JP2009143251A - Vehicular door opening/closing control device, vehicular door opening angle calculation device, and vehicular door opening angle limiting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular door opening/closing control device for preventing a door from erroneously colliding with an adjacent vehicle or an obstacle by being fanned by the strong wind when opening the door, though there is a method wherein when there is an adjacent vehicle or an obstacle outside the door, the wind speed is calculated by using a wind speed sensor or a pressure sensor, and if the wind is strong, the door is locked and an alarm is sounded to a driver, and this method can call attention of a driver before opening the door. <P>SOLUTION: The vehicle door opening/closing control device measures the distance with an adjacent article, calculates an angle capable of opening the door 3 from the distance, gradually strengthens braking from the inner side of the openable angle, and controls so that braking becomes the maximum at the openable angle and opening is limited. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicle door control technique.

  Conventionally, when there is an adjacent vehicle or obstacle outside the door of the vehicle, the wind speed is calculated using a wind speed sensor or pressure sensor, and if the wind is strong, the door is locked and an alarm is sounded to the driver. The vehicle door control technology shown in Patent Document 1 is used.

JP 2006-63567 A

  However, with the above control method, it is possible to alert the driver before opening the door, but when opening the door, the door is accidentally moved to a neighboring car or obstacle by being hit by a strong wind. It cannot be prevented from touching.

  An object of the present invention is to provide a vehicle door control technique for preventing a door from coming into contact with an adjacent vehicle or an obstacle.

  In order to solve the above problem, the present application detects an adjacent object by an imaging device, obtains an angle at which the door can be opened based on the detected distance to the adjacent object, and prevents the door from being opened beyond that angle. Restrict.

  For example, a vehicle door opening and closing control device, an imaging unit, an adjacent object detection unit that detects an adjacent object from an image captured by the imaging unit, a distance calculation unit that calculates a distance to the adjacent object, and a vehicle An opening angle calculation unit that calculates an opening angle of the vehicle door using a door length and a distance to the adjacent object, and instructs the door control unit to brake the opening at the opening angle And a door control unit that receives the instruction and brakes the rotation of the door of the vehicle.

  In addition, the vehicle door opening / closing control device includes: an imaging unit; a control unit that outputs an instruction to lock a vehicle door when an adjacent object is detected from an image captured by the imaging unit; And a door control unit for receiving and locking the door of the vehicle.

  In addition, the vehicle door opening angle calculation device includes an imaging unit that captures an opening direction of the vehicle door, an adjacent object detection unit that detects an adjacent object from an image captured by the imaging unit, and a distance to the adjacent object. A distance calculating unit that calculates the opening angle calculating unit that calculates an opening angle of the vehicle door using the length of the door of the vehicle and the distance to the adjacent object, and opening at the opening possible angle. And a control signal output unit that outputs an instruction to limit.

  Furthermore, the vehicle door opening angle limiting device includes a door control unit that limits the opening angle of the vehicle door according to the openable angle included in the received signal.

  As described above, according to the present invention, door opening / closing control can be performed so as to prevent the door from hitting an adjacent vehicle or an obstacle.

  An embodiment of the present invention will be described with reference to FIGS.

  FIG. 1 is a diagram illustrating a configuration of a vehicle door opening / closing control device 10 according to a first embodiment of the present invention.

  As shown in the figure, the vehicle door opening / closing control device 10 of the present embodiment includes an imaging device 1, a vehicle body control device 2, and a vehicle door 3.

  The imaging device 1 includes an imaging unit 11, and the imaging unit 11 captures an imaging target object from a plurality of different positions at the same time. In addition, the imaging unit 11 transmits the captured image to the vehicle body control device 2.

  For example, the imaging device 1 is an in-vehicle stereo camera or the like.

  The vehicle body control device 2 includes a main control unit 21, an adjacent object detection unit 22, a distance calculation unit 23, an opening angle calculation unit 24, an opening angle detection unit 25, and a door opening control unit 26.

  The vehicle body control device 2 is, for example, an automobile electronic control unit (ECU).

  The main control unit 21 receives the image transmitted from the imaging device 1, passes the received image to the adjacent object detection unit 22, and causes the adjacent object detection unit 22 to detect the adjacent object.

  Then, the main control unit 21 determines whether or not an adjoining object is detected. If the adjoining object is detected, if the host vehicle is stopped, the distance calculation unit 23 informs the distance calculation unit 23 of the vehicle side surface and the adjoining object. Let the distance be calculated.

  The main control unit 21 compares the distance between the vehicle side surface and the adjacent object with the length of the door of the host vehicle, and when the distance between the vehicle side surface and the adjacent object is shorter than the door length, the opening angle The calculation unit 24 calculates the maximum angle (maximum opening angle N) at which the door can be opened without contacting an adjacent object.

  Based on the maximum opening angle N, the main control unit 21 calculates a control start angle that is an angle for starting the opening control.

  The main control unit 21 causes the opening angle detection unit 25 to detect the angle at which the door is currently opened, and instructs the door opening control unit 26 to perform door opening control when the control start angle is exceeded. .

  In accordance with an instruction from the main control unit 21, the adjacent object detection unit 22 detects an imaging object shown in the received image by a stereo method, calculates a distance from the imaging device 1 to the imaging object, and the distance is predetermined. It is determined whether there is an adjacent object depending on whether it is within the distance, and the presence of the adjacent object is notified to the main control unit 21.

  The distance calculation unit 23 calculates the distance from the imaging device 1 to the imaging target object shown in the received image in accordance with an instruction from the main control unit 21.

  The opening angle calculation unit 24 follows the instruction from the main control unit 21, and the door opening angle at the position of the opening end of the door when the door opening is maximized to the extent that it does not come into contact with an adjacent object. Is calculated. Such an angle can be generally obtained from the length of two sides using an inverse sine function.

  Specifically, the opening angle calculation unit 24 obtains an angle formed by an inverse sine function, where y is the distance of the opening end of the door that is opened to the extent that it does not contact an adjacent object from the side of the vehicle, and H is the door length. That is, the angle NMAX to be obtained is calculated according to the following equation (1).

NMAX = arcsin (y / H) (1)
Then, in order to set the angle smaller than the angle NMAX as the maximum opening angle, an angle obtained by subtracting a predetermined margin angle (for example, 10 °) from the angle NMAX is transferred to the main control unit 21 as the maximum opening angle N.

  The predetermined margin angle may be a fixed value or a value that varies according to the distance A described above. For example, the opening angle calculation unit 24 may calculate the angle so as to be located inside the vehicle 10 cm from the position in contact with the adjacent object.

  The opening angle detection unit 25 detects the angle θ at which the door of the own vehicle is opened, that is, the angle formed by the closed door of the own vehicle and the current door of the own vehicle.

  For example, the open angle detector 25 detects the angle θ through an angle sensor (not shown).

  The door opening control unit 26 performs opening control of the door of the own vehicle.

  More specifically, the door opening control unit 26 determines, relative to the opening angle detection unit 25, the angle θ at which the door is currently open, that is, the door of the own vehicle in the closed state and the door of the current vehicle. The angle formed is detected. Then, the difference between the opening angle θ and the maximum opening angle N is obtained, and the braking torque is calculated so that the force for braking the door increases as the difference decreases. The braking torque is calculated so as to be maximum at the maximum opening angle N. And it instruct | indicates to brake to the door control apparatus 301 mentioned later of the vehicle door 3 with the calculated braking torque.

  And the door opening control part 26 will cancel | release braking, if the force which tries to close a door is detected by the pressure sensor mentioned later.

  FIG. 2 is a diagram illustrating a hardware configuration of the vehicle door opening / closing control device 10 according to the present embodiment.

  The imaging device 1 includes a left imaging device 101, a right imaging device 102, a left A / D conversion circuit 103, a right A / D conversion circuit 104, a left communication device 105, and a right communication device 106.

  Among these, the left and right imaging elements 101 and 102 are a pair of imaging elements provided on the left side and the right side of the imaging apparatus, respectively, and are CCDs (Charge Coupled Devices). Alternatively, an element such as a CMOS (Complementary Metal Oxide Semiconductor) sensor may be used.

  The left and right communication devices 105 and 106 transmit images captured by the left and right imaging elements 101 and 102 to the vehicle body control device 2, respectively.

  The vehicle body control device 2 includes a left communication device 201, a right communication device 202, a left frame buffer 203 that stores image data received by the left communication device 201, and a right frame that stores image data received by the right communication device 202. A buffer 204, a CPU (Central Processing Unit) 205, and a RAM (Random Access Memory) 206 are provided.

  The left communication device 201 communicates with the left communication device 105 connected to the left image sensor 101 and receives a captured image.

  The right communication device 202 communicates with the right communication device 106 connected to the right image sensor 102 and receives a captured image.

  The RAM 206 stores vehicle information 40 and braking information 45.

  The vehicle door 3 includes a door control device 301.

  The door control device 301 is a device that controls the opening / closing angle of the door, and can apply a braking force that resists rotation of the door based on a designated torque. For example, it is a hinge or the like that can apply a frictional force to the rotation by applying pressure to the rotation part to obtain a braking force.

  In addition, the door control device 301 includes an angle sensor (not shown), and can detect an angle θ formed by the closed door of the own vehicle and the current door of the own vehicle.

  Furthermore, the door control device 301 includes a pressure sensor (not shown), and can detect the pressure applied in the direction of closing the door of the vehicle.

  FIG. 3 is a plan view when the vehicle door opening / closing control device 10 performs opening / closing control.

  The vehicle 5 is a vehicle equipped with the vehicle door opening / closing control device 10, and the adjacent vehicle 6 is a vehicle adjacent to the vehicle 5.

  In the vehicle 5, two imaging devices 1 that image the side of the vehicle are installed near the ceiling inside the vehicle, of which the front camera 7 is installed on the front side of the vehicle and the rear camera 8 is installed on the rear side.

  The vehicle 5 also has a driver's seat door 51 and a hinge 52 that connects the driver's seat door 51 to the vehicle 5 so as to be rotatable. A door control device 301 is installed on the hinge 52.

  The distance in the vehicle length direction between the position where the lens of the front camera 7 is installed and the hinge 52 which is the door rotation center is C in the figure, and the position where the lens of the front camera 7 is installed and the rear The distance from the position where the lens of the camera 8 is installed is D shown in the figure, and the distance between the front camera 7 and the vehicle side surface of the own vehicle is subtracted from the distance between the adjacent camera 6 and the front camera 7 captured by the front camera 7. The distance obtained is A shown in the figure, and the distance obtained by subtracting the distance between the rear camera 8 and the vehicle side surface of the own vehicle from the distance between the adjacent vehicle 6 captured by the rear camera 8 and the rear camera 8 is B shown in the figure.

  The length of the driver's seat door 51, that is, the length from the center of rotation of the driver's seat door 51 to the open end, which is the tip of the driver's seat door 51, is H. An angle formed by the driver's seat door 51 is defined as an opening angle θ. Alternatively, the length of the longest horizontal portion of the driver's seat door 51 may be H depending on the shape of the door.

  FIG. 4 is a diagram illustrating a data structure of the vehicle information 40 stored in the RAM 206 of the present embodiment.

  The vehicle information 40 includes a measurement distance (A) column 401 from the vehicle side surface to the adjacent object by the front camera, a measurement distance (B) column 402 from the vehicle side surface to the adjacent object by the rear camera, the front camera position, and the door rotation. Distance (C) column 403 in the vehicle length direction from the center, distance (D) column 404 between the front camera and rear camera, door length (H) column 405, and control start angle (N-α) column 406 , Door opening angle (θ) column 407, braking torque (T) column 408, door closing side pressure (P) column 409, distance (F) column 410 from the front camera to the vehicle side surface of the host vehicle, A distance (G) column 411 from the camera to the vehicle side surface of the host vehicle.

  Among these, the measurement distance (A) column 401 from the side surface of the vehicle to the adjacent object by the front camera shows the vehicle of the host vehicle from the position of the front camera 7 based on the distance to the adjacent object calculated from the image captured by the front camera 7. The distance to the neighbor obtained by subtracting the distance to the side is stored. Further, in the measurement distance (B) column 402 from the side surface of the vehicle to the adjacent object by the rear camera, the vehicle side surface of the own vehicle from the position of the rear camera 8 is calculated from the distance to the adjacent object calculated from the image captured by the rear camera 8. The distance to the adjacent object obtained by subtracting the distance to is stored.

  In the vehicle length direction distance (C) column 403 between the front camera position and the door rotation center, the vehicle length direction between the position where the lens of the front camera 7 is installed and the hinge 52 which is the door rotation center is shown. Is stored.

  The distance (D) column 404 between the front camera and the rear camera stores the distance between the position where the lens of the front camera 7 is installed and the position where the lens of the rear camera 8 is installed.

  In the door length (H) column 405, the length of the driver's seat door 51 is stored.

  The distance (F) column 410 from the front camera to the vehicle side surface of the own vehicle stores the distance from the position where the front camera 7 is installed to the vehicle side surface of the own vehicle.

  The distance (G) column 411 from the rear camera to the vehicle side surface of the own vehicle stores the distance from the position where the rear camera 8 is installed to the vehicle side surface of the own vehicle.

  The vehicle length direction distance (C) column 403 between the front camera position and the door rotation center, the front camera and rear camera distance (D) column 404, the door length (H) column 405, and the front camera. The distance (F) column 410 to the vehicle side surface of the car and the distance (G) column 411 from the rear camera to the vehicle side surface of the vehicle are set when the vehicle door opening / closing control device 10 is attached to the vehicle. Stored in advance.

  A measurement distance (A) column 401 from the vehicle side surface to the adjacent object by the front camera, a measurement distance (B) column 402 from the vehicle side surface to the adjacent object by the rear camera, a control start angle (N-α) column 406, The door opening angle (θ) column 407, the braking torque (T) column 408, and the door closing side pressure (P) column 409 store new values every time they are measured.

  For example, the vehicle information in FIG. 4 includes a value “450 mm” in the measurement distance (A) column 401 from the vehicle side surface to the adjacent object by the front camera, and a measurement distance (B) column from the vehicle side surface to the adjacent object by the rear camera. 402 is a value of “600 mm”, a distance (C) column 403 between the front camera position and the door rotation center is “250 mm”, and a distance between the front camera and the rear camera (D) column 404 is “ “2000 mm” value, door length (H) column 405 “1000 mm” value, control start angle (N−α) column 406 “35” value, door opening angle (θ) column 407 value “0” The value of “0” in the braking torque (T) column 408, the value of “0” in the door closing side pressure (P) column 409, the distance from the front camera to the vehicle side of the vehicle (F) column 410 “980 mm” ”And the value“ 980 mm ”are stored in the distance (G) column 411 from the rear camera to the vehicle side surface of the host vehicle. The

  Of course, the measurement distance (A) column 401 from the vehicle side surface to the adjacent object by the front camera, the measurement distance (B) column 402 from the vehicle side surface to the adjacent object by the rear camera, the front camera position and the door rotation center. Vehicle length direction distance (C) column 403, front camera and rear camera distance (D) column 404, door length (H) column 405, control start angle (N-α) column 406, door opening Angle (θ) field 407, braking torque (T) field 408, door closing side pressure (P) field 409, distance (F) field 410 from the front camera to the side of the vehicle, and the rear camera The distance (G) column 411 to the vehicle side is not limited to this example, and is changed to the value depending on the size and type of the vehicle 5, the mounting position of the vehicle door opening / closing control device 10, and the like. Is added.

  FIG. 5 is a diagram illustrating a data structure of the braking information 45 according to the present embodiment.

  The braking information 45 includes an excess angle column 451 from the control start angle and a braking torque column 452. The record stored in the braking information 45 is determined according to the weight of the door of the vehicle to which the vehicle door opening / closing control device 10 is attached, and is stored in advance when the vehicle door opening / closing control device 10 is attached.

  In the excess angle column 451 from the control start angle, a value indicating an angle exceeding the control start angle is stored. For example, in FIG. 5, the excess angle is represented by the frequency method, and 11 types of 0, 1, 2,..., 9, 10 are stored. This indicates that the angles exceeding the control start angle are 0 °, 1 °, 2 °,..., 9 °, 10 °, respectively.

  The braking torque field 452 stores a braking torque value indicating the strength of braking instructed to the door control device 301. For example, in FIG. 5, the braking torque is set to 1T, 2T, 3T, 4T, 5T, 8T, 11T, 14T, 18T, 22T, and 30T according to each value in the excess angle column 451 from the control start angle. Indicates that

  This T is a predetermined torque value, and the number before each T represents a coefficient. That is, 5T indicates that the value is five times the predetermined torque value.

  FIG. 6 is a flowchart of the door opening control of this embodiment.

  First, the imaging unit 11 of the imaging device 1 captures an image with the left imaging device 101 and the right imaging device 102, and transmits imaging data to the vehicle body control device 2 via the left communication device 105 and the right communication device 106 (step 701). .

  Specifically, the imaging unit 11 passes the left side image sensor 101 and the right side image sensor 102 formed by the right side image sensor 102 via the left side A / D conversion circuit 103 and the right side A / D conversion circuit 104, respectively. The digital data is converted, and the converted data is transmitted to the vehicle body control device 2 via the left communication device 105 and the right communication device 106, respectively.

  Then, the main control unit 21 of the vehicle body control device 2 receives the imaging data transmitted in step 701 via the left communication device 201 and the right communication device 202 of the vehicle body control device 2, respectively. Then, for the received imaging data, the neighboring object detection unit 22 is instructed to detect the neighboring object, and the neighboring object detection unit 22 that receives the instruction uses the left imaging data and the right imaging data to perform a stereo method. To detect the presence of neighbors. Then, the detection result is transmitted to the main control unit 21 (step 702).

  Then, the main control unit 21 determines whether or not an adjacent object is detected (step 703).

  As a result of the determination, if an adjacent object is not detected (“No” in step 703), the process returns to step 701.

  If an adjoining object is detected as a result of the determination (“Yes” in step 703), the main control unit 21 detects the speed of the host vehicle with a speed sensor (not shown) or the like, and the host vehicle stops. That is, it is determined whether or not the speed is zero (step 704).

  If the result of determination is that the vehicle is not stopped (“No” in step 704), the process returns to step 701.

  As a result of the determination, when the host vehicle is stopped (“Yes” in step 704), the main control unit 21 causes the distance calculation unit 23 to calculate the distance between the camera and the adjacent object. The distance between the vehicle side surface and the adjacent object is calculated using the information of the vehicle information 40 from the distance.

  The distance calculation unit 23 stores the distance between the vehicle side surface and the adjacent object based on the image captured by the front camera 7 in the measurement distance (A) column 401 from the vehicle side surface to the adjacent object by the front camera in the vehicle information 40. The distance between the vehicle side surface and the adjacent object based on the image captured by the rear camera 8 is stored in the measurement distance (B) column 402 from the vehicle side surface to the adjacent object by the rear camera in the vehicle information 40 (step 705).

  Specifically, the distance calculation unit 23 uses the stereo ranging method that measures the distance from the camera to the object based on the binocular parallax with respect to the single object, and uses the two distances from the front camera 7. The distance to the adjacent object within the angle of view of the front camera 7 is calculated based on the captured image, and the distance to the adjacent object within the angle of view of the rear camera 8 based on the two captured images from the rear camera 8. Is calculated. From the calculated distance, F stored in a distance (F) column 410 from the front camera to the vehicle side surface of the host vehicle and a distance (G) column 411 from the rear camera to the vehicle side surface of the host vehicle, respectively. G is subtracted to calculate the values of A and B.

  Then, the main control unit 21 compares the distance from the vehicle side surface to the adjacent object calculated by the distance calculation unit 23 in step 705 with the length of the door of the own vehicle, and the distance from the vehicle side surface to the adjacent object is shorter than the door length. It is determined whether or not (step 706).

  Specifically, either the distance (A) between the adjacent object in the angle of view of the front camera 7 and the vehicle side surface, or the distance (B) between the adjacent object in the angle of view of the rear camera 8 and the vehicle side surface. Is shorter than the distance in the door length (H) column 405 of the vehicle information 40.

  As a result of the determination, both the distance (A) between the adjacent object within the angle of view of the front camera 7 and the vehicle side surface and the distance (B) between the adjacent object within the angle of view of the rear camera 8 and the vehicle side surface are If it is longer than or equal to the length of the door (“No” in step 706), the process returns to step 701.

  As a result of the determination, either the distance (A) between the adjacent object in the angle of view of the front camera 7 and the vehicle side surface or the distance (B) between the adjacent object in the angle of view of the rear camera 8 and the vehicle side surface is When the length is shorter than the length of the door (“Yes” in step 706), the main control unit 21 can open the maximum angle (maximum opening angle) with respect to the opening angle calculation unit 24 without contacting the adjacent object. And the angle is temporarily stored in the RAM 206 as N (step 707).

  Specifically, when either (A) or (B) is shorter than the door length (H), the opening angle calculation unit 24 calculates the simultaneous equations of Expressions (2) and (3) shown below. The angle NMAX satisfying the above equation (1) is calculated based on the solution y (the one of the two solutions having the larger value of x) to obtain the maximum opening angle N.

  Expression (2) is an expression that represents a straight line that schematically shows the side surface of the adjacent vehicle 6. Formula (3) is a formula that schematically represents a trajectory drawn when the open end of the door obtained by turning the door is turned.

  That is, the intersection (x, y) of the straight line and the circle can be obtained by solving the simultaneous equations of the expressions (2) and (3). Of the intersections (x, y), the solution with the larger value of x is the position where the door open end and the adjacent vehicle 6 are in contact, that is, the maximum opening angle at which the door can be opened without contacting the adjacent vehicle 6. The open end of the door is indicated by (x, y) coordinates.

  When the own vehicle is looked down from above, the length direction of the own vehicle is the x axis, the width direction of the own vehicle is the y axis, and the origin is the center of rotation of the door, that is, the hinge 52. In addition, the value of x increases from the front to the rear of the host vehicle, and the value of y increases from the inner side to the outer side of the host vehicle.

y = {(B−A) ÷ D} × x + A × (C + D) −C × B Expression (2)
x × x + y × y = H × H Expression (3)
Then, the main control unit 21 subtracts a predetermined angle (α) from the maximum opening angle N calculated in step 707 to calculate a control start angle (N−α) that is an angle for starting the opening control. The information 40 is stored in the control start angle (N-α) column 406 (step 708).

  Here, α, which is a predetermined angle, is 10 ° in this embodiment. This is a set value for realizing the gradual braking from 10 ° before the maximum opening angle N, and is not limited to 10 ° but may be an arbitrary value. In that case, the excess angle column 451 from the control start angle and the braking torque column 452 of the control information 45 of FIG. 5 need to be set to match arbitrary values.

  Next, the main control unit 21 detects the angle θ at which the current door is opened, that is, the angle formed by the closed door of the own vehicle and the current door of the own vehicle, with respect to the opening angle detection unit 25. Then, the angle θ is stored in the door opening angle (θ) column 407 of the vehicle information 40 (step 709).

  More specifically, the opening angle detection unit 25 is configured to detect the angle θ of the door, that is, the door of the own vehicle in the closed state and the current position through an angle sensor (not shown) attached to the door control device 301. It detects the angle formed by the door of the vehicle.

  Then, the opening angle detection unit 25 transfers the angle θ to the main control unit 21, and the main control unit 21 stores the transferred value of the angle θ in the door opening angle (θ) column 407 of the vehicle information 40.

  Next, the main control unit 21 instructs the image capturing unit 11 of the image capturing apparatus 1 to newly capture an image and transmit the image data. The main control unit 21 receives the imaging data transmitted from the imaging unit 11, and causes the distance calculation unit 23 to calculate the distance between the adjacent object and the vehicle side surface based on the received imaging data. And the main control part 21 is the information memorize | stored in the measured distance (A) column 401 from the vehicle side surface by the front camera of the vehicle information 40 to an adjacent thing about the calculated distance about the distance of the front camera 7 and an adjacent object, respectively. The distance between the rear camera 8 and the adjacent object is compared with the information stored in the measured distance (B) column 402 from the vehicle side surface to the adjacent object by the rear camera in the vehicle information 40 (step 710).

  As a result of the comparison, if there is a change in any distance (“No” in step 710), the process returns to step 701 assuming that the positional relationship with the adjacent object has changed.

  As a result of the comparison, if there is no change in any of the distance between the front camera and the adjacent object and the distance between the rear camera and the adjacent object (“Yes” in step 710), the main control unit 21 determines in step 709. It is determined whether or not the angle θ stored in the door opening angle (θ) column 407 of the vehicle information 40 exceeds the angle (N−α) stored in the control start angle (N−α) column 406 of the vehicle information 40. Determination is made (step 711).

  As a result of the determination, if the current door opening angle θ does not exceed the angle (N−α) (“No” in step 711), the process returns to step 709.

  As a result of the determination, if the current door opening angle θ exceeds the angle (N−α) (“Yes” in step 711), the main control unit 21 controls the door opening control unit 26 to perform door opening control. (Step 712).

  When the process of step 712 is completed, the main control unit 21 returns the process to step 701.

  FIG. 7 is a detailed flowchart of door opening control.

  First, the door opening control unit 26 instructs the opening angle detecting unit 25 to obtain the angle θ at which the door is opened, that is, the angle formed by the closed door of the own vehicle and the current door of the own vehicle. (Step 801).

  Then, the door opening control unit 26 refers to the braking information 45 and subtracts (N−α) from the angle at which the door opening angle θ acquired in step 801 exceeds (N−α), that is, θ. The value of the excess angle column 451 from the control start angle that matches the obtained angle is specified, and the braking torque is calculated by reading the value of the braking torque column 452 corresponding to the specified value (step 802).

  Next, the door opening control unit 26 instructs the door control device 301 of the vehicle door 3 to perform braking with the braking torque calculated in Step 802 (Step 803).

  As a result of step 803, the door control device 301 brakes the door and generates a resistance force corresponding to the door opening angle, so that the door opening angle can be controlled while reducing the shock.

  Next, the door opening control unit 26 detects a force P for closing the door via a pressure sensor or the like (not shown) of the door control unit 301 (step 805).

  Then, the door opening control unit 26 determines whether or not the force P is applied in the positive direction (step 805).

  Specifically, the door opening control unit 26 determines whether or not the value of the force P exceeds zero.

  As a result of the determination, if the force P is not applied in the positive direction (“No” in step 805), the process returns to step 801, and the door opening suppression is continued.

  As a result of the determination, when the force P is applied in the positive direction (“Yes” in step 805), the door opening control unit 26 determines that the door closing force has been applied to the door, and the door control device 301 is braked. The release is instructed (step 806).

  The door opening control of the present embodiment can prevent contact with an adjacent object when the vehicle door is opened.

  The above is the vehicle door opening / closing control apparatus 10 as an embodiment of the present application.

  In addition, a vehicle door opening / closing control device 10 as a second embodiment is conceivable.

  The second embodiment will be described below.

  The vehicle door opening / closing control device 10 according to the second embodiment basically has substantially the same configuration as that of the first embodiment, but includes a distance calculation unit 23, an opening angle calculation unit 24, an opening angle detection unit 25, vehicle control. 40 and control information 45 are not necessarily provided.

  Furthermore, the vehicle body control device 2 of the vehicle door opening / closing control device 10 according to the second embodiment controls the door lock. A flowchart of the door lock control will be described with reference to FIG.

  First, the imaging unit 11 of the imaging device 1 captures an image with the left imaging device 101 and the right imaging device 102, and transmits imaging data to the vehicle body control device 2 via the left communication device 105 and the right communication device 106 (step 901). .

  Specifically, the imaging unit 11 uses the left A / D conversion circuit 103 and the right A / D conversion circuit 104 respectively for the side and rear images of the vehicle formed by the left imaging element 101 and the right imaging element 102. Via the left communication device 105 and the right communication device 106, respectively, and the converted data is transmitted to the vehicle body control device 2.

  The main control unit 21 of the vehicle body control device 2 receives the imaging data transmitted in step 901 via the left communication device 201 and the right communication device 202 of the vehicle body control device 2, respectively. Then, for the received imaging data, the neighboring object detection unit 22 is instructed to detect the neighboring object, and the neighboring object detection unit 22 that has received the instruction uses the left imaging data and the right imaging data to perform the neighboring object. Detect the presence of Then, the detection result is transmitted to the main control unit 21 (step 902).

  Then, the main control unit 21 gradually increases from a plurality of imaging data captured at a predetermined interval within a certain time, with an object that is assumed to be close to the vehicle among neighboring objects, that is, gradually with time. It is determined whether there is an imaged neighbor (step 903).

  As a result of the determination, if an object assumed to have approached is not detected (“No” in step 903), the door opening control unit 26 is instructed to cancel the door opening control (step 904), The process returns to step 901.

  As a result of the determination, when an object that is assumed to be approaching is detected (“Yes” in step 903), the main control unit 21 detects the speed of the vehicle by a speed sensor (not shown) or the like. Then, it is determined whether or not the vehicle stops, that is, whether the speed is zero (step 905).

  If the result of determination is that the vehicle is not stopped (“No” in step 905), the process returns to step 901.

  As a result of the determination, if the vehicle is stopped (“Yes” in step 905), the main control unit 21 instructs the door opening control unit 26 to perform door opening control (step 906). .

  The door opening control unit 26 has a torque that can lock the door (for example, a braking torque such as 30T, which is the maximum value of the braking torque field 452 of the braking information 45 in the first embodiment), and the door control device 301. Is instructed to apply braking (step 907).

  At this time, the vehicle body control device 2 may output a warning light or a warning sound indicating that the door is locked to notify the driver accordingly.

  Then, the door opening control unit 26 detects a force P for closing the door via a pressure sensor or the like (not shown) of the door control unit 301 (step 908).

  Then, the door opening control unit 26 determines whether or not the force P is applied in the positive direction (step 909).

  Specifically, the door opening control unit 26 determines whether or not the value of the force P exceeds zero.

  As a result of the determination, if the force P is not applied in the positive direction (“No” in step 909), the process returns to step 901 to continue the door opening suppression.

  As a result of the determination, when the force P is applied in the positive direction (“Yes” in step 909), the door opening control unit 26 determines that the door closing force is applied to the door, and the door control device 301 performs braking. The release is instructed (step 910).

  Then, the main control unit 21 returns the process to step 901.

  As described above, according to the second embodiment, it is possible to prevent the driver or the passenger from opening the door carelessly when, for example, a bicycle or the like approaches the parked vehicle. Also, when an approaching object is not detected, that is, when an approaching object moves away, or an approaching object disappears from the angle of view, the door control is released and the door is normally opened and closed. It becomes possible to pass.

  Further, according to the second embodiment, when the door has already been opened, it is possible to detect a vehicle approaching from behind or the like, and control the door not to be opened at an angle greater than that, and When closing the door, the operation is not hindered.

  The above is the second embodiment.

  The second embodiment does not hinder the operation of the first embodiment, and can coexist with the first embodiment. Therefore, the vehicle door opening / closing control device 10 combining the first embodiment and the second embodiment can also be realized.

  In both the first embodiment and the second embodiment, the braking torque is applied by the hinge 52 to brake the rotation of the door of the vehicle. However, the door is electromagnetically locked without being limited to this. The rotation may be controlled using an electromagnetic lock or a compressor using the pressure of air or gas.

  Moreover, the imaging device 1, the vehicle body control device 2, and the vehicle door 3 of the present application can be independently subjected to commercial transactions.

  The above is the embodiment of the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram of the vehicle door opening / closing control apparatus concerning 1st embodiment of this invention. It is a figure which shows the hardware constitutions of the vehicle door opening / closing control apparatus of 1st embodiment of this invention. It is a top view at the time of the vehicle door opening / closing control apparatus concerning 1st embodiment of this invention performing opening / closing control. It is a figure which shows the data structure of the vehicle information concerning 1st embodiment of this invention. It is a figure which shows the data structure of the braking information concerning 1st embodiment of this invention. It is a flowchart of door opening control concerning 1st embodiment of this invention. It is a flowchart of the detailed process of door opening control concerning 1st embodiment of this invention. It is a flowchart of the door lock control concerning 2nd embodiment of this invention.

Explanation of symbols

1: imaging device, 2: vehicle body control device, 3: vehicle door, 5: vehicle, 6: adjacent vehicle, 7: front camera, 8: rear camera, 10: vehicle door opening / closing control device 10, 11: imaging unit, 21: Main control unit, 22: Neighboring object detection unit, 23: Distance calculation unit, 24: Opening angle calculation unit, 25: Opening angle detection unit, 26: Door opening control unit, 40: Vehicle information, 45: Braking information, 51: Driver's seat door, 52: Hinge, 301: Door control device

Claims (9)

An imaging unit;
An adjacent object detection unit that detects an adjacent object from an image captured by the imaging unit;
A distance calculation unit for calculating a distance to the adjacent object;
An opening angle calculation unit that calculates an opening angle of the vehicle door using a length of the vehicle door and a distance to the adjacent object;
A door opening control unit that instructs the door control unit to brake opening at the openable angle;
A door control unit that receives the instruction and brakes rotation of the door of the vehicle;
A vehicle door opening / closing control device comprising: The vehicle door opening / closing control device according to claim 1,
When braking the rotation of the door of the vehicle, the door control unit brakes the rotation of the door of the vehicle with a braking torque designated from the outside,
The door opening control unit instructs to apply a predetermined braking torque at the openable angle when instructing the door control unit.
A vehicle door opening / closing control device. The vehicle door opening / closing control device according to claim 2,
Furthermore, an opening angle detector for detecting an opening angle of the vehicle door is provided,
The door opening control unit brakes the rotation of the door of the vehicle according to the increase in the opening angle when the opening angle detected by the opening angle detection unit reaches a predetermined angle smaller than the openable angle. Instructing the door control unit to increase the torque to be
A vehicle door opening / closing control device. The vehicle door opening / closing control device according to any one of claims 1 to 3,
The door opening control unit further instructs the door control unit to release the braking torque when detecting a force in a direction to close the door of the vehicle.
A vehicle door opening / closing control device. An imaging unit;
A controller that outputs an instruction to lock the door of the vehicle upon detecting an approaching object from the image captured by the imaging unit;
A door control unit that receives the instruction and locks the door of the vehicle;
A vehicle door opening / closing control device comprising: The vehicle door opening / closing control device according to claim 5,
The control unit further instructs the door control unit to unlock the door of the vehicle when the adjacent object moves away.
A vehicle door opening / closing control device. The vehicle door opening and closing control device according to claim 5 or 6,
The control unit further instructs the door control unit to unlock the door of the vehicle when the adjacent object disappears from the image.
A vehicle door opening / closing control device. An imaging unit for imaging the opening direction of the vehicle door;
An adjacent object detection unit that detects an adjacent object from an image captured by the imaging unit;
A distance calculation unit for calculating a distance to the adjacent object;
An opening angle calculation unit for obtaining an opening angle of the vehicle door using a length of the vehicle door and a distance to the adjacent object;
A control signal output unit that outputs an instruction to limit the opening at the openable angle;
A vehicle door opening angle calculation device comprising:   A vehicle door opening angle limiting device comprising a door control unit that limits an opening angle of a vehicle door according to an openable angle included in a received signal.

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