JP2009114783A - Vehicular door opening/closing angle control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular door opening/closing angle control device which can open a vehicular door to a maximum angle that can avoid contact with an obstacle even if a force is applied in a door opening direction when the driver gets off an automobile in which the obstacle exists adjacent to the door. <P>SOLUTION: The vehicular door opening/closing angle control device is formed of: a rear camera 1 which acquires circumferential image data of the driver's own vehicle; a door opening/closing angle controller 3 for obtaining the maximum door opening/closing angle of the driver's own vehicle, that is allowed for the vehicle when the driver rides off the vehicle, based on the circumferential image data acquired by the rear camera 1; and a door opening/closing angle setting actuator 5 for setting a door opening/closing limit angle of his/her own vehicle to the maximum door opening/closing angle, based on a control command from the door opening/closing angle controller 3. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicle door opening / closing angle control device for avoiding contact of an opened door with an obstacle such as another vehicle adjacent to the door when the vehicle is getting off after the door is opened.

  For example, when getting off a vehicle parked in a parking lot, open the door manually so that it does not hit the next vehicle, touch the door, and be careful not to hit the next vehicle with that momentum. It was necessary to get off.

2. Description of the Related Art Conventionally, as an automobile door opening and closing device, one that is automatically operated to a previously stored opening degree when a door is opened is known. According to this device, there is a merit that it is possible to get off without worrying about opening and closing of the door (for example, see Patent Document 1).
Japanese Patent Laid-Open No. 5-112129

  However, in the conventional door opening and closing device for automobiles, the door can be opened only at an angle stored in advance. For this reason, even if there is a large space in the width of the parking frame of the parking lot, it can be opened only to the set angle. Moreover, if the set opening degree is large, the door may collide with a vehicle parked adjacently. That is, while the width of the parking frame in the parking lot varies, the conventional apparatus has a problem that it cannot meet the request to open the door at the maximum angle corresponding to the width of the parking frame.

  The present invention has been made paying attention to the above problem, and when getting off from the own vehicle where an obstacle exists adjacent to the door, contact with the obstacle is avoided even if a force is applied in the direction of opening the door. An object of the present invention is to provide a vehicle door opening / closing angle control device capable of opening a door at a maximum angle.

In order to achieve the above object, in the vehicle door opening / closing angle control device of the present invention,
A camera that acquires surrounding video data of the vehicle,
A door opening / closing angle controller for obtaining a maximum door opening / closing angle of the own vehicle allowed when getting off the vehicle based on the surrounding video data acquired by the camera;
A door opening / closing angle setting actuator for setting a door opening / closing limit angle of the host vehicle to the maximum door opening / closing angle according to a control command from the door opening / closing angle controller;
It is provided with.

Therefore, in the vehicle door opening / closing angle control device of the present invention, the surrounding image data of the host vehicle is acquired by the camera, and the door opening / closing angle controller is allowed when getting off the vehicle based on the surrounding image data acquired by the camera. The maximum door opening / closing angle of the vehicle is determined, and the door opening / closing angle setting actuator sets the maximum opening / closing angle of the vehicle according to a control command from the door opening / closing angle controller.
Therefore, when getting off the vehicle with obstacles adjacent to the door, even if a force is applied in the direction of opening the door, the door opening / closing limit angle of the vehicle is automatically defined up to the maximum door opening / closing angle. It will be. For this reason, it becomes possible to avoid that a door collides with obstacles, such as an adjacent other vehicle. In addition, in response to a request to open an umbrella at the same time as alighting operation in rainy weather, it is possible to concentrate on the operation of opening the umbrella without worrying about the door.
As a result, when dismounting from the own vehicle where an obstacle exists adjacent to the door, the door can be opened at the maximum angle that avoids contact with the obstacle even if a force is applied in the door opening direction.

  Hereinafter, the best mode for realizing a vehicle door opening / closing angle control device of the present invention will be described based on Example 1 shown in the drawings.

First, the configuration will be described.
FIG. 1 is a control block diagram illustrating a control system of the vehicle door opening / closing angle control apparatus according to the first embodiment.
As shown in FIG. 1, the vehicle door opening / closing angle control apparatus according to the first embodiment includes a rear camera 1 (camera), an ignition key switch 2 (engine stop detection means), a door opening / closing angle controller 3, and an automatic door actuator 4. And a door opening / closing angle setting actuator 5.

  The rear camera 1 is provided at a rear position of the vehicle, and acquires rear side surrounding road surface image data of the host vehicle. For example, when a rear camera is mounted on the vehicle for parking assistance, it can be used.

  The ignition key switch 2 is provided as an engine stop detection means for detecting the engine stop state of the own vehicle. The switch signal for switching the ignition key switch 2 from on to off indicates that the engine has shifted to the stop state. To detect.

The door opening / closing angle controller 3 obtains the maximum door opening / closing angle of the host vehicle that is allowed when the user gets off the vehicle, based on the rear surrounding road surface image data of the host vehicle acquired by the rear camera 1. More specifically, overhead image data around the host vehicle is acquired by converting the viewpoint of the road image data around the rear side of the host vehicle acquired by the rear camera 1, and adjacent to the door position of the host vehicle based on the overhead image data. The distance to the obstacle is calculated, and based on the calculated distance to the obstacle, the maximum door opening / closing angle of the own vehicle allowed when getting off the vehicle is obtained.
The door opening / closing angle controller 3 is parked in the parking frame on the side where the door of the own vehicle is opened, based on the rear road surface image data of the own vehicle acquired by the rear camera 1 when the vehicle moves backward in the parking lot. If there is no parked vehicle, the limit by the door opening / closing angle control is not performed, and the original maximum opening / closing angle of the vehicle door is maintained.

  The automatic door actuator 4 automatically opens and closes the door of the host vehicle according to a control command from the door opening / closing angle controller 3. The automatic door actuator 4 refers to a cylinder actuator that operates a known automatic door mechanism set in a taxi or the like.

  The door opening / closing angle setting actuator 5 sets the door opening / closing limit angle of the host vehicle to the maximum door opening / closing angle according to a control command from the door opening / closing angle controller 3. The door opening / closing angle setting actuator 5 is, for example, a motor actuator provided in the door opening / closing mechanism shown in FIG. 2 and will be described in detail later.

  Hereinafter, each control block constituting the door opening / closing angle controller 3 will be described. As shown in FIG. 1, the door opening / closing angle controller 3 includes an overhead view video conversion unit 31, a vehicle-white line distance calculation unit 32, a distance-angle conversion unit 33, a distance-angle conversion table storage unit 34, And a door opening / closing control unit 35.

  The overhead view video conversion unit 31 converts the rear side surrounding road surface video data of the host vehicle acquired by the rear camera 1 into overhead view video data viewed from directly above. Note that the principle of generating a bird's-eye view image by viewpoint conversion is well known in, for example, Japanese Patent Laid-Open Nos. 3-99952, 9-171348, 2001-1114048, and 2001-116567. It is.

  The vehicle-white line distance calculation unit 32 calculates a vehicle-white line distance between the door of the host vehicle and the parking lot white line based on the overhead image data from the overhead image conversion unit 31. Specifically, based on the bird's-eye view video data on the vehicle rear side, the distance between the left and right parking lot white lines indicating the own vehicle stop frame is calculated, and the width of the own vehicle stored in advance from the distance between the left and right parking lot white lines is calculated. The value of 1/2 of the value obtained by subtracting is calculated as the distance between the vehicle and the white line interposed between the door of the host vehicle and the white line of the parking lot.

  The distance-angle conversion unit 33 calculates the vehicle-white line distance calculated by the vehicle-white line distance calculation unit 32 based on the distance-angle conversion table stored in the distance-angle conversion table storage unit 34 in advance. Convert to the maximum opening / closing angle of the door.

  The door opening / closing control unit 35 basically issues a command to set the door opening / closing limit angle of the host vehicle to the maximum opening / closing angle from the distance-angle conversion unit 33 when getting off from the host vehicle in a parking lot. Output to the door opening / closing angle setting actuator 5. Specifically, when the engine signal of the host vehicle is detected in the parking lot by the switch signal from the ignition key switch 2, the command for setting the opening / closing limit angle of the host vehicle door to the latest stored maximum opening / closing angle is issued to the door. In addition to outputting to the opening / closing angle setting actuator 5, a control command for automatically opening the door of the vehicle is output to the automatic door actuator 4. In the door opening / closing control unit 35, the maximum opening / closing angle and the calculation process for obtaining the maximum opening / closing angle of the vehicle door until it is detected by the switch signal from the ignition key switch 2 that the engine of the vehicle is stopped in the parking lot. When the engine stop of the host vehicle is detected in the parking lot, a command to set the opening / closing limit angle of the host vehicle door to the latest stored opening / closing angle is output to the door opening / closing angle setting actuator 5. To do.

  FIG. 2 is an example of a door opening / closing mechanism having a door opening / closing angle setting actuator 5 in the vehicle door opening / closing angle control apparatus according to the first embodiment. FIG. 2 (a) is a plan view of the door opening / closing mechanism, and FIG. (C) shows a cross-sectional view taken along line AA of FIG. 2 (b).

  The door opening / closing mechanism 6 includes a door 61, a vehicle body 62, a door side hinge bracket 63, a vehicle body side hinge bracket 64, and a hinge shaft 65, as shown in FIGS. A hinge shaft side opening / closing angle stopper member 66, an actuator side opening / closing angle stopper member 67, and a door opening / closing angle setting actuator 5.

  As shown in FIG. 2A, the door 61 is configured to be openable and closable from a door fully closed position to a door fully open position with a hinge shaft 65 as a center. As shown in FIGS. 2B and 2C, a hinge shaft side opening / closing angle stopper member 66 having a fan-shaped opening 66a having a large opening angle is provided on the extended portion of the hinge shaft 65. Further, an actuator side opening / closing angle stopper member 67 having a small opening angle is disposed at a space portion position overlapping the axial direction of the fan-shaped opening 66a. The actuator side opening / closing angle stopper member 67 is provided on the output shaft of the door opening / closing angle setting actuator 5 fixed to the vehicle body 62. The door opening / closing angle setting actuator 5 includes a motor 5a and a speed reducer 5b, and sets the position of the actuator side opening / closing angle stopper member 67 within an adjustment angle range with the axis of the hinge shaft 65 as the center. That is, when the actuator-side opening / closing angle stopper member 67 is set to the solid line position in FIG. 2 (c), the original maximum opening / closing angle that the vehicle door has structurally is maintained, and the phantom line position in FIG. When set, the opening / closing angle of the vehicle door is defined as the minimum opening / closing angle. The door opening / closing angle can be adjusted within the range of the maximum opening / closing angle and the minimum opening / closing angle.

  FIG. 3 is a flowchart showing the flow of the door opening / closing angle control process executed by the door opening / closing angle controller 3 according to the first embodiment. Each step will be described below. This flow chart shows when the vehicle is detected in the parking lot from the map information of the navigation system, and when it is detected from the gear position sensor or the like that the vehicle has entered reverse travel because it is parked. Start.

  In step S1, it is determined whether there is another vehicle already parked in the door opening side parking frame from the vehicle rear side video data from the rear camera 1, and if Yes (parking on the door opening side) If there is a vehicle inside, the process proceeds to step S2, and if No (no vehicle parked on the door open side), the process proceeds to the end. Although the presence / absence of another vehicle is determined based on the video data from the rear camera 1 before the overhead conversion, the presence / absence of an adjacent other vehicle may be determined based on the overhead video data after the overhead conversion.

  In step S2, following the determination that there is a vehicle parked on the door opening side in step S1, the overhead image conversion unit 31 displays the rear surrounding road surface image data of the host vehicle acquired by the rear camera 1 from directly above. It converts into the seen bird's-eye video data, and proceeds to step S3.

In step S3, following the overhead view conversion of the rear camera image in step S2, the vehicle-white line distance calculation unit 32 determines the distance between the door of the host vehicle and the parking lot white line based on the overhead view video data from the overhead view video conversion unit 31. The distance between the vehicle and the white line is calculated, and the process proceeds to step S4.
Here, the vehicle-white line distance calculation method calculates the distance between the left and right parking lot white lines indicating the own vehicle stop frame based on the overhead view video data on the vehicle rear side, and calculates the distance between the left and right parking lot white lines in advance. A value of 1/2 of the value obtained by subtracting the stored lateral width of the host vehicle is calculated as the distance between the vehicle and the white line interposed between the door of the host vehicle and the white line of the parking lot.

  In step S4, following the calculation of the distance between the vehicle and the white line in step S3, the distance-angle conversion unit 33 uses the distance between the vehicle and the white line calculated by the vehicle-white line distance calculation unit 32 as the distance-angle conversion table. Based on the distance-angle conversion table stored in advance in the storage unit 34, the maximum opening / closing angle of the door is converted, and the process proceeds to step S5.

  In step S5, following the calculation of the maximum opening / closing angle of the door by the distance-angle conversion in step S4, the calculated maximum opening / closing angle data of the door is stored in the door opening / closing control unit 35, and the process proceeds to step S6.

  In step S6, following the saving of the calculated maximum opening / closing angle data of the door in step S5 to the door opening / closing control unit 35, the engine of the host vehicle is stopped in the parking lot by the switch signal from the ignition key switch 2. If YES (when the engine is stopped), the process proceeds to step S7. If NO (when the engine is driven), the process returns to step S2.

  In step S7, following the determination that the vehicle engine has stopped in step S6, a command to set the opening / closing limit angle of the vehicle door to the maximum stored opening / closing angle is output to the door opening / closing angle setting actuator 5. At the same time, a control command for automatically opening the door of the vehicle is output to the automatic door actuator 4, and when the automatic door opening up to the maximum opening / closing angle is completed, the process is terminated.

Next, the operation will be described.
The operation of the vehicle door opening / closing angle control apparatus according to the first embodiment will be described by dividing it into “vehicle-white line distance calculation operation”, “door opening / closing angle control operation”, and “automatic door opening / closing control operation”.

[Calculation of distance between vehicle and white line]
The point of the first embodiment is to obtain the distance between the vehicle and the white line in FIG. As long as the distance between the vehicle and the white line is obtained, the maximum opening / closing angle of the vehicle door in FIG. 5 is uniquely determined. Hereinafter, the calculation operation for obtaining the distance between the vehicle and the white line will be described.

  First, general parking examples when parking in the parking lot behind are shown in FIGS. FIG. 6 shows a state in which the vehicle is parked in the rear, and FIG. 7 shows a monitor image in which the vehicle is parked in the rear by the rear camera. FIG. 8 shows a monitor image obtained by bird's-eye conversion of the image of FIG.

In general, the driver performs the rear parking operation while referring to the monitor image of FIG. 7 or FIG. In the first embodiment, it is assumed that an image converted into the overhead view image of FIG. 8 is used.
At this time, as shown in FIG. 9, the distance between the adjacent white lines of the parking frame of the own vehicle is obtained from the overhead view image of FIG. Then, by subtracting the known vehicle width from the value and reducing the value to 1/2 assuming that the vehicle is stopped at the center of the parking frame, the distance between the vehicle and the white line shown in FIG. The distance will be obtained.

[Door open / close angle control]
When parking at the parking lot where a white line is drawn, if no other vehicle is parked in the parking frame on the door opening side of the own vehicle, the flow proceeds from step S1 to end in the flowchart of FIG.
In this way, when the vehicle is traveling backward in the parking lot, whether there is a parked vehicle in the parking frame on the side where the door of the own vehicle is opened, based on the rear surrounding road surface image data of the own vehicle acquired by the rear camera 1. If there is no parked vehicle, the limit by the door opening / closing angle control is not performed, and the original maximum opening / closing angle that the vehicle door has structurally is maintained.
Therefore, when getting off, there is no obstacle even if the door is fully opened, so it is possible to get off from the widest door opening space.

When parking at the parking lot where the white line is drawn, if another vehicle is parked in the parking frame on the door opening side of the own vehicle, step S1 → step S2 → step S3 → step S4 → The process proceeds from step S5 to step S6, the engine is stopped, and the process of proceeding from step S2, step S3, step S4, step S5, and step S6 is repeated until the vehicle enters a dismounting state. That is, the video image projected by the rear camera 1 is overhead-converted (step S2), and the distance between the vehicle and the white line is calculated by the above-described procedure (step S3). The distance derived here is compared with a distance-angle conversion table prepared in advance, and the maximum opening / closing angle is derived (step S4). This angle information is set in the door opening / closing control unit 35 (step S5).
If it is determined in step S6 that the engine is stopped, the process proceeds to step S7. In step S7, a command for setting the opening / closing limit angle of the vehicle door to the latest stored maximum opening / closing angle is set. It is output to the actuator 5.

  Therefore, when you get off the vehicle where another vehicle is parked next to the door in the parking lot, even if you apply force in the direction of opening the door, the door opening / closing limit angle of the vehicle is automatically the maximum door opening / closing angle. It will be prescribed by. For this reason, even if a force is applied in the direction in which the door is opened, it is possible to avoid the collision of the door of the own vehicle with another adjacent vehicle. In addition, by opening the door at the maximum angle that avoids contact with other vehicles, it is possible to get off from the maximum open door opening space without paying attention to the collision of the door.

[Automatic door open / close control]
In the first embodiment, when it is determined in step S6 that the engine is stopped, the process proceeds to step S7. In step S7, a command for setting the opening / closing limit angle of the vehicle door to the maximum stored opening / closing angle is issued. In addition to being output to the opening / closing angle setting actuator 5, a control command for automatically opening the door of the host vehicle is output to the automatic door actuator 4.

  Therefore, when the parking operation is performed while moving backward and it is determined that the engine is stopped, the door is automatically opened at the set angle. For this reason, for example, in response to a request to open the umbrella at the same time as the getting-off operation in rainy weather or the like, it is possible to concentrate on the opening operation without worrying about the door.

Next, the effect will be described.
In the vehicle door opening / closing angle control apparatus according to the first embodiment, the effects listed below can be obtained.

  (1) A camera (rear camera 1) that acquires surrounding video data of the host vehicle and a door opening / closing angle controller that obtains the maximum door opening / closing angle of the host vehicle that is allowed when getting off the vehicle based on the surrounding video data acquired by the camera. 3 and a door opening / closing angle setting actuator 5 for setting the door opening / closing limit angle of the host vehicle to the maximum door opening / closing angle in accordance with a control command from the door opening / closing angle controller 3. When getting off the vehicle, the door can be opened at the maximum angle to avoid contact with obstacles even if force is applied in the direction of opening the door.

  (2) The door opening / closing angle controller 3 obtains overhead view video data around the host vehicle by converting the viewpoint video data obtained by the camera to be adjacent to the door position of the host vehicle based on the overhead view video data. Calculate the distance to the obstacle, and based on the calculated distance to the obstacle, find the maximum door opening / closing angle allowed when getting off the vehicle. The distance to the adjacent obstacle can be calculated, and the maximum door opening / closing angle of the own vehicle allowed when getting off the vehicle uniquely determined by the distance can be obtained.

  (3) The camera (rear camera 1) acquires surrounding road surface image data of the host vehicle, and the door opening / closing angle controller 3 is an overhead view image data obtained by viewing the surrounding road surface image data acquired by the camera from directly above. And a vehicle-white line distance calculation unit that calculates the distance between the vehicle-white line between the door of the host vehicle and the parking lot white line based on the bird's-eye video data from the overhead image conversion part 31 32, a distance-angle conversion unit 33 that converts the vehicle-white line distance calculated by the vehicle-white line distance calculation unit 32 into the maximum opening / closing angle of the door, and when the user gets off the vehicle at the parking lot, And a door opening / closing control unit 35 that outputs a command to set the door opening / closing limit angle of the vehicle to the maximum opening / closing angle from the distance-angle conversion unit 33 to the door opening / closing angle setting actuator 5. The frame is white When parking in a parking lot drawn with a line, you can calculate the distance between the vehicle's door and the white line of the parking lot white line and the white line with high accuracy corresponding to various parking frames using the overhead view video -Based on the distance between the white lines, the door can be opened at the maximum angle according to the width of the parking frame in the parking lot.

  (4) The camera is a rear camera 1 that acquires rear-side surrounding road surface image data of the host vehicle, and the vehicle-white line distance calculation unit 32 of the door opening / closing angle controller 3 is based on the rear-side overhead image data. Calculate the distance between the left and right parking lot white lines indicating the own vehicle stop frame, and subtract the pre-stored lateral width of the own vehicle from the distance between the left and right parking lot white lines, In order to calculate the distance between the vehicle and the white line between the car's door and the parking lot white line, in the vehicle equipped with the rear camera 1, based on only the bird's eye video data on the rear side of the vehicle, It is possible to accurately calculate the distance between the vehicle and the white line interposed therebetween.

  (5) The door opening / closing angle controller 3 indicates that when the vehicle is traveling backward in a parking lot, the vehicle parked in the parking frame on the side where the door of the own vehicle is opened is determined based on the surrounding road surface image data acquired by the rear camera 1. If there is no parked vehicle, the door opening / closing angle control is not performed (step S1 → end), and the original maximum opening / closing that the vehicle door has structurally is monitored. In order to maintain the angle, even when the door is fully opened, it is possible to secure the widest door opening space and get off the vehicle when getting off the vehicle without any obstacles such as other vehicles at adjacent positions.

  (6) The ignition key switch 2 for detecting the engine stop state of the own vehicle is provided, and the door opening / closing control unit 35 of the door opening / closing angle controller 3 opens / closes the own vehicle door until the own vehicle engine stops in the parking lot. The calculation process of obtaining the angle and the storage process of the maximum opening / closing angle are repeated (steps S2 to S6). When the vehicle engine stops in the parking lot (Yes in step S6), the opening / closing limit angle of the vehicle door is updated to the latest. Since the command to set the stored maximum opening / closing angle is output to the door opening / closing angle setting actuator 5, it is possible to detect in the engine stop state that the vehicle is about to get off from the vehicle, and the door opening / closing of the vehicle door at that time is detected. The angle can be set to the maximum opening / closing angle stored immediately before the engine is stopped. That is, in general, when the vehicle is alighted, the engine is stopped and then the door lock is released. Therefore, it is possible to detect that the vehicle is about to get off the vehicle in the engine stopped state.

  (7) In response to a control command from the door opening / closing angle controller 3, an automatic door actuator 4 that automatically opens and closes the door of the vehicle is provided, and the door opening / closing angle controller 3 stops when the vehicle engine stops in a parking lot. A command for setting the opening / closing limit angle of the own vehicle door to the latest saved maximum opening / closing angle is output to the door opening / closing angle setting actuator 5 and a control command for automatically opening the door of the own vehicle is issued to the automatic door actuator. In order to output to 4, the parking operation is performed while moving backward, and when it is determined that the engine is stopped, the door is automatically opened at the set angle. For this reason, for example, in response to a request to open the umbrella at the same time as the getting-off operation in rainy weather or the like, it is possible to concentrate on the opening operation without worrying about the door.

  As mentioned above, although the vehicle door opening / closing angle control device of the present invention has been described based on the first embodiment, the specific configuration is not limited to the first embodiment, and it relates to each claim of the claims. Design changes and additions are allowed without departing from the scope of the invention.

  In the first embodiment, in the parking lot where the parking frame is drawn with a white line, the door opening / closing angle control example is shown in which the door opening / closing angle up to the distance between the vehicle and the white line is set to the maximum door opening / closing angle of the own vehicle allowed when getting off the vehicle. . However, in a parking lot where no parking frame is drawn, the maximum number of vehicles allowed when getting off a distance obtained by multiplying the distance between adjacent vehicles by a factor (for example, factor = 1/2 to 3/4) The door opening / closing angle control may be used as the door opening / closing angle, or the vehicle distance to adjacent utility poles, fences, street trees, etc. is multiplied by a coefficient (for example, coefficient = 1/2 to 3/4) in street parking etc. The distance may be the maximum door opening / closing angle of the host vehicle that is allowed when getting off.

  In Example 1, the example which uses the one rear camera 1 which acquires the back side surrounding road surface image data of the own vehicle was shown as a camera which acquires the surrounding image data of the own vehicle. However, two rear cameras provided on the left and right rear portions of the vehicle may be used, and further, side cameras that acquire surrounding road surface image data on both sides of the vehicle may be used. In addition, a front camera that acquires surrounding road surface image data in front of the vehicle may be added to the rear camera or the side camera to obtain a bird's-eye view image of the entire circumference of the vehicle.

  In the first embodiment, an example in which a control command is output to the door opening / closing angle setting actuator 5 and the automatic door actuator 4 as the door opening / closing control unit 35 (vehicle with an automatic door) is shown. However, the door opening / closing control unit may output a control command only to the door opening / closing angle setting actuator 5, and the door opening / closing operation may be performed in the manual mode as in a general vehicle.

  In short, a camera that acquires surrounding video data of the host vehicle, a door opening / closing angle controller that determines the maximum door opening / closing angle of the host vehicle that is allowed when getting off the vehicle based on the surrounding video data acquired by the camera, and a door opening / closing angle controller As long as it includes a door opening / closing angle setting actuator that sets the door opening / closing limit angle of the host vehicle to the maximum door opening / closing angle according to the control command, the invention is not limited to the first embodiment.

  In the first embodiment, an example in which the vehicle door opening / closing angle control device of the present invention is applied to a vehicle with an automatic door is shown, but the present invention can also be applied to a vehicle that manually opens a door. In short, if there is an obstacle such as another vehicle at a position adjacent to the own vehicle door, it can be applied to any vehicle in which a problem of contact interference occurs when the door is opened.

It is a control block diagram which shows the control system of the vehicle door opening / closing angle control apparatus of Example 1. FIG. FIG. 2 is an example of a door opening / closing mechanism having a door opening / closing angle setting actuator 5 in the vehicle door opening / closing angle control device of the first embodiment, where (a) is a plan view of the door opening / closing mechanism, and (b) is a side view of the door opening / closing mechanism. (C) shows the AA line sectional view of Drawing 2 (b). It is a flowchart which shows the flow of the door opening / closing angle control process performed in the door opening / closing angle controller 3 of Example 1. FIG. It is an image figure of the distance between vehicles-white lines. It is an image figure of the maximum opening / closing angle. It is an overhead view which shows a mode that the vehicle is parked back. It is a figure which shows the monitor image | video which imaged a mode that the vehicle was parked back with a rear camera. It is a figure which shows the monitor image | video which projected the mode that the vehicle is parked back with a rear camera, and also converted the image | video to the bird's-eye view. It is a figure which shows the distance between the white lines which image-recognized from the bird's-eye view image | video. It is a figure which shows the distance between the vehicle-white line calculated | required from the bird's-eye view image | video.

Explanation of symbols

1 Rear camera (camera)
2 Ignition key switch (Engine stop detection means)
3 Door Open / Close Angle Controller 31 Overhead Video Conversion Unit 32 Vehicle-White Line Distance Calculation Unit 33 Distance-Angle Conversion Unit 34 Distance-Angle Conversion Table Storage Unit 35 Door Open / Close Control Unit 4 Automatic Door Actuator 5 Door Open / Close Angle Setting Actuator

Claims (7)

A camera that acquires surrounding video data of the vehicle,
A door opening / closing angle controller for obtaining a maximum door opening / closing angle of the own vehicle allowed when getting off the vehicle based on the surrounding video data acquired by the camera;
A door opening / closing angle setting actuator for setting a door opening / closing limit angle of the host vehicle to the maximum door opening / closing angle according to a control command from the door opening / closing angle controller;
A vehicle door opening / closing angle control device comprising: In the vehicle door opening / closing angle control device according to claim 1,
The door opening / closing angle controller obtains bird's-eye video data around the vehicle by converting the viewpoint of the surrounding video data obtained by the camera, and based on the bird's-eye video data, the door position and the obstacle adjacent to the vehicle's door position are obtained. A vehicle door opening / closing angle control device that calculates a distance and obtains a maximum door opening / closing angle of the host vehicle that is allowed when the user gets off the vehicle based on the calculated distance to an obstacle. In the vehicle door opening / closing angle control device according to claim 1 or 2,
The camera acquires surrounding road surface video data of the host vehicle,
The door opening / closing angle controller is:
An overhead image conversion unit that converts the surrounding road surface image data acquired by the camera into overhead image data viewed from directly above;
Based on the overhead video data from the overhead video conversion unit, a vehicle-white line distance calculation unit that calculates the distance between the vehicle's door and the parking lot white line between the vehicle and the white line;
A distance-angle conversion unit that converts the vehicle-white line distance calculated by the vehicle-white line distance calculation unit into a maximum opening / closing angle of the door;
A door opening / closing control unit for outputting a command to the door opening / closing angle setting actuator to set a door opening / closing limit angle of the vehicle to a maximum opening / closing angle from the distance-angle conversion unit when getting off the vehicle in a parking lot; ,
A vehicle door opening / closing angle control device comprising: In the vehicle door opening / closing angle control device according to claim 3,
The camera is a rear camera that acquires rear side surrounding road surface image data of the vehicle,
The vehicle-white line distance calculation unit of the door opening / closing angle controller calculates a distance between the left and right parking lot white lines indicating the own vehicle stop frame based on the overhead view video data on the rear side, and calculates the distance between the left and right parking lot white lines. Vehicle door opening / closing characterized by calculating a value of 1/2 of a value obtained by subtracting the width of the own vehicle stored in advance as a distance between the vehicle's door and the white line of the parking lot. Angle control device. In the vehicle door opening / closing angle control device according to claim 4,
The door opening / closing angle controller determines whether or not there is a parked vehicle in the parking frame on the side where the door of the own vehicle is opened, based on the surrounding road surface image data acquired by the rear camera when the vehicle moves backward in the parking lot. The vehicle door opening / closing angle control device maintains the original maximum opening / closing angle that the vehicle door has structurally without limiting by the door opening / closing angle control when there is no parked vehicle. In the vehicle door opening / closing angle control device according to any one of claims 3 to 5,
An engine stop detection means for detecting the engine stop state of the own vehicle is provided,
The door opening / closing controller of the door opening / closing angle controller repeats calculation processing for obtaining the maximum opening / closing angle of the vehicle door and storage processing of the maximum opening / closing angle until the engine of the vehicle stops in the parking lot, and the vehicle at the parking lot. When the engine stops, the vehicle door opening / closing angle control device outputs a command for setting the opening / closing limit angle of the vehicle door to the latest stored maximum opening / closing angle to the door opening / closing angle setting actuator. In the vehicle door opening / closing angle control device according to claim 6,
In accordance with a control command from the door opening / closing angle controller, an automatic door actuator that automatically opens and closes the door of the vehicle is provided,
The door opening / closing angle controller outputs a command to the door opening / closing angle setting actuator to set the opening / closing limit angle of the vehicle door to the maximum opening / closing angle stored latest when the engine of the vehicle stops in the parking lot, A vehicle door opening / closing angle control device that outputs a control command for automatically opening a door of the vehicle to the automatic door actuator.

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