JP2013007171A - Automatic opening/closing device for vehicle door - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic opening/closing device for vehicle door which can increase comfort for users while suppressing increase in cost.SOLUTION: An automatic opening/closing device for vehicle door comprises a laser radar 2 which transmits a probing wave successively to scan at least the neighborhood of the external surface of a swing door while receiving the reflection wave of the probing wave and which based on the received reflection wave detects an obstacle on the opening/closing locus of the swing door. By successive detection of obstacles with the laser radar 2, prescribed gestures of a user within the range scanned by the proving wave are detected, and based on the detection results of gestures automatic opening/closing of the swing door and other vehicle doors is started.

Description

  The present invention relates to a vehicle door automatic opening / closing device that automatically opens and closes a vehicle door.

  A technique for preventing contact with an obstacle when opening a vehicle door is known. For example, in Patent Document 1 and Patent Document 2, an obstacle sensor using ultrasonic waves or the like is provided on a vehicle door, and the obstacle is detected by the obstacle sensor, so that the physical door switch is operated to operate the vehicle door. A technique for preventing contact with an obstacle when the door is opened is disclosed.

  However, in the techniques disclosed in Patent Document 1 and Patent Document 2, although it is possible to automatically adjust the opening degree of the vehicle door so that it does not come in contact with an obstacle, in order to open and close the vehicle door, physical It was necessary to operate the switch. For this reason, when both hands of the user are covered with luggage, it is necessary to operate a physical switch once on the ground of the luggage. In addition, when the switch is provided on the vehicle body, there is a disadvantage that the wet vehicle body must be touched and operated when it rains, which impairs comfort for the user.

  Therefore, as means for solving this problem, for example, Patent Document 3 discloses that the position of a person with respect to a parked vehicle is acquired from the ultrasonic sensor and the image information of the camera, and that the person exists at the starting position. A technique is disclosed in which the door is opened when it is determined that the end point position has been reached along the flow line after the determination. Patent Document 4 discloses a technique for detecting a body expression such as a gesture or voice of a user with a camera or a voice detection device and opening a vehicle door based on the detected gesture or voice. .

JP 2005-336934 A JP 2006-256362 A JP 2009-208741 A JP 2008-2095 A

  However, in the technique disclosed in Patent Document 3, in order to automatically open the vehicle door, it is necessary to detect the movement of the user's position along the flow line, so the user walks only to open the door. Therefore, there is a problem that the comfort for the user is impaired.

  Further, the technique disclosed in Patent Document 4 has a problem in that the cost increases because it is necessary to additionally install a camera and a voice detection device for detecting body expressions such as user gestures and voices in the vehicle. It was.

  The present invention has been made in view of the above-described conventional problems, and an object thereof is to provide a vehicle door automatic opening / closing device that can improve comfort for a user while suppressing an increase in cost. There is to do.

  According to the first aspect of the present invention, in the vehicle door automatic opening / closing device for detecting an obstacle present on the opening / closing locus of the swing door based on the reflected wave received by the obstacle sensor for transmitting / receiving the exploration wave, the obstacle sensor The detection of the obstacle by the gesture detection means for detecting a predetermined movement (hereinafter referred to as a predetermined gesture) of a part of the user's body within the scanning range of the exploration wave by sequentially detecting obstacles Based on the result, an opening / closing operation starting means for starting an automatic opening / closing operation of the door of the vehicle is further provided.

  According to this, automatic opening / closing operation of the vehicle door (hereinafter, vehicle door) is started based on the detection result obtained by detecting the user's predetermined gesture within the scanning range of the obstacle sensor by the gesture detection means. Therefore, the user can automatically open and close the vehicle door only by performing a small operation compared to walking. Even when both hands are closed with luggage, it is possible to automatically open and close the vehicle door by moving a part (for example, a foot) of another body. In addition, because the user's predetermined gesture within the scanning range of the obstacle sensor is detected and the vehicle door is opened and closed, it is necessary to touch the wet vehicle body when it rains to open and close the vehicle door Nor. Therefore, according to the structure of Claim 1, it becomes possible to improve the comfort for a user.

  Furthermore, according to the configuration of the first aspect, the user's predetermined gesture is detected by using the obstacle sensor used for detecting the obstacle present on the opening / closing locus of the swing door. There is no need to newly provide a camera or the like for detecting a gesture in the vehicle, and an increase in cost can be suppressed. As a result, it is possible to improve comfort for the user while suppressing an increase in cost.

  If the physical range in which a predetermined gesture can be detected is too wide, even if the user happens to move in the same manner as the predetermined gesture, the detection by the gesture detection means is performed, and the vehicle door There may be a malfunction that starts the opening / closing operation. On the other hand, according to the configuration of the second aspect, the gesture detection unit limits the physical range in which the predetermined gesture can be detected to a part of the scanning range of the obstacle sensor. Therefore, by limiting the physical range in which a predetermined gesture can be detected more narrowly, it is possible to prevent detection by the gesture detection means in an unintended place and to prevent a malfunction of the vehicle door. .

  When the physical range in which a predetermined gesture can be detected is narrowed down as in claim 2, the user can illuminate the physical range with visible light emitted from the illumination unit as in claim 3. Is preferably presented. According to this, since it becomes easy for the user to recognize the physical range in which the predetermined gesture can be detected, even when the physical range is limited to be narrower, the user can be surely determined within the physical range. It becomes possible to make a gesture. Therefore, even when the physical range is more narrowly limited, the detection rate of a predetermined gesture can be improved.

  Moreover, when it makes like Claim 3, it is good also as an aspect made like Claim 4. In the configuration of the fourth aspect, the irradiation presence / absence determining means determines whether or not the physical range is illuminated with visible light emitted from the illumination means according to the open / closed state of the swing door. When the irradiation range determination unit determines that the physical range is not illuminated with visible light emitted from the illumination unit, the physical range is not illuminated with visible light emitted from the illumination unit. According to this, it becomes possible not to illuminate the physical range with visible light according to the open / closed state of the swing door.

  For example, when the swing door at the rear of the vehicle is greatly opened, the exploration wave that scans at least the vicinity of the outer surface of the swing door is transmitted in a substantially horizontal direction from a position higher than the user's line of sight. Therefore, the physical range is also located above, and it may be difficult for the user to make a predetermined gesture within the physical range. In addition, when the swing door on the side of the vehicle is open, the exploration wave that scans at least the vicinity of the outer surface of the swing door is the position of the user who is about to get on or get off from the side door of the vehicle. Is more likely to be transmitted only to the opposite side of the swing door, so the physical range is also more likely to be located on the opposite side of the swing door from the physical location. It is considered difficult for the user to make a predetermined gesture within the target range. According to the configuration of claim 4, it is possible to prevent the physical range from being illuminated with visible light when it is difficult to perform a predetermined gesture within the physical range.

  If the time range in which a predetermined gesture can be detected is too wide, even if the user unintentionally makes the same movement as the predetermined gesture, the detection by the gesture detection means is performed, and the vehicle door There may be a malfunction that starts the opening / closing operation. On the other hand, according to the configuration of claim 5, the gesture detection means limits a time range in which a predetermined gesture can be detected. Therefore, by limiting the time range in which a predetermined gesture can be detected more narrowly, it is possible to prevent detection by the gesture detection means when not intended and to prevent malfunction of the vehicle door. .

  In the case where the temporal range in which the predetermined gesture can be detected is more narrowly limited as in the fifth aspect, the temporal range is defined by at least one of the illumination unit and the indicator lamp as in the sixth aspect. It is preferable to present to the user by turning on a certain presentation lamp. According to this, since it becomes easy for the user to recognize the time range in which the predetermined gesture can be detected, even when the time range is more narrowly limited, the user can be surely determined within the time range. It becomes possible to make a gesture. Therefore, even when the time range is limited more narrowly, the detection rate of a predetermined gesture can be improved.

  Further, in the case of the sixth aspect, the aspect of the seventh aspect may be adopted. In the configuration of the seventh aspect, the lighting presence / absence determining means determines whether or not the presentation lamp is lit in a temporal range according to the open / closed state of the swing door. If the lighting presence / absence determining means determines that the presentation lamp is not turned on in the temporal range, the presentation lamp is not turned on in the temporal range. According to this, according to the open / closed state of the swing door, it is possible to prevent the presentation lamp from being lit in the time range.

  For example, when the swing door at the rear of the vehicle is greatly opened, the exploration wave that scans at least the vicinity of the outer surface of the swing door is transmitted in a substantially horizontal direction from a position higher than the user's line of sight. Therefore, the physical range is also located above, and it may be difficult for the user to make a predetermined gesture within the physical range. In addition, when the swing door on the side of the vehicle is open, the exploration wave that scans at least the vicinity of the outer surface of the swing door is the position of the user who is about to get on or get off from the side door of the vehicle. Is likely to be transmitted only to the opposite side across the swing door, so the range for detecting a predetermined gesture is also likely to be located on the opposite side across the swing door. Therefore, it is considered difficult for the user to make a predetermined gesture within the range. According to the configuration of the seventh aspect, when it is difficult to perform the predetermined gesture within the range in which the predetermined gesture is detected as described above, even if it is within the time range in which the predetermined gesture can be detected. In this time range, it is possible not to turn on the presentation lamp.

  According to the configuration of claim 8, based on the short-range wireless communication with the portable device, the gesture detection means detects the predetermined gesture only when the code verification is established in the vehicle-side unit mounted on the vehicle. It will be possible. According to this, the range in which the predetermined gesture can be detected can be limited to at least the range in which the portable device can perform short-range wireless communication with the vehicle-side unit (that is, the vehicle). Therefore, by limiting the physical range in which a predetermined gesture can be detected more narrowly, it is possible to prevent detection by the gesture detection means in an unintended place and to prevent a malfunction of the vehicle door. .

  Further, according to the configuration of the eighth aspect, since the predetermined gesture can be detected only when the code verification is established, the vehicle door by the predetermined gesture can be used only when the vehicle occupant is nearby. Can be opened and closed automatically.

  The swing door is a swing door provided on a side surface of the vehicle, and the opening / closing operation starting means automatically opens the swing door based on the detection result of the gesture detection means. It is good also as an aspect which starts operation | movement. According to this, if the user makes a predetermined gesture in the scanning wave scanning range that scans at least the vicinity of the outer surface of the swing door provided on the side surface of the vehicle, the swing door can be automatically opened. It becomes possible. The scanning range of the exploration wave that scans at least the vicinity of the outer surface of the swing door provided on the side surface of the vehicle should be an area extending from the side to the rear of the swing door when the swing door is closed. Therefore, according to the configuration of the ninth aspect, the swing door can be automatically opened when a predetermined gesture is made near the swing door on the side surface of the vehicle to be opened.

  According to a tenth aspect of the present invention, the swing door is a swing door provided on the side of the vehicle, and the opening / closing operation starting means is provided behind the swing door based on the detection result of the gesture detection means. It is good also as an aspect which starts the automatic opening / closing operation | movement of the said sliding door of the said vehicle. According to this, if the user makes a predetermined gesture in the scanning wave scanning range that scans at least the vicinity of the outer surface of the swing door provided on the side surface of the vehicle, the slide door provided behind the swing door. Can be opened and closed automatically. The scanning wave scanning range for scanning at least the vicinity of the outer surface of the swing door provided on the side of the vehicle is an area from the side of the swing door to the rear, that is, the vicinity of the slide door behind the swing door. That's it. Therefore, according to the structure of Claim 10, if a predetermined gesture is made near the slide door to be opened, the slide door can be automatically opened.

  Further, according to the eleventh aspect, the swing door is a swing door provided at the rear of the vehicle, and the opening / closing operation starting means automatically opens the swing door based on the detection result of the gesture detection means. It is good also as an aspect which starts the operation | movement to door. According to this, if the user makes a predetermined gesture in the scanning wave scanning range that scans at least the vicinity of the outer surface of the swing door provided at the rear of the vehicle, the swing door can be automatically opened. It becomes possible. The scanning range of the exploration wave that scans at least the vicinity of the outer surface of the swing door provided at the rear of the vehicle should be an area behind the swing door when the swing door is closed. Therefore, according to the structure of Claim 11, if the predetermined | prescribed gesture is made near the swing door of the rear part of the vehicle to open, the said swing door can be opened automatically.

  According to a twelfth aspect of the present invention, the swing door is a swing door provided on the side surface of the vehicle, and the opening / closing operation starting means is provided at the rear portion of the vehicle based on the detection result of the gesture detection means. It is good also as an aspect which starts the operation | movement which closes a swing door automatically. According to this, if the user makes a predetermined gesture in the scanning wave scanning range that scans at least the vicinity of the outer surface of the swing door provided on the side surface of the vehicle, the swing door at the rear of the vehicle is automatically closed. It becomes possible. The scanning wave scanning range that scans at least the vicinity of the outer surface of the swing door provided on the side surface of the vehicle is a region from the side to the rear of the swing door, that is, a region closer to the swing door at the rear of the vehicle. It is a spear. Therefore, according to the twelfth aspect of the present invention, if a predetermined gesture is made in a region closer to the rear sliding door of the vehicle to be opened, the sliding door can be automatically closed.

1 is a block diagram showing a schematic configuration of a vehicle door automatic opening / closing system 100. FIG. 2 is a diagram showing a schematic configuration of a laser radar 2. FIG. It is a flowchart which shows an example of the flow of a driver's seat door automatic opening / closing related process in door opening / closing ECU1. It is a schematic diagram for demonstrating each situation when the driver's seat door automatic opening / closing related process is performed. 5 is a flowchart illustrating an example of a flow of a driver seat rear slide door automatic opening / closing related process in the vehicle door automatic opening / closing system 100; (A)-(d) is a schematic diagram for demonstrating each situation when the driver seat back slide door automatic open / close related process is performed. It is a schematic diagram for demonstrating the reason for determining whether it exists in the state which can detect a gesture in a gesture detection range according to the opening / closing state of a driver's seat door. It is a schematic diagram for demonstrating the structure which can irradiate two types of gesture detection ranges. 5 is a flowchart showing an example of a flow of back door automatic opening / closing related processing in the vehicle door automatic opening / closing system 100; (A)-(d) is a schematic diagram for demonstrating each situation when the back door automatic opening / closing related process is performed. (A) And (b) is a schematic diagram for demonstrating each situation when the back door automatic opening / closing related process is performed.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a schematic configuration of a vehicle door automatic opening / closing system 100 to which the present invention is applied. A vehicle door automatic opening / closing system 100 shown in FIG. 1 is mounted on a vehicle, and includes a door opening / closing ECU 1, a laser radar 2, a vehicle speed sensor 3, an opening sensor 4, a smart ECU 5, an illumination device 8, an illumination ECU 9, and a vehicle. An opening / closing motor 6 and a latch release motor 7 for opening and closing the door are configured. That is, in this embodiment, the vehicle door is opened and closed using two types of motors, that is, the opening / closing motor 6 and the latch release motor 7. In addition, the structure which consists of door opening / closing ECU1, the laser radar 2, and the illuminating device 8 is equivalent to the vehicle door automatic opening / closing apparatus of a claim.

  Although FIG. 1 shows a configuration for automatically opening and closing a single vehicle door, the automatic vehicle door opening and closing system 100 according to the present embodiment is any one of vehicles such as a vehicle door of a driver seat. The present invention can be applied only to the vehicle doors of the vehicle, to the vehicle doors of the driver seat and the passenger seat, or to all vehicle doors of the vehicle. Here, for the sake of convenience, the following description will be given by taking as an example a case where the vehicle door automatic opening / closing system 100 is applied to automatically open / close a swing door of a driver's seat as a vehicle door.

  The laser radar 2 is provided, for example, below a door mirror attached to the driver's seat door, in the vicinity of a rotating shaft that rotatably supports the driver's seat swing door (hereinafter referred to as the driver's seat door) with respect to the vehicle body side surface of the vehicle. . For example, as shown in FIG. 2, the laser radar 2 includes a light emitting unit 21, a light receiving unit 22, and a control unit 23. FIG. 2 is a diagram showing a schematic configuration of the laser radar 2. The light emitting unit 21 and the light receiving unit 22 are provided toward the vicinity of the outer surface of the driver seat door so that an obstacle present on the opening / closing locus of the driver seat door can be detected.

  The light emitting unit 21 includes a laser diode, and sweeps and irradiates (scans) pulsed laser light in a range of predetermined angles in the vehicle width direction and the vehicle height direction in accordance with a drive signal from the control unit 23. A detection area of the laser radar 2 is defined by an angle range (that is, a scanning range) in which laser light is irradiated in each of the vehicle width direction and the vehicle height direction. Moreover, the light emission part 21 shall scan sequentially with respect to the whole detection area.

  The light emitting unit 21 sequentially emits laser light so as to scan at least the vicinity of the outer surface of the driver's seat door. For example, the configuration may be such that the laser beam is irradiated so as to scan an area up to a range shifted by a predetermined angle in the direction in which the driver seat door is opened with respect to the outer surface of the driver seat door. In addition, as a configuration in which the outer surface of the driver's seat door is irradiated with laser light so as to scan a region from a plane shifted by a predetermined angle in a direction in which the driver's seat door is opened to a range shifted to a certain angle Also good. According to this, when opening the driver's seat door, it is possible to detect an obstacle that may come into contact with the driver's seat door over the entire movable range of the driver's seat door. Note that the predetermined angle and the constant angle referred to here can be arbitrarily set.

  The light receiving unit 22 receives the reflected light (reflected wave) obtained by reflecting the laser light emitted from the light emitting unit 21 by an obstacle with a light receiving lens, and gives the light to a light receiving element (photodiode). The light receiving element outputs a voltage corresponding to the intensity of the reflected light. The output voltage of the light receiving element is amplified by an amplifier and then output to a comparator. The comparator compares the output voltage of the amplifier with the reference voltage, and when the output voltage becomes larger than the reference voltage, outputs a predetermined light reception signal to the control unit 23 as an obstacle detected.

  The control unit 23 is configured as a normal computer, and includes a well-known CPU, a memory such as a ROM, a RAM, and an EEPROM, an I / O, and a bus line (not shown) for connecting these configurations. Etc. are provided. The control unit 23 executes various processes based on various information input from the light receiving unit 22 and the angle detection unit 24.

  For example, according to a program stored in the ROM, the control unit 23 drives the light emitting unit 11 so that the laser light scans sequentially in a predetermined pattern in the detection area when the light emitting unit 11 irradiates the laser light. Output a signal. Thus, since the pattern scanned by the laser light is determined, when the reflected light is received, the irradiation angle of the laser light from which the reflected light is obtained is uniquely determined. Using this, the control unit 23 irradiates the laser beam from which the reflected light is obtained when the light receiving unit 22 receives the reflected light (specifically, when the light receiving signal is input from the light receiving unit 22). Find the angle.

Further, the control unit 23 measures the time from when the drive signal is output until the light reception signal is generated, that is, the time difference between the time when the laser light is emitted and the time when the reflected light is received. Then, the distance to the obstacle is calculated based on the measured time difference. Then, the calculated distance to the obstacle and the irradiation angle of the laser beam from which the reflected light used to calculate the distance to the obstacle are input to the door opening / closing ECU 1.

  The laser radar 2 may be configured to be provided on the driver's seat door itself in the vicinity of the rotation shaft that rotatably supports the driver's seat door with respect to the vehicle body side surface of the vehicle. The following description will be continued as provided.

  Further, in the present embodiment, a configuration in which the laser radar 2 is used as an obstacle sensor for detecting an obstacle present on the opening / closing locus of the vehicle door is shown, but the configuration is not necessarily limited thereto. Any other obstacle sensor may be used as long as the obstacle sensor can detect the movement of the obstacle by scanning the exploration wave. For example, an ultrasonic sensor, a millimeter wave radar, an infrared sensor, or the like may be used.

  The vehicle speed sensor 3 generates a speed signal corresponding to the traveling speed of the vehicle. The opening degree sensor 4 detects the opening degree of the driver's seat door when the driver's seat door is opened, and generates a detection signal. Signals from the vehicle speed sensor 3 and the opening sensor 4 are also input to the door opening / closing ECU 1.

  The smart ECU 5 is mainly configured by a microcomputer including a CPU that controls various devices, a ROM in which various numerical values and programs are written in advance, and a RAM in which numerical values and flags of calculation processes are written in a predetermined area. And, by executing various control programs stored in the ROM, various processes related to the smart entry system such as code verification, request signal transmission control (to be described later), and vehicle door lock / unlock control are executed. To do.

  Here, a known smart entry system will be described. In the well-known smart entry system, when a user carries a portable device such as a portable electronic key and approaches the driver's seat door, a request signal that is always transmitted at regular intervals by short-range wireless communication from a transmitter on the vehicle side The portable device receives (for example, LF band radio waves) and transmits a response signal (for example, VHF band / UHF band radio waves) including its own ID code stored in advance in a memory. On the other hand, when the response signal is received by the vehicle-side tuner, the vehicle-side smart ECU 5 collates the ID code contained in the response signal with the vehicle-specific ID code, and the door is provided that both match. To unlock. In addition, when the user carrying the portable device is separated from the vehicle, the vehicle cannot receive the response signal transmitted from the portable device. Then, the vehicle locks the door with a trigger that the response signal cannot be received. Therefore, the smart ECU 5 corresponds to the vehicle side unit in the claims. In this embodiment, the vehicle-side oscillator and tuner are provided in the vicinity of the driver's seat door, and the communication range is limited to the vicinity of the driver's seat door.

  The latch release motor 7 is installed inside the driver's seat door, and acts on a latch mechanism (not shown) that holds the driver's seat door in the closed position to release the latch mechanism. As a result, the driver's seat door can be opened.

  The opening / closing motor 6 is also installed inside the driver's seat door, and opens or closes the driver's seat door to a set opening (for example, maximum opening) by driving a door opening / closing mechanism (not shown). is there. However, when the driver's seat door stop gesture (described later) is detected while the driver's seat door is open, or an obstacle that may come into contact with the driver's seat door is detected, the opening below the set opening Even so, the opening of the driver's seat door by the opening / closing motor 6 is stopped. In this case, the opening degree of the driver's seat door is maintained at the opening degree when the opening / closing motor 6 is stopped.

  The illuminating device 8 irradiates a part of the detection area of the laser radar 2 (specifically, a gesture detection range described later in detail) with visible light, and can irradiate a part of the physical area of the detection area. For example, it is assumed that the laser radar 2 is installed in the vicinity of the installation position. Therefore, the illuminating device 8 corresponds to the illuminating means in the claims. In the present embodiment, for example, the following description will be continued assuming that the lighting device 8 is provided below the door mirror of the driver's seat door.

  The illumination ECU 9 is mainly configured by a microcomputer including a CPU that controls seed devices, a ROM in which various numerical values and programs are written in advance, and a RAM in which numerical values and flags of calculation processes are written in a predetermined area. Then, by executing various control programs stored in the ROM, various processes such as lighting control of the lighting device 8 and the indicator lamp provided in the vehicle are executed. In the example of this embodiment, the illumination ECU 9 continues the following description on the assumption that the door handle illumination of the driver's seat door is turned on and off.

  The door opening / closing ECU 1 includes a laser radar 2, a vehicle speed sensor 3, an opening sensor 4, an input interface (I / F) 11 that receives signals from the smart ECU 5, a CPU 12 that performs various arithmetic processes according to a predetermined program, and a program A nonvolatile memory 13 to be stored and a motor driver 14 for outputting a drive signal for driving the opening / closing motor 6 and the latch release motor 7 are configured.

  For example, the door opening / closing ECU 1 determines whether or not the door opening / closing ECU 1 may be in contact with the driver's seat door based on the distance to the obstacle acquired from the control unit 23 of the laser radar 2. Specifically, when the calculated distance to the obstacle is shorter than the distance from the installation position of the laser radar 2 to the end of the driver door when the driver door is fully opened to the set opening, It is determined that the obstacle is likely to come into contact with the door. Thereby, control which opens a driver's seat door as much as possible is possible in the range which a driver's seat door does not touch an obstacle.

  Further, the door opening / closing ECU 1 determines the obstacle (specifically, reflection of the laser beam based on the distance to the obstacle acquired from the control unit 23 of the laser radar 2 and the irradiation angle of the laser beam from which the reflected light is obtained). Point) position data is created. Specifically, the center of the light emitting unit 21 and the light receiving unit 22 is the origin (0, 0, 0), the vehicle width direction is the X axis, the vehicle longitudinal direction is the Y axis, and the height direction is the Z axis. The coordinates, Y coordinate, and Z coordinate are obtained. That is, the relative position of the obstacle with respect to the center of the light emitting unit 21 and the light receiving unit 22 (that is, corresponding to the installation position of the laser radar 2) is obtained. As described above, in the laser radar 2, since the light emitting unit 21 sequentially scans the entire detection area, when an obstacle moves with the passage of time, the relative position according to the movement is sequentially changed. It will be required. This makes it possible to detect a gesture caused by the movement of the user's hand or foot. Therefore, the door opening / closing ECU 1 corresponds to the gesture detection means in the claims. It should be noted that not only the movement of the user's hand and foot, but also the movement of a cane or the like can be detected as a gesture.

  Here, detection of a gesture in the door opening / closing ECU 1 will be described. First, the door opening / closing ECU 1 limits the range in which gesture detection is performed (hereinafter, gesture detection range) to a part of the detection area (that is, the scanning range) of the laser radar 2. Specifically, it is sufficient not to create obstacle position data for a scanning range other than the limited gesture detection range. In this embodiment, as an example, the gesture detection range is limited to a part of the scanning range of the laser radar 2 that is behind the position of the tip of the driver's seat door and closer to the driver's seat door. It shall be.

  The illumination device 8 is provided so as to illuminate a substantially same range as the gesture detection range with visible light so that the user can easily recognize the gesture detection range.

  The door opening / closing ECU 1 detects a predetermined gesture within the gesture detection range, and executes control according to the detected gesture. As an example, a gesture that moves a limb within the gesture detection range or across the gesture detection range to move away from the vehicle in the vehicle width direction is a gesture that instructs the opening of the driver's seat door (hereinafter, the driver's seat door opening). Detect as a gesture. In addition, a gesture for stopping a limb for a certain time within a gesture detection range is detected as a gesture for instructing opening of the driver's seat door (driver's seat opening stop gesture).

  Subsequently, using FIG. 3 and FIGS. 4A to 4C, processing related to automatic opening / closing of the driver's seat door in the vehicle door automatic opening / closing system 100 (hereinafter, processing related to automatic opening / closing of the driver's seat door). ) Will be described. FIG. 3 is a flowchart showing an example of the flow of the driver door automatic opening / closing related process in the vehicle door automatic opening / closing system 100. FIG. 4A to FIG. 4C are schematic diagrams for explaining each situation when the driver's door automatic opening / closing related process is being performed. This flow is started, for example, when the smart ECU 5 and the door opening / closing ECU 1 included in the vehicle door automatic opening / closing system 100 are turned on.

  First, in step S1, the door opening / closing ECU 1 determines whether or not the vehicle is stopped. Whether or not the vehicle is stopped is determined according to whether or not the speed signal from the vehicle speed sensor 3 indicates vehicle speed = 0. If the vehicle speed is 0, that is, if it is determined that the vehicle is stopped (YES in step S1), the process proceeds to step S2. If the vehicle speed = 0 is not indicated, that is, if it is determined that the vehicle is not stopped (NO in step S1), the flow of step S1 is repeated.

  In step S2, the door opening / closing ECU 1 instructs the smart ECU 5 to start polling for transmitting a request signal from the vehicle-side oscillator every predetermined time, and the process proceeds to step S3. In step S3, when the door opening / closing ECU 1 obtains information indicating that the code verification has been established in the smart ECU 5 (YES in step S3), the power supply of the laser radar 2 is turned on with verification, and the process proceeds to step S4. If the door ECU 1 does not obtain information indicating that code verification has been established in the smart ECU 5 (NO in step S3), the flow of step S3 is repeated without verification.

  That is, it is possible to detect the approach of the user to the driver's door by using code verification based on the short-range wireless communication of the smart entry system (see FIG. 4A).

  In step S4, the door opening / closing ECU 1 determines whether or not a gesture can be detected in the gesture detection range. Whether or not a gesture can be detected in the gesture detection range is determined depending on whether or not the signal from the opening sensor 4 indicates a fully closed state (fully closed state) of the driver's seat door, for example. . If it is determined that the fully closed state is indicated, that is, it is in a state where the gesture can be detected within the gesture detection range (YES in step S4), the process proceeds to step S5. If it is determined that the fully closed state is not indicated, that is, it is determined that the gesture cannot be detected in the gesture detection range (NO in step S4), the flow ends.

  The door opening / closing ECU 1 determines whether or not a gesture can be detected in the gesture detection range depending on whether or not the signal of the door courtesy switch indicates a state where the driver's door is completely closed (fully closed state). It is good also as a structure which judges.

  Further, in the present embodiment, the configuration in which it is determined that the gesture can be detected in the gesture detection range when the fully closed state is indicated is not necessarily limited thereto. For example, when the opening degree of the driver's seat door is equal to or smaller than a predetermined value, it may be determined that the gesture can be detected in the gesture detection range. The predetermined value here is a value that can be arbitrarily set.

  In step S5, the door opening / closing ECU 1 instructs the illumination ECU 9 to turn on the illumination device 8 to illuminate a range substantially the same as the gesture detection range with visible light, and then proceeds to step S6. In step S6, the door opening / closing ECU 1 instructs the illumination ECU 9, turns on the door handle illumination of the driver's seat door, and proceeds to step S7. Accordingly, it is possible to easily recognize the range and timing at which the user can detect a gesture, and perform a gesture with a hand, a leg, or the like within the gesture detection range.

  In the present embodiment, the configuration in which the process of step S6 is performed after the process of step S5 is shown, but the present invention is not necessarily limited thereto. For example, the process of step S5 may be performed after the process of step S6, or the process of step S5 and the process of step S6 may be performed in parallel.

  If it is determined in step S4 that the gesture detection range is not in a state where the gesture can be detected, a region substantially the same as the gesture detection range can be illuminated with visible light, or the door handle illumination of the driver's door can be turned on. Also not done. Thereby, it can be made to recognize easily that it is not in the state which can detect a gesture in a gesture detection range. Therefore, the door opening / closing ECU 1 corresponds to an irradiation presence / absence determination unit and a lighting presence / absence determination unit.

  In step S7, when detection of the driver's seat opening gesture performed by the user with his / her hand or foot (see FIG. 4B) is performed in the door opening / closing ECU 1 (YES in step S7), the process proceeds to step S8. If the detection of the driver's seat opening gesture is not performed by the door opening / closing ECU 1 (NO in step S7), the flow of step S7 is repeated.

  In step S8, the door opening / closing ECU 1 outputs a drive signal from the motor driver 14 to the opening / closing motor 6 and the latch release motor 7 to start the opening of the driver's seat door, and proceeds to step S9. Therefore, the door opening / closing ECU 1 corresponds to the opening / closing operation starting means in the claims.

  In step S9, the door opening / closing ECU 1 determines whether or not the opening degree of the driver's seat door has reached a set opening degree when the driver's seat door is automatically opened based on a detection signal of the opening degree sensor 4. And when it determines with the opening degree of a driver's seat door having become the setting opening degree (it is YES at step S9), it moves to step S12. On the other hand, when it is determined that the opening degree of the driver's seat door has not yet reached the set opening degree (NO in step S9), the process proceeds to step S10.

  In step S10, based on the obstacle detection result of the laser radar 2, it is determined whether there is an obstacle that may come into contact with the driver's seat door as described above. And when it determines with the obstacle which may contact a driver's seat door existing (it is YES at step S10), it moves to step S11. If it is determined that there is no obstacle that may contact the driver's seat door (NO in step S10), the process returns to step S9 and the flow is repeated. Thus, by repeatedly executing the processing from step S9 to step S10, the obstacle detection for the driver seat door is continuously executed while the driver seat door is opened.

  In step S11, after the obstacle is detected, the driving of the opening / closing motor 6 is continued, and the opening degree of the driver's seat door at the time when the obstacle is detected by the opening / closing motor 6 is an angle that does not contact the obstacle. When the driver's seat door is opened (see FIG. 4C), the process proceeds to step S12. What is necessary is just to set it as the structure calculated | required based on the distance to the obstacle calculated by the door opening / closing ECU 1 about the angle which does not contact an obstacle.

  In the present embodiment, when an obstacle that may contact the driver's seat door is detected, the opening operation of the driver's seat door is stopped at an opening degree that does not contact the obstacle. However, this is not necessarily the case. For example, the door opening / closing ECU 1 may stop the opening operation of the driver's seat door when the detection of the driver's seat opening / closing stop gesture is performed.

  In step S12, the driving of the opening / closing motor 6 is stopped to stop the opening of the driver seat door, the opening degree of the driver seat door is maintained, and the flow is ended.

  According to the configuration of the present embodiment, when code verification based on short-range wireless communication via an oscillator and a tuner near the driver's seat door is established, it is possible to detect a gesture. It is possible to automatically open and close the driver's seat door by a gesture only when the user is in the vehicle.

  In the present embodiment, the case where the vehicle door automatic opening / closing system 100 is applied to automatically open / close the swing door of the driver's seat as the vehicle door has been described, but the same applies to the swing door of the passenger seat.

  Although the embodiment of the present invention has been described above, the present invention is not limited to the above-described embodiment, and the following embodiment (hereinafter, modified example 1) is also included in the technical scope of the present invention. Below, the modification 1 is demonstrated using drawing. For convenience of explanation, members having the same functions as those shown in the drawings used in the description of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

  The first modification is an example in which the vehicle door automatic opening / closing system 100 is applied to automatically open / close a sliding door provided behind a swing door of a driver seat or a passenger seat as a vehicle door. In the first modification, the case where the vehicle door automatic opening / closing system 100 is applied to the automatic opening / closing of the sliding door behind the swing door of the driver's seat (hereinafter, the driver's rear sliding door) will be described as an example. . Here, it is assumed that the laser radar 2 is provided below the door mirror of the driver's seat door in the same manner as in the above-described embodiment.

  In the first modification, the vehicle-side oscillator and tuner in the smart entry system are provided in the vicinity of the driver seat rear slide door, and the communication range is limited to the vicinity of the driver seat rear slide door. .

  In the first modification, the latch release motor 7 is installed inside the driver's seat rear slide door, and acts on a latch mechanism (not shown) that holds the driver seat rear slide door in the closed position to release the latch mechanism. is there. The opening / closing motor 6 is also installed inside the driver's seat rear slide door, and drives the door opening / closing mechanism (not shown) to open or close the driver seat rear slide door to a set opening (for example, maximum opening). It is something to do. However, when a later-described slide door opening / closing stop gesture is detected during opening / closing of the driver seat rear slide door, the opening / closing of the driver seat rear slide door by the opening / closing motor 6 is stopped. In this case, the opening degree of the driver's seat rear sliding door is maintained at the opening degree when the opening / closing motor 6 is stopped. In the first modification, the illumination ECU 9 performs, for example, control of turning on and off the door handle illumination of the driver seat rear sliding door and control of the lighting device 8.

  Also in the first modification, the door opening / closing ECU 1 limits the gesture detection range to a part of the detection area of the laser radar 2. However, unlike the above-described embodiment, the gesture detection range is set to the laser radar 2 as an example. In this scanning range, it is limited to a part of the region behind the front end of the driver seat door and closer to the driver seat rear slide door. The illumination device 8 is provided so as to illuminate a range substantially the same as the gesture detection range with visible light so that the user can easily recognize the gesture detection range.

  In the first modification, the door opening / closing ECU 1 opens a driver door rear sliding door by moving a gesture of moving a limb from the front direction of the vehicle toward the rear direction within the gesture detection range or across the gesture detection range. Is detected as a gesture (hereinafter referred to as a sliding door opening gesture). In addition, a gesture that moves the limb from the rear direction of the vehicle toward the front direction within the gesture detection range or across the gesture detection range is a gesture for instructing to close the rear sliding door of the driver's seat (hereinafter referred to as a sliding door closing gesture). ) To detect. In addition, a gesture for stopping a limb for a certain time within the gesture detection range is detected as a gesture (sliding door opening / closing stop gesture) for instructing opening of the sliding door at the rear of the driver's seat.

  Subsequently, referring to FIG. 5 and FIGS. 6A to 6D, processing related to automatic opening / closing of the driver's seat rear sliding door in the vehicle door automatic opening / closing system 100 (hereinafter, driver's seat rear slide). The flow of the door automatic opening / closing related process) will be described. FIG. 5 is a flowchart showing an example of a flow of the driver seat rear sliding door automatic opening / closing related process in the vehicle door automatic opening / closing system 100. FIG. 6A to FIG. 6D are schematic diagrams for explaining each situation when the driver seat rear slide door automatic opening / closing related process is performed. This flow is started, for example, when the smart ECU 5 and the door opening / closing ECU 1 included in the vehicle door automatic opening / closing system 100 are turned on.

  First, in step S31, the door opening / closing ECU 1 determines whether or not the vehicle is stopped as in step S1. If it is determined that the vehicle is stopped (YES in step S31), the process proceeds to step S32. If it is determined that the vehicle is not stopped (NO in step S31), the flow of step S31 is repeated.

  In step S32, the door opening / closing ECU 1 instructs the smart ECU 5 in the same manner as in step S2, starts polling for transmitting a request signal from the vehicle-side oscillator every predetermined time, and proceeds to step S33. In step S33, when the door opening / closing ECU 1 obtains information indicating that the code verification has been established in the smart ECU 5 (YES in step S33), the power supply of the laser radar 2 is turned on with verification, and the process proceeds to step S34. If the door opening / closing ECU 1 has not obtained information indicating that code verification has been established in the smart ECU 5 (NO in step S33), the flow of step S33 is repeated without verification.

  That is, by using code verification based on short-range wireless communication of the smart entry system, it is possible to detect the user's approach to the driver's seat rear slide door (see FIG. 6A).

  In step S34, the door opening / closing ECU 1 determines whether or not a gesture can be detected within the gesture detection range. Whether or not a gesture can be detected in the gesture detection range is determined depending on whether or not the signal from the opening sensor 4 indicates a fully closed state (fully closed state) of the driver's seat door, for example. .

  The reason for determining whether or not a gesture can be detected in the gesture detection range according to the open / close state of the driver's seat door is as follows. When the driver's seat door is open, the exploration wave of the laser radar 2 that scans at least the vicinity of the outer surface of the driver's seat door is, as shown in FIG. The position of the user who is about to get on or get off from A) (a broken circle indicated by C in FIG. 7) is transmitted only to the opposite side across the driver's seat door (B in FIG. 7) (in FIG. 7). This is because the gesture detection range is also located on the opposite side of the user's position across the driver's seat door, and it is difficult for the user to make a gesture within the gesture detection range.

  Returning to FIG. 5, if it is determined in step S <b> 34 that the fully closed state is indicated, i.e., that the gesture is detectable in the gesture detection range (YES in step S <b> 34), the process proceeds to step S <b> 35. If it is determined that the fully closed state is not indicated, that is, it is determined that the gesture cannot be detected in the gesture detection range (NO in step S34), the flow ends.

  The door opening / closing ECU 1 determines whether or not a gesture can be detected in the gesture detection range depending on whether or not the signal of the door courtesy switch indicates a state where the driver's door is completely closed (fully closed state). It is good also as a structure which judges.

  Further, in the present embodiment, the configuration in which it is determined that the gesture can be detected in the gesture detection range when the fully closed state is indicated is not necessarily limited thereto. For example, when the opening degree of the driver's seat door is equal to or smaller than a predetermined value, it may be determined that the gesture can be detected in the gesture detection range. The predetermined value here is a value that can be arbitrarily set.

  In step S35, the door opening / closing ECU 1 instructs the illumination ECU 9 to turn on the illumination device 8 to illuminate a range substantially the same as the gesture detection range with visible light, and then proceeds to step S36. In step S36, the door opening / closing ECU 1 instructs the illumination ECU 9 to turn on the door handle illumination of the rear sliding door of the driver's seat, and the process proceeds to step S37. Accordingly, it is possible to easily recognize the range and timing at which the user can detect a gesture, and perform a gesture with a hand, a leg, or the like within the gesture detection range.

  In the present embodiment, the configuration in which the process of step S36 is performed after the process of step S35 is shown, but the present invention is not necessarily limited thereto. For example, the process of step S35 may be performed after the process of step S36, or the process of step S35 and the process of step S36 may be performed in parallel.

  If it is determined in step S34 that the gesture detection range is not in a state in which the gesture can be detected (NO in step S34), the range substantially the same as the gesture detection range may be illuminated with visible light, The sliding door door handle illumination is not illuminated. Thereby, it can be made to recognize easily that it is not in the state which can detect a gesture in a gesture detection range.

  In step S37, when the detection of the sliding door opening gesture performed by the user with his / her hands or feet (see FIG. 6B) is performed in the door opening / closing ECU 1 (YES in step S37), the process proceeds to step S38. If the detection of the sliding door opening gesture is not performed by the door opening / closing ECU 1 (NO in step S37), the process proceeds to step S40.

  In step S38, the door opening / closing ECU 1 outputs a drive signal from the motor driver 14 to the opening / closing motor 6 and the latch release motor 7 to start opening the sliding door at the rear of the driver's seat (see FIG. 6C). The process moves to S39.

  In step S39, the door opening / closing ECU 1 determines whether or not the opening degree of the driver seat rear slide door has reached the set opening degree when the driver seat rear slide door is automatically opened based on the detection signal of the opening sensor 4. judge. And when it determines with the opening degree of a driver's seat back slide door having become the set opening degree (it is YES at step S39), it moves to step S43. On the other hand, when it is determined that the opening degree of the driver's seat rear slide door has not yet reached the set opening degree (NO in step S39), the flow of step S39 is repeated.

  In step S40, if the door opening / closing ECU 1 detects the sliding door closing gesture (see FIG. 6B) performed by the user's hand or foot (YES in step S40), the process proceeds to step S41. . If the detection of the sliding door closing gesture is not performed by the door opening / closing ECU 1 (NO in step S40), the flow returns to step S37 to repeat the flow.

  In step S41, the door opening / closing ECU 1 outputs a drive signal from the motor driver 14 to the opening / closing motor 6 to start closing of the driver seat rear sliding door (see FIG. 6D), and proceeds to step S42.

  In step S42, the door opening / closing ECU 1 determines whether or not the opening degree of the rear sliding door of the driver's seat has become 0 (that is, the fully closed state) based on the detection signal of the opening degree sensor 4. And when it determines with the opening degree of a driver's seat back slide door having become 0 (it is YES at step S42), it moves to step S43. On the other hand, when it is determined that the opening degree of the driver's seat rear sliding door has not yet reached 0 (NO in step S43), the flow of step S43 is repeated.

  In step S43, the driving of the opening / closing motor 6 is stopped to stop the opening / closing of the driver seat rear sliding door, and the flow is ended. In this embodiment, for example, when the sliding door opening / closing stop gesture is detected by the door opening / closing ECU 1, the opening / closing operation of the driver's seat rear sliding door may be stopped.

  According to the configuration of the present embodiment, when code verification based on short-range wireless communication via an oscillator and a tuner near the rear sliding door of the driver's seat is established, gesture detection is possible. Only when the user is in the vicinity of the sliding door, it is possible to automatically open and close the sliding door behind the driver's seat by a gesture.

  In the present embodiment, the case where the vehicle door automatic opening / closing system 100 is applied to automatically open / close the driver's seat rear slide door as the vehicle door has been described, but the same applies to the slide door behind the passenger's seat swing door. It shall be.

  Moreover, it is good also as a structure which uses the above-mentioned embodiment and the modification 1 together. In this case, common members may be used in common, while those that cannot be shared may be provided. For example, for the lighting device 8, there are provided two types, one in which the irradiation range is substantially the same as the gesture detection range on the driver's seat door side and one that is substantially the same in the gesture detection range on the driver's seat rear slide door side, As shown in FIG. 8, it may be configured to irradiate two types of gesture detection ranges. FIG. 8 is a schematic diagram for explaining a configuration capable of irradiating two types of gesture detection ranges. 8 indicates the irradiation range of the lighting device 8 that is substantially the same as the gesture detection range on the driver's seat door side, and E is substantially the same as the gesture detection range on the rear sliding door side of the driver's seat. The irradiation range of the illuminating device 8 is shown. Further, the arrow in FIG. 8 indicates the exploration wave scanned by the laser radar 2. In addition, it is good also as a structure which can irradiate the above-mentioned two types of gesture detection ranges with one illumination device 8 by changing the angle of the illumination device 8 with an actuator such as a motor.

  In addition, the vehicle-side oscillator and tuner in the smart entry system are provided in the vicinity of the driver's seat door and in the vicinity of the driver's seat rear sliding door, respectively, and each communication range is in the vicinity of the driver's seat door. What is necessary is just to set it as the structure limited to each in the vicinity of a seat back slide door. As a result, information indicating whether code verification is performed via the oscillator and tuner on the driver's door side or whether code verification is performed via the oscillator and tuner on the driver's rear sliding door side is transmitted from the smart ECU 5 to the door opening / closing ECU 1. Thus, it is possible to determine which of the driver's seat door and the driver's seat rear sliding door is intended to be opened and closed by the user.

  Further, when the door opening / closing ECU 1 determines which of the driver's seat door and the driver's seat rear sliding door is intended to be opened / closed, the lighting device 8 detects the gesture detection range only on the door side intended to be opened / closed. It is also possible to light up the door and turn on the door handle illumination. According to this, since the gesture detection range is illuminated by the lighting device 8 or the door handle illumination is not lit on the side where the user does not intend to open / close, the user can easily set the gesture detection range for opening / closing the intended door. Can be recognized.

  Further, the following embodiment (hereinafter, modified example 2) is also included in the technical scope of the present invention. Below, the modification 2 is demonstrated using drawing. For convenience of explanation, members having the same functions as those shown in the drawings used in the description of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

  The modified example 2 is an example in which the vehicle door automatic opening / closing system 100 is applied to automatically open / close a back door that is a swing door provided at the rear of the vehicle as a vehicle door.

  In the second modified example, the laser radar 2 is provided not only at the lower part of the door mirror of the driver's seat door as described above, but also at the upper part of the back door, for example, in the vicinity of the rotation axis of the back door. .

  The laser radar 2 on the back door side sequentially emits laser light so as to scan at least the vicinity of the outer surface of the back door. For example, the configuration may be such that the outer surface of the back door is irradiated with laser light so as to scan a region up to a range shifted by a predetermined angle in the direction in which the back door is opened. In addition, a configuration may be adopted in which laser light is irradiated so as to scan a region from a plane shifted by a predetermined angle in a direction in which the back door is opened to a range shifted to a certain angle on the outer surface of the back door. . According to this, when opening the back door, it is possible to detect an obstacle that may come into contact with the back door over the entire movable range of the back door. Note that the predetermined angle and the constant angle referred to here can be arbitrarily set.

  In Modification 2, the vehicle-side oscillator and tuner in the smart entry system are provided in the vicinity of the back door, and the communication range is limited to the vicinity of the back door.

  In the second modification, the latch release motor 7 is installed inside the back door and acts on a latch mechanism (not shown) that holds the back door in the closed position to release the latch mechanism. The opening / closing motor 6 is also installed inside the back door, and drives the door opening / closing mechanism (not shown) to open or close the back door to a set opening (for example, maximum opening). However, when a back door opening / closing stop gesture described later is detected during opening / closing of the back door, the opening / closing of the back door by the opening / closing motor 6 is stopped. In this case, the opening degree of the back door is maintained at the opening degree when the opening / closing motor 6 is stopped. In the second modification, the illumination ECU 9 performs, for example, control of turning on / off the tail lamp and control of the lighting device 8.

  Also in the modified example 2, the door opening / closing ECU 1 limits the gesture detection range to a part of the detection area of the laser radar 2. Specifically, for the laser radar 2 on the driver's door side, as an example, the gesture detection range is behind the position of the front end of the driver's seat door in the scanning range and closer to the rear of the vehicle. Limited to some areas. On the other hand, for the laser radar 2 on the back door side, as an example, the gesture detection range is limited to a partial region near the center in the vehicle width direction of the vehicle in the scanning range.

  The illumination device 8 is configured so that the laser radar 2 on the driver's door side and the back door side are illuminated so that the user can easily recognize each of these gesture detection ranges with visible light. The laser radar 2 is provided at the same position as that of the laser radar 2. Hereinafter, the gesture detection range of the laser radar 2 on the driver's seat door side is referred to as a driver seat side gesture detection range, and the gesture detection range of the laser radar 2 on the back door side is referred to as a back door side gesture detection range.

  In the second modification, the door opening / closing ECU 1 performs a gesture for moving the limb from the lower side of the vehicle toward the upper side within the back door side gesture detection range or across the back door side gesture detection range. It is detected as a gesture for instructing a door (hereinafter referred to as a back door opening gesture). In addition, a gesture that moves the limb from the upper side to the lower side of the vehicle within the driver side gesture detection range or across the driver side gesture detection range is a gesture that instructs the back door to close (hereinafter referred to as the back side). Detect as door closing gesture. In addition, a gesture for stopping a limb for a certain time within the gesture detection range is detected as a gesture for instructing opening of the back door (back door opening / closing stop gesture).

  Subsequently, referring to FIG. 9, FIG. 10 (a) to FIG. 10 (d), and FIG. 11 (a) to FIG. 11 (b), it is related to automatic opening / closing of the back door in the vehicle door automatic opening / closing system 100. The flow of processing to be performed (hereinafter referred to as backdoor automatic opening / closing related processing) will be described. FIG. 9 is a flowchart illustrating an example of a flow of the back door automatic opening / closing related process in the vehicle door automatic opening / closing system 100. FIG. 10A to FIG. 10D and FIG. 11A to FIG. 11B are schematic diagrams for explaining each situation when the back door automatic opening / closing-related processing is performed. . This flow is started, for example, when the smart ECU 5 and the door opening / closing ECU 1 included in the vehicle door automatic opening / closing system 100 are turned on.

  First, in step S51, the door opening / closing ECU 1 determines whether or not the vehicle is stopped as in step S1. If it is determined that the vehicle is stopped (YES in step S51), the process proceeds to step S52. If it is determined that the vehicle is not in a stopped state (NO in step S51), the flow in step S51 is repeated.

  In step S52, the door opening / closing ECU 1 instructs the smart ECU 5 in the same manner as in step S2, starts polling for transmitting a request signal from the vehicle-side oscillator every predetermined time, and proceeds to step S53. In step S53, when the door opening / closing ECU 1 obtains information indicating that the code verification is established in the smart ECU 5 (YES in step S53), the verification of the laser radar 2 on the driver side door side and the back door side is performed with verification. The power is turned on and the process proceeds to step S54. If the door opening / closing ECU 1 has not obtained information indicating that code verification has been established in the smart ECU 5 (NO in step S53), the flow of step S53 is repeated without verification.

  That is, it is possible to detect the approach of the user to the back door by using code verification based on the short-range wireless communication of the smart entry system (see FIG. 10A).

  In step S54, the door opening / closing ECU 1 determines whether or not a gesture can be detected in the driver seat side gesture detection range or the back door side gesture detection range. Whether or not the gesture can be detected in the driver seat side gesture detection range depends on whether or not the signal of the opening sensor 4 indicates a state in which the driver seat door is completely closed (fully closed state), for example. Judgment. On the other hand, whether or not the gesture can be detected in the back door-side gesture detection range is, for example, whether or not the signal of the opening sensor 4 indicates a state in which the back door is completely closed (fully closed state). Judgment accordingly.

  The reason for determining whether or not a gesture can be detected in the driver seat side gesture detection range according to the open / closed state of the driver seat door is as described in the first modification. The reason for determining whether or not a gesture can be detected in the back door-side gesture detection range according to the open / closed state of the back door is as follows. When the back door is wide open, for example, fully open, the search wave of the laser radar 2 on the back door side that scans at least the vicinity of the outer surface of the swing door is from a position higher than the user's line of sight. For example, the back door side gesture detection range is positioned higher than the eye level, and the user can make a gesture within the back door side gesture detection range. This is because it may be difficult.

  If it is determined in step S54 that either the driver's seat door or the back door is in the fully closed state, that is, it is possible to detect the gesture in the gesture detection range (YES in step S54), step S54 is performed. The process moves to S55. If it is determined that neither the driver's seat door nor the back door is in the fully closed state, that is, it is determined that the gesture cannot be detected in the gesture detection range (NO in step S54), the flow ends. .

  The door opening / closing ECU 1 determines whether or not a gesture can be detected in the gesture detection range depending on whether or not the signal of the door courtesy switch indicates a state where the driver's door is completely closed (fully closed state). It is good also as a structure which judges.

  Further, in the present embodiment, the configuration in which it is determined that the gesture can be detected in the gesture detection range when the fully closed state is indicated is not necessarily limited thereto. For example, when the opening degree of the driver's seat door or the opening degree of the back door is equal to or smaller than a predetermined value, it may be determined that the gesture can be detected in the gesture detection range. The predetermined value here is a value that can be arbitrarily set.

  In step S55, the door opening / closing ECU 1 instructs the illumination ECU 9 to turn on the illumination device 8, and illuminate a range substantially the same as the driver seat side gesture detection range and the back door side gesture detection range with visible light. The process proceeds to step S56. Specifically, if both the driver's seat door and the back door indicate the fully closed state in step S54, substantially the same range for both the driver's seat side gesture detection range and the back door side gesture detection range. Illuminate with visible light. On the other hand, if only one of the driver's seat door and the back door indicates the fully closed state in step S54, substantially the same range is visible only for the gesture detection range on the side indicating the fully closed state. Illuminate with light rays.

  In step S56, the door opening / closing ECU 1 instructs the illumination ECU 9 to turn on the door handle illumination, tail lamp, and illumination device 8 of the rear sliding door of the driver's seat, and the process proceeds to step S57. Specifically, if both the driver's seat door and the back door are in the fully closed state in step S54, all of the door handle illumination, tail lamp, and lighting device 8 of the driver's seat rear sliding door are turned on. On the other hand, when only one of the driver's seat door and the back door indicates the fully closed state in step S54, only the lighting device 8 and the indicator lamp on the side indicating the fully closed state are turned on.

  Accordingly, it is possible to easily recognize the range and timing at which the user can detect a gesture, and perform a gesture with a hand, a leg, or the like within the gesture detection range.

  In the present embodiment, the configuration in which the process of step S56 is performed after the process of step S55 is shown, but the present invention is not necessarily limited thereto. For example, the process of step S55 may be performed after the process of step S56, or the process of step S55 and the process of step S56 may be performed in parallel.

  If it is determined in step S54 that the gesture detection range is not in a state in which a gesture can be detected, substantially the same range is visible in both the driver seat side gesture detection range and the back door side gesture detection range. It is not illuminated by light rays. Also, neither the door handle illumination of the rear sliding door of the driver's seat nor the tail lamp is lit. Thereby, it can be made to recognize easily that it is not in the state which can detect a gesture in any of a driver's seat side gesture detection range and a back door side gesture detection range.

  In step S57, when the detection of the back door opening gesture performed by the user with his / her hand or foot (see FIG. 10B) is performed in the door opening / closing ECU 1 (YES in step S57), the process proceeds to step S58. The detection of the back door opening gesture is performed based on the detection result of the laser radar 2 on the back door side. If the detection of the sliding door opening gesture is not performed by the door opening / closing ECU 1 (NO in step S57), the process proceeds to step S62.

  In step S58, the door opening / closing ECU 1 outputs a drive signal from the motor driver 14 to the opening / closing motor 6 and the latch release motor 7 to start opening the back door (see FIG. 10C), and proceeds to step S59. .

  In step S59, the door opening / closing ECU 1 determines whether or not the opening degree of the back door has reached a set opening degree when the back door is automatically opened based on a detection signal of the opening degree sensor 4. If it is determined that the opening degree of the back door has reached the set opening degree (YES in step S59), the process proceeds to step S65. On the other hand, when it is determined that the opening degree of the back door has not yet reached the set opening degree (NO in step S59), the process proceeds to step S60.

  In step S60, based on the obstacle detection result by the laser radar 2 on the back door side, it is determined whether there is an obstacle that may come into contact with the back door. And when it determines with the obstacle which may contact a back door existing (it is YES at step S60), it moves to step S61. If it is determined that there is no obstacle that may come into contact with the back door (NO in step S60), the process returns to step S59 and the flow is repeated. In this way, by repeatedly executing the processing from step S59 to step S60, the obstacle detection for the back door is continuously executed while the back door is opened.

  In step S61, after the obstacle is detected, the opening / closing motor 6 is continuously driven, and the opening / closing motor 6 causes the back door to open at an angle that does not contact the obstacle from the opening degree of the back door at the time when the obstacle is detected. When the door is opened (see FIG. 10D), the process proceeds to step S65. What is necessary is just to set it as the structure calculated | required based on the distance to the obstacle calculated by the door opening / closing ECU 1 about the angle which does not contact an obstacle.

  In step S62, if the detection of the back door closing gesture (see FIG. 11A) performed by the user with his / her hand or foot is performed in the door opening / closing ECU 1 (YES in step S62), the process proceeds to step S63. . The detection of the back door closing gesture is performed based on the detection result of the laser radar 2 on the driver's seat door side. If the detection of the back door closing gesture is not performed by the door opening / closing ECU 1 (NO in step S62), the flow returns to step S57 to repeat the flow.

  In step S63, the door opening / closing ECU 1 outputs a drive signal from the motor driver 14 to the opening / closing motor 6 to start closing of the back door (see FIG. 11B), and proceeds to step S64.

  In step S64, the door opening / closing ECU 1 determines whether or not the opening degree of the back door has become 0 (that is, the fully closed state) based on the detection signal of the opening degree sensor 4. And when it determines with the opening degree of a back door becoming 0 (it is YES at step S64), it moves to step S65. On the other hand, when it is determined that the opening degree of the back door has not yet reached 0 (NO in step S64), the flow of step S64 is repeated.

  In step S65, the driving of the opening / closing motor 6 is stopped to stop the opening / closing of the back door, and the flow is ended. In this embodiment, for example, the back door opening / closing operation may be stopped when the door opening / closing ECU 1 detects the back door opening / closing stop gesture.

  According to the configuration of this embodiment, when code verification based on short-range wireless communication via an oscillator and a tuner near the back door is established, gesture detection is possible, so the user is in the vicinity of the back door. Only in the case can it be possible to automatically open and close the back door by means of a gesture.

  Moreover, it is good also as a structure which uses each above-mentioned embodiment and the modification 2 together. In this case, common members may be used in common, while those that cannot be shared may be provided.

  In any of the above-described embodiments, the vehicle door is automatically opened and closed based on the detection result obtained by detecting the user's predetermined gesture. The door can be automatically opened and closed. Even when both hands are closed with luggage, it is possible to automatically open and close the vehicle door by moving a part (for example, a foot) of another body. In addition, it is not necessary to open and close the vehicle door by touching the wet vehicle body when it rains. Therefore, comfort for the user can be improved.

  Furthermore, since the user's predetermined gesture is detected using the laser radar 2 used to detect an obstacle present on the opening / closing locus of the swing door, a new camera or the like for detecting the user's gesture is newly added. It is not necessary to provide it in the vehicle, and the increase in cost can be suppressed. As a result, it is possible to improve comfort for the user while suppressing an increase in cost.

  In the above-described embodiment, since the gesture detection range is limited to a part of the scanning range of the laser radar 2, it is possible to detect a gesture in an unintended place by limiting the gesture detection range more narrowly. It is possible to prevent the malfunction of the vehicle door. Furthermore, in the above-described embodiment, since the gesture detection range is presented to the user by illuminating with the visible light emitted from the illumination device 8, even if the gesture detection range is more narrowly limited, the user can be more sure. It is possible to make a gesture within the gesture detection range. Therefore, even when the gesture detection range is limited to be narrower, the gesture detection rate can be improved.

  In addition, in the above-described embodiment, a time range in which a gesture can be detected is limited, for example, a gesture can be detected after code verification in the smart entry system is established. Therefore, by limiting the time range in which the gesture can be detected more narrowly, it is possible to prevent the gesture from being detected when not intended and to prevent the malfunction of the vehicle door. Furthermore, in the above-described embodiment, since the indicator lamp such as the door handle illumination and the tail lamp and the lighting device 8 are turned on only in the time range in which the gesture can be detected, the time range in which the gesture can be detected is more narrowly limited. Even in this case, the user can more reliably make a gesture within the time range. Therefore, even when the time range is limited more narrowly, the detection rate of a predetermined gesture can be improved.

  In each of the above-described embodiments, a configuration in which the gesture detection range is illuminated with visible light emitted from the illumination device 8 or a configuration in which an indicator lamp such as a door handle illuminator or a tail lamp is lit to indicate the timing at which a gesture can be detected. In addition, although a configuration is shown in which a gesture in the gesture detection range can be detected when code verification is performed in the smart entry system, an aspect without these configurations may be employed.

  In each of the above-described embodiments, an example of a gesture has been described. However, the present invention is not limited to this, and a gesture using a predetermined movement of a part of the user's body other than the above may be used.

  The present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the claims, and the technical means disclosed in different embodiments can be appropriately combined. Such embodiments are also included in the technical scope of the present invention.

1 door opening / closing ECU (gesture detection means, irradiation presence / absence determination means, lighting presence / absence determination means, opening / closing operation starting means, vehicle door automatic opening / closing device), 2 laser radar (obstacle sensor, vehicle door automatic opening / closing device), 3 vehicle speed sensor, 4 Opening sensor, 5 Smart ECU (vehicle side unit), 6 Open / close motor, 7 Latch release motor, 8 Illuminating device (illuminating means, presentation lamp, vehicle door automatic opening / closing device), 9 Illuminator ECU, 21 Light emitting unit, 11 Input I / F, 12 CPU, 13 Non-volatile memory, 14 Motor driver, 22 Light receiving unit, 23 Time measuring unit, 100 Vehicle door automatic opening / closing system

Claims (12)

Mounted on a vehicle with at least a swing door,
Sequentially transmit the exploration wave so as to scan at least the vicinity of the outer surface of the swing door, receive the reflected wave of the exploration wave, and exist on the swing locus of the swing door based on the received reflected wave A vehicle door automatic opening and closing device including an obstacle sensor for detecting an obstacle to be
Gesture detection means for detecting a predetermined gesture which is a predetermined movement of a part of the user's body within the scanning range of the exploration wave by sequentially detecting an obstacle with the obstacle sensor;
A vehicle door automatic opening / closing device comprising: an opening / closing operation start means for starting an automatic opening / closing operation of a vehicle door of the vehicle based on a detection result of the gesture detection means. In claim 1,
The vehicle door automatic opening / closing device, wherein the gesture detection means limits a physical range in which the predetermined gesture can be detected to a part of a scanning range of the obstacle sensor. In claim 2,
It further comprises illumination means for irradiating visible light,
A vehicle door automatic opening and closing device that presents the physical range to a user by illuminating with a visible ray irradiated from the illumination means. In Claim 3, further comprising irradiation presence / absence determining means for determining whether to illuminate the physical range with visible light emitted from the illuminating means according to the open / closed state of the swing door,
When it is determined that the physical range is not illuminated with visible light emitted from the illumination unit by the irradiation presence / absence judging unit, the physical range is not illuminated with visible light emitted from the illumination unit. Vehicle door automatic opening and closing device. In any one of Claims 1-4,
The vehicle door automatic opening / closing device, wherein the gesture detection means limits a time range in which the predetermined gesture can be detected. In claim 5,
The vehicle door characterized in that the time range is presented to the user by turning on a presentation lamp that is at least one of an indicator lamp provided in advance in the vehicle and an illumination means for irradiating visible light. Automatic switchgear. In Claim 6, according to the opening and closing state of the swing door, further comprising a lighting presence / absence determining means for determining whether or not to turn on the presentation lamp in the time range,
The vehicle door automatic opening and closing device characterized in that when the lighting presence / absence determining means determines that the presentation lamp is not lit in the temporal range, the presentation lamp is not lit in the temporal range. In any one of Claims 1-7,
Information is exchanged with the vehicle-side unit mounted on the vehicle that controls the operation of the in-vehicle device of the vehicle by performing code verification based on short-range wireless communication with the portable device carried by the user. Is possible,
The vehicle door automatic opening / closing device characterized in that the predetermined gesture can be detected by the gesture detection means only when information indicating that the code verification is established is obtained from the vehicle side unit. In any one of Claims 1-8,
The swing door is a swing door provided on a side surface of the vehicle,
The vehicle door automatic opening / closing device, wherein the opening / closing operation starting means starts an operation of automatically opening the swing door based on a detection result of the gesture detection means. In any one of said 1-8,
The swing door is a swing door provided on a side surface of the vehicle,
The opening / closing operation starting means starts an automatic opening / closing operation of the sliding door of the vehicle provided behind the swing door based on the detection result of the gesture detection means. Automatic switchgear. In any one of Claims 1-8,
The swing door is a swing door provided at the rear of the vehicle,
The vehicle door automatic opening / closing device, wherein the opening / closing operation starting means starts an operation of automatically opening the swing door based on a detection result of the gesture detection means. In any one of Claims 1-8,
The swing door is a swing door provided on a side surface of the vehicle,
The opening / closing operation starting means starts an operation of automatically closing a swing door provided at the rear of the vehicle based on a detection result of the gesture detection means.

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