JP2015045122A - Object detecting device for vehicular opening and closing door - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an object detecting device for a vehicular opening and closing door capable of suitably detecting an object under wide conditions.SOLUTION: An object detecting device for a vehicular opening and closing door which is provided in a peripheral end of a door 10 opened and closed by driving an opening formed in a vehicle body of a vehicle by an actuator 140 and has an object detection sensor 20 for detecting an object adjacent or in contact includes: door driving direction determination means 140 for determining whether a driving direction of the door by the actuator is a closing direction or an opening direction; and detection direction switching means 110 and 120 for switching a detectable range of the object detection sensor between a first range in correspondence with the closing direction and a second range in correspondence with the opening direction in accordance with the driving direction of the door.

Description

  The present invention relates to an object detection device provided on an open / close door such as a rear gate of a vehicle, and more particularly to an apparatus capable of appropriately detecting an object under a wide range of conditions.

In vehicles such as automobiles, in order to improve convenience, there has been proposed a power rear gate that drives the opening and closing of a rear gate, which is an openable door provided at the rear of the vehicle body, by an electric actuator.
In such an electric open / close door, in order to prevent a user's fingers or other objects from being caught, an object detection device (a pinching detection device) that detects an object existing between the end of the door and the vehicle body. Is provided.

  As a prior art relating to such an object detection device, for example, Patent Document 1 describes a device for preventing an automobile closing panel from being pinched using a capacitance sensor provided on a vehicle body and capable of switching a plurality of sensitivity levels. .

JP 2005-507038 A

A conventional object detection device for an open / close door for a vehicle can prevent an object from being caught between the vehicle body when the door is closed, but does not substantially function when the door is opened. When opening the door, it could not be prevented from colliding with obstacles such as other vehicles and buildings.
In view of the above-described problems, an object of the present invention is to provide an object detection device for a vehicular door that can appropriately detect an object under a wide range of conditions.

The present invention solves the above-described problems by the following means.
According to a first aspect of the present invention, there is provided an opening / closing for a vehicle having an object detection sensor for detecting an adjacent or contacting object provided at a peripheral portion of a door that opens and closes when an opening formed in a vehicle body is driven by an actuator. A door object detection device, wherein a door drive direction determination means for determining whether a drive direction of the door by the actuator is a closed direction or an open direction, and the object detection according to the drive direction of the door An opening / closing door for a vehicle, comprising: a detection direction switching means for switching a sensor detectable range between a first range corresponding to the closing direction and a second range corresponding to the opening direction. This is an object detection apparatus.
According to this, by switching the detectable range of the object detection sensor in accordance with the driving direction of the door, there is a possibility that the door may interfere with the door in either case of opening the door or closing the door. It is possible to appropriately detect an object having a gap.

The invention according to claim 2 is characterized in that the detection direction switching means has a sensor rotation mechanism for rotating the detection unit of the object detection sensor in accordance with the drive direction of the door. This is an object detection device for a vehicle door.
According to this, the effect mentioned above can be acquired by a single object detection sensor.

According to a third aspect of the present invention, the object detection sensor includes a first detection unit in which a detectable range is set in the first range and a second detection unit in which the second range is set. 2. The vehicular opening and closing according to claim 1, wherein the detection direction switching means switches between the output of the first detection unit and the output of the second detection unit in accordance with the driving direction of the door. This is an object detection device for a door.
According to this, by switching and using a plurality of object detection sensors, it is possible to eliminate the movable part and improve reliability and durability.

According to a fourth aspect of the present invention, the object detection sensor includes a capacitance sensor, and includes a determination unit that compares the output value of the capacitance sensor with a predetermined threshold to determine the presence or absence of an object. The vehicle according to any one of claims 1 to 3, wherein the threshold value is corrected in a direction in which the detection sensitivity decreases in accordance with a decrease in an interval between the capacitance sensor and the vehicle body. This is an object detection device for an open / close door.
According to this, when the object detection sensor approaches the vehicle body immediately before the door is fully closed, it is possible to prevent the vehicle body from being erroneously detected as an object and to perform appropriate object detection.
For this reason, it is possible to improve the safety by appropriately detecting a thin object such as a finger immediately before the full closure with the highest possibility of pinching.

  As described above, according to the present invention, it is possible to provide an object detection device for a vehicular door that can appropriately detect an object under a wide range of conditions.

It is a schematic two-view figure of the rear gate which has Example 1 of the object detection apparatus of the vehicle door to which this invention is applied. It is a block diagram which shows the structure of the object detection apparatus of the vehicle door of Example 1. FIG. 3 is a flowchart illustrating the operation of the object detection device for a vehicle door according to the first embodiment. 4 is a graph showing a detection threshold in the object detection device for a vehicle opening / closing door according to the first embodiment. It is a two-view figure of the rear gate which has Example 2 of the object detection apparatus of the vehicle door to which this invention is applied.

  An object of the present invention is to provide an object detection device for a vehicular door that can appropriately detect an object under a wide range of conditions. A proximity sensor (object detection sensor) such as a capacitance sensor is provided at an end of a rear gate or the like. This is solved by rotating the detection direction of the proximity sensor in accordance with the driving direction of the opening / closing actuator.

Hereinafter, a first embodiment of an object detection device (hereinafter simply referred to as “object detection device”) for a vehicular door to which the present invention is applied will be described.
The object detection apparatus according to the first embodiment is, for example, provided in a rear gate that opens and closes an opening provided in a rear part of a vehicle body of a station wagon type passenger car.
FIG. 1 is a schematic two-view diagram of a rear gate having the object detection device of the first embodiment.
Fig.1 (a) is the figure which looked at the rear gate of a closed state (posture) from the vehicle rear side, FIG.1 (b) is a bb part arrow directional view (side view) of Fig.1 (a). Yes (same in FIG. 5 described later).

The rear gate 10 is configured to be hollow by closing an outer panel and an inner panel formed by pressing a steel plate, for example, by hemming.
The rear gate 10 is formed as a substantially rectangular lid-like member, and can open and close a rear gate opening provided at a rear portion of a vehicle body (not shown).
The rear gate 10 can be rotated around an axis along the vehicle width direction by a hinge (not shown) provided near the upper end.
The rear gate 10 rotates in a direction in which the lower end portion in the closed state is swung up from the rear side to the upper side, thereby opening the rear gate opening and allowing access to the cabin and luggage space from the outside of the rear of the vehicle.
Further, the rear gate 10 is a so-called power rear gate that is driven to open and close by a rear gate driving device 140 (not shown in FIG. 1) according to a user's switch operation or the like.

As shown in FIG. 1B, the rear gate 10 is arranged substantially along the vertical direction in the closed state, and is bent so that the central portion protrudes rearward in a side view.
The upper half portion of the rear gate 10 is disposed so as to be inclined forward so that the upper end portion moves forward, and a rear window 11 is provided.
The rear window 11 is configured by bonding glass to openings formed in the outer panel and the inner panel.
The left and right end portions of the lower half of the rear gate 10 are formed with notches 12 that prevent interference with a rear combination lamp provided on the vehicle body side.

An object detection sensor 20 is provided at the lower edge of the rear gate 10.
The object detection sensor 20 includes a capacitance sensor that detects the presence or absence of an object in a non-contact manner using a change in output voltage when the object approaches as a detection unit.
The capacitance sensor converts the capacitance between the sensor and the object into a voltage and outputs the voltage.
The detection unit of the object detection sensor 20 is disposed along the lower edge of the rear gate 10 so as to extend substantially over the entire width in the vehicle width direction.

The object detection sensor 20 can be rotated around an axis along the vehicle width direction by an object detection sensor drive actuator 110 (not shown in FIG. 1).
Accordingly, as shown in FIG. 1B, the object detection sensor 20 has a detection range in which the first range A1 faces the vehicle body side and the second range A2 faces the vehicle rear side in the closed state. Can be switched between.
The first range A1 is set so that an object that may be caught between the vehicle body and the rear gate 10 can be detected when the rear gate 10 is closed.
At this time, the object detection sensor 20 functions as a pinching sensor that prevents the rear gate 10 from pinching.
The second range A2 is set so that, when the rear gate 10 is opened, an object that is in the traveling direction of the lower end portion of the rear gate 10 and that may collide can be detected.

Further, a contact sensor (not shown) that detects an object sandwiched between the rear gate 10 and the vehicle body is disposed at the side end of the rear gate 10.
This contact sensor is activated when the rear gate 10 is driven in the closing direction, and when the object is detected to be caught, the rear gate 10 is driven reversely in the opening direction.

FIG. 2 is a block diagram illustrating a configuration of the object detection apparatus according to the first embodiment.
As shown in FIG. 2, the object detection device includes an object detection sensor drive actuator 110, an object detection sensor control unit 120, a rear gate position sensor 130, a rear gate drive device 140, an object detection sensor direction sensor 150, and the like. Yes.

The object detection sensor drive actuator 110 rotates the object detection sensor 20 so that the detection range of the object detection sensor 20 rotates between the first range A1 and the second range A2.
The object detection sensor drive actuator 110 includes, for example, an electric motor and a reduction gear train.

The object detection sensor control unit 120 is an ECU that comprehensively controls the object detection sensor 20 and the object detection sensor drive actuator 110.
The object detection sensor control unit 120 operates the object detection sensor 20, processes its output, executes object detection determination, and controls the drive of the object detection sensor drive actuator 110.
The object detection sensor control unit 120 includes an information processing device such as a CPU, a storage device such as a RAM and a ROM, an input / output interface, a bus for connecting them, and the like.

  The rear gate position sensor 130 includes a position encoder that detects the angular position of the rear gate 10 with respect to the vehicle body in a stepless manner or in a plurality of steps between a fully open state and a fully closed state.

The rear gate driving device 140 drives the rear gate 10 to open and close.
The rear gate driving device 140 includes an electric motor and a reduction gear train.
The rear gate driving device 140 is controlled by a drive control device (not shown), and drives the rear gate 10 to open / close in accordance with an opening / closing operation or the like input by the user.
Further, the rear gate driving device 140 has a function of inverting the driving direction of the rear gate 10 when the object detection sensor 20 detects a foreign object being caught. This point will be described in detail later.

The object detection sensor direction sensor 150 detects whether the detection range of the object detection sensor 20 is the first range A1 side or the second range A2 side.
The object detection sensor direction sensor 150 includes a position encoder that detects the angular position of the detection unit of the object detection sensor 20.

Hereinafter, the operation of the object detection apparatus according to the first embodiment will be described.
FIG. 3 is a flowchart illustrating the operation of the object detection device for the vehicular door according to the first embodiment.
Hereinafter, the steps will be described step by step.
<Step S01: Rear gate operation direction determination>
The object detection sensor control unit 120 acquires information about the direction in which the rear gate 10 is expected to be driven from the rear gate driving device 130 prior to the start of driving the rear gate 10.
When the driving direction of the rear gate 10 is the open direction, the process proceeds to step S02, and when it is the closed direction, the process proceeds to step S05.

<Step S02: Object Detection Sensor Drive Actuator Opening Direction Drive>
When the detectable range of the object detection sensor 20 is the first range A1, the object detection sensor control unit 120 drives the object detection sensor drive actuator 110, and the detectable range of the object detection sensor 20 is the second range. The object detection sensor 20 is driven so as to be in the range A2.
At this time, the object detection sensor drive actuator 110 is feedback-controlled so that the direction of the object detection sensor 20 detected by the object detection sensor direction sensor 150 coincides with a predetermined target direction.
Thereafter, the process proceeds to step S03.

The object detection sensor control unit 120 causes the object detection sensor 20 to start detecting an object.
The object is detected by comparing the output voltage of the object detection sensor 20 with a preset threshold value.

In the first embodiment, the object detection threshold of the object detection sensor 20 when the rear gate 10 is driven to close is increased when the rear gate 10 is at a predetermined angular position near the fully closed position.
FIG. 4 is a graph showing a detection threshold in the object detection device for a vehicle door according to the first embodiment.
FIG. 4A shows a threshold value when driving the rear gate in the opening direction, and FIG. 4B shows a threshold value when driving the rear gate in the closing direction.
In FIG. 4, the vertical axis represents the detection threshold (output voltage), and the horizontal axis represents the angular position of the rear gate 10.

As shown in FIG. 4A, when the rear gate 10 is driven in the opening direction, the threshold value is set to be substantially constant regardless of the position of the rear gate 10.
On the other hand, as shown in FIG. 4B, when the rear gate 10 is driven in the closing direction, when the rear gate 10 is within a predetermined range from the fully closed position, it responds to the approach to the fully closed position. Thus, the threshold value is set to gradually increase.
In step S03, since the driving is in the opening direction, detection is performed using a substantially constant threshold value shown in FIG.
Thereafter, the process proceeds to step S04.

<Step S04: Rear gate opening direction output>
The rear gate driving device 140 starts driving the rear gate 10 in the opening direction.
Thereafter, the process proceeds to step S08.

<Step S05: Object Detection Sensor Drive Actuator Closed Direction Drive>
The object detection sensor control unit 120 drives the object detection sensor drive actuator 110 when the detectable range of the object detection sensor 20 is the second range A2, and the detectable range of the object detection sensor 20 is the first detection range. The object detection sensor 20 is driven so as to be in the range A1.
Thereafter, the process proceeds to step S06.

<Step S06: Start of object detection sensor detection>
The object detection sensor control unit 120 causes the object detection sensor 20 to start detecting an object using the threshold value for driving in the closing direction described above.
Thereafter, the process proceeds to step S07.

<Step S07: Rear gate closing direction output>
The rear gate driving device 140 starts driving the rear gate 10 in the closing direction.
Thereafter, the process proceeds to step S08.

<Step S08: Determination of presence / absence of rear gate inversion input>
When the object detection sensor 20 detects an object, the object detection sensor control unit 120 determines that there is a high risk of interference with the object (squeezing in the closing operation and collision with an obstacle in the opening operation). The inversion command is transmitted to the rear gate driving device 140.
When the rear gate driving device 140 receives such an inversion command input (inverted input), the rear gate driving device 140 drives the rear gate 10 in the reverse direction in order to avoid interference between the object and the rear gate 10.
If the rear gate driving device 140 receives an inverting input, the process returns to step S01 and the subsequent processing is repeated. If the inverting input is not received, the processing proceeds to step S09.

<Step S09: Rear gate stop position determination>
The object detection sensor control unit 120 determines whether or not the rear gate 10 is at the stop position based on information from the rear gate position sensor 130.
When the rear gate 10 is driven in the opening direction, the fully opened position is the stop position, and when it is driven in the closing direction, the fully closed position is the stop position.
If the rear gate 10 is at the stop position, the process proceeds to step S10. Otherwise, the process returns to step S08 to repeat the subsequent processes.

<Step S10: Stop rear gate drive and end detection of object detection sensor>
The rear gate driving device 140 ends the driving of the rear gate 10, and the object detection sensor control unit 120 stops the operation of the object detection sensor 20 and ends the object detection.
Thereafter, the series of processing is terminated (returned).

According to Example 1 demonstrated above, the following effects can be acquired.
(1) By switching the detectable range of the object detection sensor 20 in accordance with the driving direction of the rear gate 10, an object that may interfere with the rear gate 10 when the rear gate 10 is opened or closed Can be detected appropriately. Accordingly, it is possible to prevent a finger or the like from being sandwiched when the rear gate 10 is closed, and interference with a building or other vehicle when the rear gate 10 is opened.
(2) The effect described above can be obtained by the single object detection sensor 20 by rotating the object detection sensor 20 and switching the detectable range.
(3) When the rear gate 10 is driven to close, the threshold value is changed according to the approach to the vehicle body, so that the object is detected when the object detection sensor 20 approaches the vehicle body immediately before the rear gate 10 is fully closed. Can be prevented from being erroneously detected, and appropriate object detection can be performed.

Next, a second embodiment of the object detection device for a vehicular door to which the present invention is applied will be described.
In the description of the second embodiment, portions that are substantially the same as those of the first embodiment described above are denoted by the same reference numerals, description thereof is omitted, and differences are mainly described.

FIG. 5 is a schematic two-view diagram of a rear gate having the object detection device of the second embodiment.
In the object detection device according to the second embodiment, a pair of object detection sensors 21 and 22 are provided at the lower end of the rear gate 10 instead of the object detection sensor 20 that is rotationally driven by the object detection sensor drive actuator 110. The output of the object detection sensors 21 and 22 is switched according to the driving direction.
The detectable ranges of the object detection sensors 21 and 22 substantially coincide with the first range A1 and the second range A2 in the first embodiment, respectively.
In the second embodiment described above, it is possible to obtain substantially the same effect as that of the first embodiment described above.
In this case, unlike the first embodiment, a plurality of sensors are required. However, since there are no movable parts, it is advantageous in terms of reliability and durability.

(Modification)
The present invention is not limited to the embodiments described above, and various modifications and changes are possible, and these are also within the technical scope of the present invention.
The object detection device according to the embodiment is, for example, provided at the rear gate, but the present invention is not limited thereto, and is provided at a door provided on the side of the vehicle body and used for passengers getting on and off, or in a trunk room at the rear of the vehicle body. It can also be applied to other doors such as trunk lids.
The door opening / closing method is not limited to the swing type using a hinge as in the embodiment, but may be a slide type.

DESCRIPTION OF SYMBOLS 10 Rear gate 11 Rear window 12 Notch part 20 Object detection sensor 21 Object detection sensor 22 Object detection sensor 110 Object detection sensor drive actuator 120 Object detection sensor control unit 130 Rear gate position sensor 140 Rear gate drive device 150 Object detection sensor direction sensor A1 1st Range A2 Second range

Claims (4)

An object detection device for a vehicle opening / closing door having an object detection sensor provided on a peripheral portion of a door that opens and closes when an opening formed in a vehicle body is driven by an actuator and detects an adjacent or contacting object. ,
Door drive direction determining means for determining whether the drive direction of the door by the actuator is a closed direction or an open direction;
Detection direction switching means for switching a detectable range of the object detection sensor between a first range corresponding to the closing direction and a second range corresponding to the opening direction in accordance with the driving direction of the door. An object detection device for an opening / closing door for a vehicle, comprising: The object detection of the vehicular door according to claim 1, wherein the detection direction switching means includes a sensor rotation mechanism that rotates a detection unit of the object detection sensor in accordance with a driving direction of the door. apparatus. The object detection sensor includes a first detection unit whose detectable range is set to the first range and a second detection unit which is set to the second range,
The vehicle opening / closing door according to claim 1, wherein the detection direction switching means switches between the output of the first detection unit and the output of the second detection unit in accordance with the drive direction of the door. Object detection device. The object detection sensor has a capacitance sensor,
A determination unit that compares the output value of the capacitance sensor with a predetermined threshold value to determine the presence or absence of an object, and detects the threshold value according to a decrease in the interval between the capacitance sensor and the vehicle body. The object detection device for a vehicular door according to any one of claims 1 to 3, wherein the correction is performed in a direction in which the vehicle falls.

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