JP2017035946A - Door actuation control device and door actuation control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a door actuation control device and a door actuation control method which can restrict open operation only in necessary doors of a vehicle.SOLUTION: A vehicle 1 monitors operations of vehicle doors 2 other than a driver's seat at riding by a radar 12a, and supposes the vehicle doors 2 to a door targeted for monitoring 13 when either of the vehicle doors 2 is closed from outside of the vehicle. When the presence of an object (an obstruction) in surroundings is identified at next stop because the radar 12 identify that there is the object around the door targeted for monitoring 13, the vehicle 1 restricts open operation of the door targeted for monitoring 13.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a door operation control device and a door operation control method for controlling the operation of a door provided in a vehicle.

  2. Description of the Related Art Conventionally, as a door operation control device that controls the opening / closing operation of a vehicle door, for example, a technique for controlling the opening operation of a vehicle door so that the vehicle door does not contact an obstacle outside the vehicle when the vehicle door is opened is well known ( (See Patent Document 1). In Patent Document 1, before the vehicle door is opened, the surroundings of the vehicle are sensed by a radar provided in the vehicle, and if there are obstacles around the door, the operation load of the vehicle door is increased and the vehicle door is vigorous. Do not open it very often.

JP 2004-34796 A

  However, inadvertently contacting the vehicle door with obstacles outside the vehicle when opening the door, for example, there are many children and elderly people, and even when an adult who can fully pay attention is uniformly loaded on the door opening operation, On the other hand, there is a problem that impairs convenience.

  An object of the present invention is to provide a door operation control device and a door operation control method capable of restricting an opening operation only to a necessary door in a vehicle.

  The door operation control device that solves the above problem is configured to control whether or not a door other than the driver's seat is closed from outside the vehicle in a configuration that controls the operation of the door provided in the vehicle. And when it is determined that the closing operation has been performed from outside the vehicle, a monitoring target door setting unit that sets the door as a monitoring target door that monitors the operation at the next stop, and at the next stop, An operation control unit configured to confirm the presence of an object around the outside of the vehicle by the detection device of the vehicle and restrict an opening operation of the monitoring target door when the object exists around the monitoring target door;

  According to this configuration, the operation of the doors other than the driver's seat is monitored by the vehicle detection device when boarding, and when any of these doors is closed from outside the vehicle, the door is set as a monitoring target door. At the next stop, if the vehicle detection device confirms that there is an object around the monitoring target door, the opening operation of the monitoring target door is restricted. Thereby, since the monitoring target door is not carelessly opened, the door does not come into contact with an object outside the vehicle. In this way, in the case of this configuration, only doors that have been closed from outside the vehicle are set as monitored doors for doors other than the driver's seat, and measures are taken to prevent the doors from coming into contact with objects outside the vehicle at the next stop. . That is, it is possible to limit the opening operation only to the necessary doors.

  In the door operation control device, it is preferable that the operation control unit maintains the monitoring target door in a locked state when the detection device confirms that an object is present around the monitoring target door. According to this configuration, when there is an object outside the vehicle at the time of the next stop, it is possible to prevent a situation in which the monitoring target door is inadvertently opened from the inside of the vehicle.

  In the door operation control device, the detection device is preferably a device capable of measuring a distance from an object existing outside the vehicle. According to this configuration, various devices can be used as the detection device as long as the distance between the object outside the vehicle and the detection device can be measured.

  In the door operation control device, it is preferable that the operation control unit permits only the opening operation from the outside of the monitoring target door, the opening operation of which is restricted. According to this configuration, since the monitoring target door whose opening operation is restricted can be opened only from outside the vehicle, it is more advantageous to prevent the monitoring target door from being inadvertently opened from the inside of the vehicle. Become.

  In the door operation control device, when the monitoring target door setting unit confirms that the object has moved away from the door after the door is closed from the outside of the vehicle, the door is closed from the outside of the vehicle. It is preferable to determine that it has been done. According to this configuration, it is advantageous to more correctly determine whether the vehicle door is closed by a person from the outside of the vehicle.

  In the door operation control device, it is preferable that the monitoring target door setting unit maintains a state in which the monitoring target door is set until it is possible to confirm getting off with the opening operation of the monitoring target door. According to this configuration, it is possible to hold the setting state of the monitoring target door while it is assumed that an occupant who has boarded from the monitoring target door is present in the vehicle.

  The door operation control method for solving the above problems is a method for controlling the operation of a door provided in a vehicle, based on a detection result by a detection device capable of detecting the surroundings of the vehicle, from outside the vehicle at the time of boarding before stopping. A step of determining whether or not there is a monitoring target door as a closed vehicle door; a step of confirming the presence of an object in the periphery of the monitoring target door by the vehicle at the next stop; and a next stop When opening the monitoring target door, there is a step of restricting the opening operation of the monitoring target door when the monitoring target door may come into contact with an object outside the vehicle.

  According to the present invention, it is possible to limit the opening operation only to a necessary door in the vehicle.

The block diagram of the door operation control apparatus of one Embodiment. (A), (b) is a schematic diagram when a user assists a passenger | crew's boarding. (A), (b) is a schematic diagram until a user gets on and it starts vehicle driving | running | working. Operation | movement explanatory drawing when an object exists in the vehicle exterior periphery of a vehicle door at the time of the next stop. Operation | movement explanatory drawing when an object does not exist in the vehicle exterior periphery of the vehicle door at the time of the next stop. The control flowchart which shows the process of a door contact prevention function.

Hereinafter, an embodiment of a door operation control device and a door operation control method will be described with reference to FIGS.
As shown in FIG. 1, the vehicle 1 includes a door operation control device 3 that controls the operation of a door (hereinafter referred to as a vehicle door 2) provided in the vehicle 1. Examples of the vehicle door 2 include a driver seat door 2a, a passenger seat door 2b, a rear right door 2c, a rear left door 2d, and the like. The door operation control device 3 includes a controller 4 that controls the operation of the door operation control device 3 and a door lock mechanism 5 that is a mechanical part of the door lock. The controller 4 is preferably a body ECU (Electronic Control Unit) that manages the power source of the on-vehicle electrical components, for example. The door lock mechanism 5 is provided on each vehicle door 2.

  When the controller 4 detects a door locking / unlocking trigger operation on the vehicle door 2, the controller 4 unlocks the vehicle door 2 on condition that wireless ID verification (smart verification) is established between the vehicle 1 and the electronic key 6, for example. Lock. Specifically, when the lock button 7 of the vehicle door handle is operated when the vehicle door is unlocked, the vehicle door 2 is locked on the condition that smart verification (smart vehicle verification) is established, and the vehicle door is locked when the vehicle door is locked. When the touch operation of the handle is detected by the touch sensor 8 in the door handle outside the vehicle, the vehicle door 2 is unlocked on condition that smart verification (smart verification outside the vehicle) is established. Smart collation is ID collation for confirming whether the electronic key ID is correct or not by bidirectional communication of LF (Low Frequency) -UHF (Ultra High Frequency) triggered by communication from the vehicle 1.

  When the controller 4 receives the locking / unlocking request transmitted from the electronic key 6 by UHF, the controller 4 locks / unlocks the vehicle door 2. Specifically, when the locking request (including the electronic key ID) transmitted from the electronic key 6 by UHF is received in the vehicle 1, the vehicle door 2 is locked. Further, when the unlock request (including the electronic key ID) transmitted from the electronic key 6 by UHF is received in the vehicle 1, the vehicle door 2 is unlocked.

  The door operation control device 3 includes a door contact prevention function for avoiding contact with an object (such as an obstacle) outside the vehicle when the vehicle door 2 is opened. For example, when there is a vehicle door 2 closed from the outside of the vehicle 1 in the vehicle 1, the door contact prevention function restricts the opening operation of the vehicle door 2 at the next opening operation, so that the vehicle door 2 becomes an object outside the vehicle ( Avoiding contact with obstacles).

  In the case of this example, the door operation control device 3 includes a monitoring target door setting unit 11 that sets which door (vehicle door 2) of the vehicle 1 is to be monitored for opening operation. The monitoring target door setting unit 11 is provided in the controller 4. When the door 2 other than the driver's seat (passenger seat door 2b, rear right door 2c, rear left door 2d) is closed, the monitoring target door setting unit 11 has an object around the outside of the door 2 that has been closed. Whether or not an object is present is monitored by a detection device 12 (in this example, a radar 12a) provided in the vehicle 1. If an object is present, the door 2 is monitored for monitoring the operation at the next stop. Set to door 13.

  The detection device 12 is a device that can measure the distance to an object existing outside the vehicle, and can detect the surroundings outside the vehicle. When the detection device 12 is a radar 12a, the radar 12a may transmit a pulse having a minimum width (for example, about 1 nS) as a radio wave. The radar 12a is preferably a millimeter wave radar or a UWB (Ultra Wide Band) radar, for example, but may be one that transmits radio waves of other frequencies or communication formats. The radar 12a may be disposed either inside or outside the vehicle, but is preferably attached so that the monitoring range faces the outside of the vehicle. Further, the radar 12a can be disposed at various places such as a pillar of a vehicle body.

  The door operation control apparatus 3 controls the operation of the monitoring target door 13 by checking the presence of an object near the outside of the monitoring target door 13 by the radar 12a at the next stop after the monitoring target door 13 is set. Is provided. The operation control unit 14 is provided in the controller 4. The operation control unit 14 maintains the locked state of the monitoring target door 13 as a restriction on the opening operation of the monitoring target door 13, and permits only the opening operation from the outside of the vehicle.

Next, operation | movement of the door contact prevention function of the door operation control apparatus 3 is demonstrated using FIGS.
As shown in FIGS. 2 (a) and 2 (b), when a person (for example, a child or an elderly person) who assists in getting on the vehicle 1 gets on the vehicle 1, as an example, the user opens the vehicle door 2 from the outside of the vehicle instead. It is assumed that the user closes the vehicle door 2 from the outside of the vehicle after a child or an elderly person gets on. Here, the vehicle door 2 that the user closes from the outside of the vehicle is the rear right door 2c.

  When the vehicle door 2 other than the driver's seat door 2a is closed, the monitoring target door setting unit 11 can sense the outside of the vehicle door 2 in the closed state through the radar 12a. The monitoring target door setting unit 11 of the present example uses the radar 12a at the moment when the vehicle door 2 is closed to determine whether an object exists around the vehicle door 2 that is in the closed state (near the vehicle). That is, it is confirmed whether or not there is a person near the door. Here, since it is assumed that the user closes the rear right door 2c from the outside, it is recognized that the rear right door 2c has been closed from outside the vehicle, and the rear right door 2c is set as the monitoring target door 13. Thus, if an object can be detected by the radar 12a at the moment when the closed state of the vehicle door 2 is detected by a courtesy switch or the like, it can be considered that a person has closed the vehicle door 2 from the outside of the vehicle.

  In addition, it is not only confirmed that the object is closest to the moment when the vehicle door 2 is closed. For example, the object detection by the radar 12a is continued even after the vehicle door 2 is closed, and the object is separated from the vehicle door 2. It may be determined that the vehicle door 2 has been closed from outside the vehicle when it can be confirmed that the movement has been taken (the vehicle door 2 has been sufficiently separated). In this way, even if a fixed object such as a utility pole exists near the outside of the vehicle door 2 that has been closed, the fixed object and a user who leaves the vehicle door 2 away from the vehicle are clearly separated. Is possible.

  The monitoring target door setting unit 11 holds the state in which the monitoring target door 13 is set until it is possible to confirm getting off with the opening operation of the monitoring target door 13. In other words, the monitoring target door setting unit 11 holds the memory state in which the rear right door 2c is set as the monitoring target door 13 until it is detected that the monitoring target door 13 is changed from open to closed. If the seat is equipped with a seating sensor, the presence or absence of getting off may be determined based on the output of the seating sensor. That is, it may be added to the determination that the seating sensor can detect that there is no person.

  As shown in FIGS. 3A and 3B, it is assumed that a user who has closed the vehicle door 2 other than the driver's seat from the outside of the vehicle gets on the driver's seat from the driver's seat door 2a and starts running the vehicle 1. . And a user operates the lock switch provided in the vehicle interior wall etc. of the driver's seat door 2a, for example, and locks all the seats of the vehicle door 2. FIG. If the vehicle 1 has an auto-lock function, the vehicle doors 2 are automatically locked when the vehicle 1 reaches a certain speed or higher.

  As shown in FIG. 4, it is assumed that an object (for example, a power pole, a wall, a tree, or the like) is present around the monitoring target door 13 at the next stop after traveling. By the way, when the operation control unit 14 of this example confirms that the vehicle 1 has stopped, if the monitoring target door 13 is in a set state, the outside of the monitoring target door 13 is monitored using the radar 12a. Do. While the setting of the monitoring target door 13 is valid, the operation control unit 14 continuously performs the vehicle periphery monitoring by the radar 12a.

  In the case of the example of FIG. 4, an object (obstacle) is present near the outside of the rear right door 2c, which is the monitoring target door 13, at a position that contacts when the door is opened. From the detection result of the above, it is confirmed that there is an obstacle around the outside of the rear right door 2c, and the opening operation of the monitoring target door 13 is restricted. That is, by maintaining the locked state of the rear right door 2c in which an object exists near the door outside the vehicle, the opening operation from the inside of the vehicle is not permitted, and only the opening operation from the outside of the vehicle is permitted. Thereby, for example, a child or an elderly person cannot open the rear right door 2c from the inside of the vehicle, and the rear right door 2c can be opened without care and contact with an object outside the vehicle. It becomes.

  Even if there is an object outside the vehicle of the monitoring target door 13, the opening operation of the monitoring target door 13 is not limited as long as the object is located at a position away from the monitoring target door 13 when the door is opened. . Thereby, it is not necessary to unnecessarily restrict the opening operation of the monitoring target door 13, which is advantageous in ensuring the convenience of the door opening operation.

  On the other hand, as shown in FIG. 5, it is assumed that there is no object around the outside of the monitored door 13 at the next stop after traveling, for example. At this time, the operation control unit 14 confirms from the detection result by the radar 12a that there is no obstacle around the rear right door 2c, and does not restrict the opening operation of the monitoring target door 13. That is, the opening operation from the inside of the vehicle is permitted for the rear right door 2c set in the monitoring target door 13. Accordingly, when there is no obstacle around the monitoring target door 13, the opening operation of the monitoring target door 13 is not restricted, which is advantageous for ensuring convenience.

Next, a summary of the operation of the door contact prevention function of the door operation control device 3 will be described using the control flowchart of FIG.
In step 101, the operation control unit 14 (controller 4) determines whether or not the vehicle 1 has stopped. Whether the vehicle 1 has stopped may be determined based on vehicle speed information input from, for example, a meter ECU. In this step, if the vehicle 1 is stopped, the process proceeds to step 102. If not, the process waits in step 101.

  In step 102, the operation control unit 14 determines the vehicle door 2 closed from the outside when the vehicle is stopped based on the detection result (detection data) of the radar 12a held in the memory of the controller 4 when the vehicle door 2 is closed. It is determined whether or not there is (monitored door 13). If there is a vehicle door 2 closed from outside the vehicle when boarding, the routine proceeds to step 103, and if there is no vehicle door 2 closed from outside the vehicle when boarding, the routine proceeds to step 107.

  In step 103, when there is a vehicle door 2 that is closed from the outside of the vehicle when boarding before stopping, that is, the monitoring target door 13, an object (obstacle) is placed around the monitoring target door 13 by the radar 12 a. Check if it exists. That is, the outside of the monitoring target door 13 is searched by the radar 12a, and the distance to the object is measured.

  In step 104, the operation control unit 14 confirms whether or not the monitoring target door 13 may come into contact with an object outside the vehicle when the monitoring target door 13 is opened. That is, it is confirmed whether or not the distance between the monitoring target door 13 and the object outside the vehicle (obstacle) is included in the opening operation range of the monitoring target door 13. If there is a possibility that the monitoring target door 13 may come into contact with an object outside the vehicle, the process proceeds to step 105.

  In step 105, the operation control unit 14 restricts the opening operation of the monitoring target door 13 from the inside of the vehicle. Specifically, the monitoring target door 13 is maintained in a locked state, and control is performed so that the monitoring target door 13 cannot be opened from inside the vehicle. By the way, the fact that the vehicle door 2 is closed from the outside of the vehicle when boarding is likely to be a child or an elderly person who gets on the vehicle at this time, and the force and attention required for the door opening operation may not be sufficient. At this time, when an object such as an obstacle exists outside the vehicle, if the vehicle door 2 is inadvertently opened, the vehicle door 2 may be brought into contact with the obstacle. Therefore, when the person who gets on the vehicle may be a child or an elderly person and there is an obstacle near the outside of the vehicle door 2 when getting off, the door opening operation is permitted only from outside the vehicle. This avoids a situation where the vehicle door 2 is inadvertently brought into contact with an obstacle when the vehicle door 2 is opened.

  In step 106, the operation control unit 14 permits the monitoring target door 13 to be unlocked when the monitoring target door 13 is opened from outside the vehicle. That is, when an operation of opening the monitoring target door 13 from outside the vehicle is detected, the locked monitoring target door 13 is unlocked. For example, the operation of opening the monitoring target door 13 from outside the vehicle can be performed by, for example, unlocking the central door lock of the driver's seat in the vehicle, unlocking the vehicle door 2 by remote operation of the electronic key 6, or monitoring. There is a touch operation of a handle knob outside the vehicle of the target door 13.

  In step 107, when there is no vehicle door 2 closed from the outside of the vehicle when boarding before stopping, that is, when there is no monitoring target door 13, all the seats of the vehicle door 2 can be unlocked from inside the vehicle as usual. . The fact that the vehicle door 2 is not closed from outside the vehicle at the time of boarding can be regarded as the vehicle door 2 being closed by itself. As described above, if the vehicle door 2 can be closed by itself, it is estimated that there is sufficient force and caution to open the vehicle door 2, so that the opening operation of the vehicle door 2 is restricted. The door opening operation is permitted as usual.

According to the configuration of the present embodiment, the following effects can be obtained.
(1) The operation of the vehicle door 2 other than the driver's seat is monitored by the detection device 12 (radar 12a) of the vehicle 1 when boarding, and when any of these vehicle doors 2 is closed from outside the vehicle door 2 Is set to the monitoring target door 13. At the next stop, if the detection device 12 (radar 12a) of the vehicle 1 confirms that there is an object (obstacle) around the monitoring target door 13, the opening operation of the monitoring target door 13 is restricted. Accordingly, the monitoring target door 13 is not carelessly opened, so that it does not come into contact with an object outside the vehicle. Thus, in this example, only the vehicle door 2 that has been closed from the outside of the vehicle door 2 other than the driver's seat is set as the monitoring target door 13, and the vehicle door 2 comes into contact with an object outside the vehicle at the next stop. Take corrective action. That is, it is possible to limit the opening operation only to the vehicle door 2 necessary in the vehicle 1.

  (2) When the operation control unit 14 confirms by the radar 12a that there is an object around the monitoring target door 13 outside the vehicle, the operation control unit 14 maintains the monitoring target door 13 in a locked state. Therefore, when there is an object around the outside of the monitoring target door 13 at the time of the next stop, it is possible to prevent a situation in which the monitoring target door 13 is inadvertently opened from the inside of the vehicle.

  (3) The detection device for measuring the distance to the object outside the vehicle may be any device (in this example, the radar 12a) that can measure the distance to the object existing outside the vehicle. Therefore, various devices can be adopted as the detection device as long as the distance between the object outside the vehicle and the detection device can be measured.

  (4) The radar 12a transmits a pulse having a minimum width as a radio wave. Therefore, when the object is detected by the radar 12a, the radio wave reflected from the object can be acquired with a signal having a quick rising waveform, which is advantageous for the accuracy of object detection.

  (5) The operation control unit 14 permits only the opening operation of the monitoring target door 13 whose opening operation is restricted from the outside of the vehicle. Therefore, it is further advantageous to prevent the monitoring target door 13 from being inadvertently opened from the inside of the vehicle.

  (6) After the vehicle door 2 is closed from the outside of the vehicle, the monitoring target door setting unit 11 confirms that the object moves away from the vehicle door 2 outside the vehicle. Is determined to have been closed. Therefore, it is advantageous to more correctly determine whether or not the vehicle door 2 has been closed by a person from outside the vehicle.

  (7) The monitoring target door setting unit 11 holds the state in which the monitoring target door 13 is set until it is possible to confirm getting off with the opening operation of the monitoring target door 13. Therefore, while it is assumed that an occupant who has boarded from the monitoring target door 13 is present in the vehicle, the setting state of the monitoring target door 13 can be continuously maintained.

Note that the embodiment is not limited to the configuration described so far, and may be modified as follows.
The determination as to whether or not the vehicle door 2 has been closed from the outside of the vehicle may include, for example, a touch operation on the outside door handle of the vehicle door 2.

The determination as to whether or not the vehicle door 2 has been closed from outside the vehicle can be appropriately changed to various modes as long as the radar 12a is used.
The monitoring target door 13 may be any door such as a passenger seat door, a rear seat door, and a back door as long as it is other than the driver's seat door 2a.

The operation restriction state of the monitoring target door 13 may be automatically released after a predetermined time has elapsed.
-Under what conditions the setting state of the monitoring target door 13 is deleted from the memory can be appropriately changed to various modes. For example, if a camera is mounted in the vehicle, the memory can be cleared when it is confirmed from the image of the camera that the occupant has got off the vehicle.

A plurality of radars 12 a may be provided in the vehicle 1.
When a plurality of radars 12a are provided, a radar 12a that monitors whether or not the vehicle door 2 is closed from the outside of the vehicle, and a radar 12a that checks whether or not an object exists around the monitoring target door 13 at the next stop May be different from each other.

The radar 12a is not limited to the one that transmits UWB radio waves or millimeter waves. For example, a device that transmits a radio wave of a super band may be used.
The detection device that measures the distance to the object outside the vehicle is not limited to the radar 12a. For example, this may be a touch sensor provided on the door handle outside the vehicle, and it is also possible to determine whether or not the vehicle door 2 has been closed from outside the vehicle.

  The mode of restricting the opening operation of the monitored door 13 is not limited to maintaining the locked state, but is changed to various modes, for example, the unlocking amount is restricted when the vehicle door 2 is opened although the unlocking is performed. Is possible.

  The opening operation of the monitoring target door 13 is not limited to being permitted only from the outside of the vehicle, but can be performed on the condition that the door knob in the vehicle is operated in a predetermined pattern. It is possible to appropriately change the mode.

  -The restriction | limiting of door opening operation may be cancelled | released by operation of the concentration door lock provided in the driver's seat, for example.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... Vehicle door, 2a ... Driver's seat door, 2b ... Passenger seat door, 2c ... Rear right door, 2d ... Rear left door, 3 ... Door operation control device, 11 ... Monitoring object door setting part, 12 ... Detection device, 12a ... radar, 13 ... monitoring target door, 14 ... operation control unit.

Claims (7)

In a door operation control device that controls the operation of a door provided in a vehicle,
Whether or not the closing operation of the door other than the driver's seat has been performed from outside the vehicle is confirmed by the vehicle detection device, and when it is determined that the closing operation has been performed from outside the vehicle, the door is activated at the next stop. A monitored door setting unit to be set to a monitored door to be monitored;
At the time of the next stop, the presence of the object around the monitored door is confirmed by the vehicle detection device, and when there is an object around the monitored door, the operation control for restricting the opening operation of the monitored door And a door operation control device. 2. The door operation control device according to claim 1, wherein the operation control unit maintains the monitoring target door in a locked state when the detection device confirms that an object is present around the monitoring target door. The door operation control device according to claim 1 or 2, wherein the detection device is a device capable of measuring a distance from an object existing outside the vehicle. The said operation control part is a door operation control apparatus as described in any one of Claims 1-3 which permits only the opening operation from the vehicle outside the said monitoring object door by which opening operation was restrict | limited. The monitoring target door setting unit determines that the door has been closed from outside the vehicle after confirming that the object has moved away from the door outside the vehicle after the door is closed from outside the vehicle. The door operation control device according to any one of? The said monitoring object door setting part keeps the state in which the said monitoring object door is set until it can confirm the getting-off accompanying the opening operation of the said monitoring object door. Door operation control device. In a door operation control method for controlling the operation of a door provided in a vehicle,
Determining whether or not there is a monitoring target door as a vehicle door closed from outside the vehicle when getting on before the vehicle is stopped based on a detection result by a detection device capable of detecting the periphery of the vehicle;
A step of confirming the presence of an object around the outside of the monitored door by a detection device of the vehicle at the next stop;
A step of restricting the opening operation of the monitoring target door when the monitoring target door may contact an object outside the vehicle during the opening operation of the monitoring target door at the next stop. Door operation control method.