type, and may be of any type and configuration as long as accuracy is satisfied.
In the embodiment, the door position is detected by a sensor and the actual value of the door speed is obtained by calculation. However, the door speed may be detected by a sensor.
When the door speed is detected, the actual value is used as it is, and in the case of door acceleration, the actual door speed may be obtained by integration.

Here, the “ideal door” described in the claims and the specification will be described.
The ideal door in this claim and this specification does not automatically open and close the door at a predetermined speed based on a switch or operation as in the prior art, but strongly reflects the operator's intention. The ideal door is opened and closed.
For example, in an extreme example, a fence or a shoji that is a fitting of a house is light and the opening degree is changed by stopping the opening / closing operation halfway.
This is an extreme example. In reality, it is ideal that the door of about 50kg is lightened about 10kg, and then the operator's intention is reflected in the operation intention, and the opening and closing operation is stopped halfway. Ideal is a door that can be changed and get a feeling of operating a natural light door.
For this reason, when there is an “ideal door”, the “ideal door” is a value in which values such as mass are set in consideration of the above.

  The present application can be easily used for a door of a building as well as a door of a moving body.

It is explanatory drawing which shows the outline of the door opening / closing assist apparatus of Example 1. FIG. It is explanatory drawing of the vehicle which mounts the door opening / closing assist apparatus of Example 1 in the vehicle. It is explanatory drawing of the torque sensor and pressure sensor of the door opening / closing assist apparatus of Example 1. FIG. It is a block diagram of the controller of a door opening / closing assist apparatus. It is a block diagram of the automatic slide mode part of the door opening / closing control calculating part of Example 1. It is a time chart of the force which taps the door in the door opening / closing assist apparatus of Example 1, and a drive command value. It is a block diagram of the drive command value calculating part which is the automatic slide mode part of the door opening / closing control calculating part of the door opening / closing assist apparatus of Example 2. FIG. FIG. 9 is an explanatory graph diagram of a drive command value calculation table according to the second embodiment. It is a time chart of the force which taps the doorknob in Example 2, and a drive command value. It is a block diagram of the drive command value calculating part which is the automatic slide mode part of the door opening / closing control calculating part of the door opening / closing assist apparatus of Example 3. FIG. FIG. 10 is an explanatory graph diagram of a drive command value calculation table according to the third embodiment. It is a time chart of the force which strikes the doorknob in Example 3, an impulse value, and a drive command value. It is a block diagram of the drive command value calculating part which is the automatic slide mode part of the door opening / closing control calculating part of the door opening / closing assist apparatus of Example 4. FIG. 10 is an explanatory graph of a drive command value calculation table according to a fourth embodiment. It is a time chart of the force which taps the doorknob in Example 4, the number of times of hitting, and a drive command value. It is a block diagram of the automatic slide mode part of the door opening / closing control calculating part of the door opening / closing assist apparatus of Example 5. FIG. It is a time chart of the force which hits a doorknob in Example 5, speed, and a drive command value. It is a block diagram of the automatic slide mode part of the door opening / closing control calculating part of the door opening / closing assist apparatus of Example 6. FIG. It is explanatory graph figure of the target speed calculation table of Example 6. It is a time chart of the force which taps the door in the automatic operation mode of the door opening / closing assist apparatus of Example 6, door speed, and a drive command value. It is a block diagram of the automatic slide mode part of the door opening / closing control calculating part of the door opening / closing assist apparatus of Example 7. FIG. FIG. 10 is an explanatory graph diagram of a target speed calculation table of Example 7. It is a time chart of the force which hits the door in Example 7, impulse, speed, and drive command value. It is a block diagram of the automatic slide mode part of the door opening / closing control calculating part of the door opening / closing assist apparatus of Example 8. FIG. It is explanatory graph figure of the target speed calculation table of Example 8. It is a time chart of the force which hits the door in Example 8, impulse, speed, and drive command value. It is a partial block diagram of the automatic slide mode part of the door opening / closing control calculating part 81 of the door opening / closing assist apparatus of Example 9. FIG. It is a time chart of the force which hits the door in the door opening / closing assist apparatus of Example 9. It is a partial block diagram of the automatic slide mode part of the door opening / closing control calculating part of the door opening / closing assist apparatus of Example 10. It is a flowchart which shows the flow of the process which performs operation | movement permission by operation which hits the doorknob performed by the operation | movement permission determination part of the door opening / closing control calculating part in Example 10. FIG. It is a time chart of the force which taps the doorknob in Example 10, a door position, a door speed, and a drive command value. It is a time chart of the timer in Example 10, a timer flag, the 1st flag, the 2nd timer, the 2nd flag, and the permission flag. It is a flowchart which shows the flow of the process which performs operation permission by operation which hits the door knob performed by the operation permission determination part of the door opening / closing control calculating part in Example 11, and operation | movement prohibition by operation which hits the door knob in operation. .

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Motor 2a Gear (of reduction mechanism) 2b (Deceleration mechanism) Gear 2c (Deceleration mechanism) Gear 2d (Deceleration mechanism) Gear 2e (Deceleration mechanism) Gear 3 Drive pulley 4a, 4b Guide pulley 5 Drive arm 6 Slide Door 7 Support member 71 Position sensor 8 Controller 81 Door opening / closing control calculation unit 82 Motor drive control unit 9 Belt 10 Torque sensor 11 Substrate 12 Brush 13 Door knob 14 Spring 15 Device installation position 16 Clutch 17 Pressure sensor 18 Target speed calculation unit 19 Actual door Speed detection unit 20 Target speed calculation unit 201 Zero output unit 202 Comparator 203 Peak detection unit 204 Calculation unit 205 Memory unit 206 Target speed calculation table 21 Target speed calculation unit 211 Zero output unit 212 Comparator 213 Calculation unit 214 Integrator 215 Memory Part 216 Target speed calculation table 22 Target speed calculation unit 221 Number detection unit 222 Timer 223 Predetermined time output unit 224 Comparator 225 Memory unit 226 Target speed calculation table 23 High-pass filter 24 Operation permission determination unit 81 Door opening / closing control calculation unit 811 Drive command value calculation unit 82 Motor Drive Control Unit 83 Drive Command Value Calculation Unit 831 Zero Output Unit 832 Comparator 833 Calculation Unit 834 Peak Detection Unit 835 Memory Unit 836 Drive Command Value Calculation Table 84 Drive Command Value Calculation Unit 841 Zero Output Unit 842 Comparator 843 Calculation Unit 844 Integration 845 Memory unit 846 Drive command value calculation table 85 Drive command value calculation unit 851 Number detection unit 852 Timer 853 Predetermined time output unit 854 Comparator 855 Memory unit 856 Drive command value calculation table 86 Drive command value calculation unit 861 Adder 862 Multiplication vessel

Claims (12)

An actuator for assisting the operation force of the vehicle door;
An operation force detecting means for detecting a door opening / closing operation force to the door knob of the vehicle;
Door control means for calculating and controlling the drive command value of the actuator based on an ideal door operation feeling set in advance from the door opening / closing operation force;
With
Operation input detection means for detecting the operation of hitting the door knob is provided,
When the door control means detects an operation of hitting the door knob by the action input detection means, the door control means switches to control that automatically outputs a drive command value for opening and closing the door,
A door opening / closing assist device. The door opening / closing assist device according to claim 1,
The door control means includes
Peak calculating means for calculating the peak of the detected value of the action of hitting the door knob by the action input detecting means;
Peak value holding means for temporarily holding the peak value of the peak calculating means;
Drive command value calculating means for outputting a drive command value corresponding to the peak value held by the peak value holding means;
A door opening / closing assist device comprising: The door opening / closing assist device according to claim 1,
The door control means includes
Impulse calculating means for calculating the impulse of the detected value of the action of hitting the door knob by the action input detecting means;
Impulse value holding means for temporarily holding the impulse value of the impulse calculation means;
Drive command value calculating means for outputting a drive command value corresponding to the impulse value held by the impulse value holding means;
A door opening / closing assist device comprising: The door opening / closing assist device according to claim 1,
The door control means includes
A detection frequency calculation means for calculating the detection frequency of the operation of hitting the door knob by the motion input detection means;
Count value holding means for temporarily holding a count value within a predetermined time of the detection count calculation means;
Drive command value calculation means for outputting a drive command value corresponding to the number of times value held by the number value holding means;
A door opening / closing assist device comprising: The door opening / closing assist device according to claim 1,
Provide a means to detect the actual door speed,
The door control means includes
A target speed calculating means for outputting a target door speed when there is detection of an action of hitting the door knob by the action input detecting means;
Drive command value calculating means for calculating a drive command value by multiplying the deviation between the target door speed and the actual door speed by a gain;
A door opening / closing assist device comprising: The door opening / closing assist device according to claim 5,
The target speed calculation means includes
Peak calculating means for calculating the peak of the detected value of the action of hitting the door knob by the action input detecting means;
Peak value holding means for temporarily holding the peak value of the peak calculating means;
Means for outputting a target speed corresponding to the peak value held by the peak value holding means;
A door opening / closing assist device comprising: The door opening / closing assist device according to claim 5,
The target speed calculation means includes
Impulse calculating means for calculating the impulse of the detected value of the action of hitting the door knob by the action input detecting means;
Impulse value holding means for temporarily holding the impulse value of the impulse calculation means;
Means for outputting a target speed corresponding to the impulse value held by the impulse value holding means;
A door opening / closing assist device comprising: The door opening / closing assist device according to claim 5,
The target speed calculation means includes
A detection frequency calculation means for calculating the detection frequency of the operation of hitting the door knob by the motion input detection means;
Count value holding means for temporarily holding a count value within a predetermined time of the detection count calculation means;
Means for outputting a target speed corresponding to the number value held by the number value holding means;
A door opening / closing assist device comprising: In the door opening / closing assist device according to claim 1,
A door opening / closing assist device, comprising: a high-pass filter that allows passage of only a high-frequency component having a value detected by the motion input detection means. The door opening / closing assist device according to claim 1,
The door control means includes
A drive permission determination means for permitting the output of a drive command value when there is a plurality of times of motion detection of hitting the door knob by the motion input detection means;
A door opening / closing assist device. The door opening / closing assist device according to claim 10,
The drive permission determining means includes
If there is a motion detection of hitting the door knob by the motion input detection means while the output of the drive command value is permitted, the drive command value is set to 0 and the drive is prohibited.
A door opening / closing assist device. The door opening / closing assist device according to claim 10,
The drive permission determining means includes
If there is an operation detection of hitting the door knob by the operation input detection means while the output of the drive command value is permitted, the target speed is set to 0 and the drive is prohibited.
A door opening / closing assist device.

Images