JP2018059304A - Door opening/closing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent door opening/closing that is not intended by a user.SOLUTION: A door opening/closing device 10 includes a door driving part 24 capable of opening/closing a door 4, first detection means 26 for detecting a detected object inside a first detection range R, a pair of second detection means 30a, 30B for detecting a detected object inside a second detection range, and control means 38 that drives the door driving part 24 when having determined that the detected object has moved as preset. A second detection range r1 of either of the pair of second detection means 30A, 30B is located on a side in a lateral direction of the first detection range R, while a second detection range r2 of the other is located on the other side in the lateral direction of the first detection range R.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a door opening and closing device.

  The vehicle is equipped with a door opening and closing device that can automatically open and close the door without a user having luggage in both hands touching the door handle. Patent Document 1 discloses a door opening and closing device that opens and closes a door by detecting a user's movement set by a distance measuring sensor. Patent Document 2 discloses a door opening and closing device that guides a user to move a set user by irradiating the ground with an optical light display means.

Japanese Patent No. 5634129 Special table 2014-530909 gazette

  However, the door opening / closing devices of Patent Documents 1 and 2 do not take into consideration that the user moves around the door without aiming at door opening / closing control. Therefore, even if the user intends to pass in front of the door, the door may be driven to open or close when the user's movement matches the set movement.

  An object of the present invention is to prevent opening and closing of a door unintended by a user.

  The present invention includes a door drive unit capable of opening and closing a door with respect to a vehicle body, first detection means for detecting an object to be detected existing in a first detection range set around the door, A pair of second detection means for detecting an object existing in the set second detection range, and the detection object based on detection results of the first detection means and the pair of second detection means; Control means for outputting a signal for driving the door to the door driving unit, and one of the second detection ranges of the pair of second detection means Provided is a door opening and closing device that is arranged on one side in the horizontal direction of the first detection range, and the other second detection range is arranged on the other side in the horizontal direction of the first detection range. Of the pair of second detection means, a region from the lateral inner end of one second detection range to the lateral inner end of the other second detection range is set as an operation section, and the control means Determines whether the detected object has made a set movement in the operation section based on the detection result of the first detection means.

  According to this door opening and closing device, the presence and movement of the detection object are detected by the first detection means and the pair of second detection means, and therefore the movement of the detection object from a specific direction can be detected with a simple configuration. Specifically, the detected object coming out from the side of the operation section or the detected object entering from the side of the operation section can be detected by the pair of second detection means. Therefore, it is possible to reliably determine whether or not the user has performed the set movement in the operation section, and whether or not the movement is an irregular movement by the user such as crossing the operation section. Therefore, it is possible to prevent the door opening / closing device from malfunctioning due to a movement not intended by the user.

  The first detection range of the first detection means is wider than the second detection range of the second detection means. For example, the first detection means is an ultrasonic sensor, and the second detection means is an infrared sensor. According to this aspect, a sufficient space can be secured as an operation section in which the user performs the set motion. Therefore, it is possible to prevent the inconvenience that the second detection means detects the user when the user is performing the set motion.

  The second detection center axis of the second detection means may be inclined upward than the first detection center axis of the first detection means. According to this aspect, since the user cannot straddle the second detection range of the second detection means, it is possible to prevent detection omission of the user coming out from the side of the operation section.

  A storage unit that stores the detection result of the first detection unit as distance information; and the control unit determines whether the object to be detected is based on a detection result of the first detection unit and a change amount of the distance information of the storage unit. It is determined whether or not the set movement has been performed. According to this aspect, the movement of the user can be reliably determined by the control means, and the door drive unit can be controlled to open and close.

  When the detection area is set in the operation section, the trigger area for starting predetermined control by the control means, the light display means for performing optical display, and the object to be detected are detected in the operation section, And a display control unit that controls the light display means so as to guide the object to be detected toward a trigger area. According to this aspect, since the user can recognize the operation method and timing of the door opening and closing device, the operability of the door opening and closing device can be improved. Further, since the light display means is displayed when the user enters the operation section, it does not waste battery power.

  Based on the detection results of the first detection means and the pair of second detection means, the control means determines that an object to be detected has entered the approach area consisting of the first detection range and the pair of second detection ranges. If it is determined, the control unit includes a verification unit that performs key authentication of the electronic key by wireless communication. When the second detection unit detects the object to be detected after the key authentication by the verification unit, the control unit The judgment before detection of the detection object is invalidated. Specifically, the control unit invalidates the determination before detection by deleting the distance information in the storage unit. According to this aspect, it is possible to easily and reliably determine an irregular movement such as the user crossing the front of the door, and to reliably prevent the door opening / closing device from malfunctioning due to an operation not intended by the user.

  The set movement includes a first action that moves forward toward the door and a second action that moves backward toward the door. According to this aspect, since the user moves away from the door, the user can be prevented from colliding with the door that opens and closes.

  In the door opening and closing apparatus of the present invention, a pair of second detection means can detect a user who exits from the side of the operation section or a user who enters the operation section from the side. Therefore, it is possible to reliably determine whether or not the user has made a set movement within the operation section, and whether or not the movement is an irregular movement by the user. Therefore, it is possible to prevent the door opening / closing device from malfunctioning due to an operation not intended by the user.

The side view which shows the door opening / closing apparatus of this embodiment mounted in the vehicle. The block diagram which shows the structure of the door opening / closing apparatus of FIG. The top view which shows the relationship between the detection range and display position of the door opening / closing apparatus of FIG. The expanded sectional view of the door opening and closing apparatus of FIG. The expanded sectional view of the door opening and closing apparatus of FIG. The flowchart which shows the control by a control means. 6B is a flowchart showing the continuation of the control in FIG. 6A. The flowchart which shows the approach mode of FIG. 6B. The flowchart which shows the start mode of FIG. 6B. The flowchart which shows the trigger mode of FIG. 6B. The flowchart which shows the back mode of FIG. 6B. The flowchart which shows the closed back 1st mode of FIG. 6B. 6B is a flowchart showing the second closed-back mode in FIG. 6B.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG.1 and FIG.2 shows the vehicle 1 which has arrange | positioned the door opening / closing apparatus 10 of this embodiment. The door opening / closing device 10 automatically opens or closes the door 4 without using a hand, by the user performing a movement set around the door 4. In this embodiment, one center sensor 26 and a pair of side sensors 30A and 30B are used, and the side sensors 30A and 30B detect movements crossed by the user, thereby opening and closing the door 4 unintended by the user. To prevent. The door 4 is not limited to a hatchback door, and may be a boarding hinge door or a sliding door.

  As shown in FIG. 2, the door opening and closing device 10 includes a collating unit 22, a door driving unit 24, a center sensor 26, a pair of side sensors 30 </ b> A and 30 </ b> B, an LED 34, and a controller (control unit) 38. As shown in FIG. 3, the door opening / closing device 10 has an approach area a for detecting an object to be detected around the door 4 by the center sensor 26 and the side sensors 30 </ b> A and 30 </ b> B. The detected objects include a user who owns a specific electronic key (not shown), a person other than the user, a non-human animal, an obstacle, and the like. Obstacles include movable luggage, non-movable structures (walls and pillars), and other vehicles.

  In the door opening / closing device 10, if the center sensor 26 and the side sensors 30 </ b> A and 30 </ b> B detect the entry of the detected object into the approach area a, the collating unit 22 determines whether or not the user is a user. Here, the entry of the detected object means a state where an undetected detected object is detected for the first time. When the detected object to be detected is a user, the controller 38 determines the movement of the user based on the detection result of the center sensor 26 and outputs a signal for controlling opening / closing of the door 4 to the door driving unit 24. Further, the controller 38 performs a predetermined display by the LED 34 in order to prompt the user to set the movement.

(Details of door opening and closing device)
The center sensor 26, the side sensors 30 </ b> A and 30 </ b> B, the LED 34, and the controller 38 are accommodated in the casing 12 and disposed on the rear bumper 3 of the vehicle body 2. The collating means 22 and the door driving unit 24 are directly disposed in the vehicle 1 without being accommodated in the casing 12. As shown in FIG. 3, the casing 12 is preferably arranged at the center lower part of the rear bumper 3, but may be arranged at a lower part of the position biased to one side of the rear bumper 3.

  Referring to FIGS. 4 and 5, the casing 12 is a box body having one end opening, and includes a cover 13 that covers the opening. The cover 13 is provided with a fixing portion 14 for fixing to the rear bumper 3 and generally cylindrical sensor mounting portions 15a to 15c that are open in the horizontal direction. The axis of the sensor mounting portion 15a coincides with a center line (not shown) extending in the front-rear direction of the vehicle 1. The sensor attachment portions 15b and 15c are opened to be inclined to both outer sides so that the axis lines are gradually separated from each other. Further, the cover 13 is provided with an opening 16 for transmitting the light of the LED 34 to the outside of the casing 12.

  A control board 18 is attached in the casing 12 so as to face the opening 16. The control board 18 is mounted with a connector 19 for connecting to the verification means 22 and a connector 20 for connecting to a constant voltage power source. These connectors 19 and 20 are exposed to the outside from the bottom of the casing 12. A plurality of LEDs 34 and a controller 38 are mounted on the control board 18.

  As shown in FIG. 2, the collation means 22 determines whether or not the detected object detected by the center sensor 26 or the side sensors 30A and 30B is a user by performing key authentication with the electronic key. To do. The collation means 22 is connected to the controller 38 via a communication cable so as to be communicable, and is connected so as to be able to communicate wirelessly with an electronic key owned by the user. As this verification means 22, a host ECU mounted on the vehicle 1 is used. The host ECU controls the electronic devices of the vehicle 1 including the door opening / closing device 10. However, the function of the verification means 22 may be performed by the controller 38.

  The authentication process will be described in detail. The verification unit 22 transmits an authentication code request signal, and the received electronic key transmits the authentication code, thereby comparing the received authentication code with the stored normal code. If the authentication code matches the regular code, the collation unit 22 determines that the user is a user, and outputs a door control signal for starting control including opening / closing determination of the door 4 to the controller 38. On the other hand, if the authentication code and the regular code do not match, the verification unit 22 determines that the person is a person other than the user and does not output a door control signal. If the authentication code cannot be received, the verification unit 22 determines that the animal is an animal other than the user (including a human) or an obstacle and does not output a door control signal.

  The door drive unit 24 is a mechanism including a drive device (a motor, a gear mechanism, a damper, or the like) that can rotate the door 4 hinged to the vehicle body 2 in an opening direction and a closing direction. The door drive unit 24 is connected to the controller 38 through a communication cable so as to be communicable. The door driving unit 24 and the controller 38 may be wirelessly connected.

  As shown in FIGS. 2 to 4, the center sensor 26 is a first detection unit for detecting an object to be detected. For example, an ultrasonic sensor can be used. The center sensor 26 is attached to the sensor attachment portion 15a of the cover 13 and is communicably connected to the control board 18 by a lead wire. Referring to FIG. 2, the center sensor 26 includes a transmission unit 27 that transmits a radio signal (ultrasonic wave) having a predetermined frequency, and a reception unit 28 that receives a signal including a reflected wave (reflection signal) of the radio signal. Yes. The center sensor 26 may have a format in which the transmission unit 27 and the reception unit 28 are individually arranged, or may have a format in which the transmission unit and the reception unit are the same transmission / reception unit.

  Each of the side sensors 30A and 30B is a second detection unit for detecting an object to be detected. For example, an infrared sensor can be used. These side sensors 30A and 30B are respectively attached to the sensor attachment portions 15b and 15c of the cover 13, and are connected to the control board 18 through a lead wire so as to be communicable. Referring to FIG. 2, the side sensors 30A and 30B include transmitters 31A and 31B that transmit radio signals (infrared rays) having a predetermined frequency, and receivers 32A and 31A that receive signals including reflected waves (reflected signals) of radio signals. 32B. The side sensors 30A and 30B may have a format in which the transmission units 31A and 31B and the reception units 32A and 32B are individually arranged, or may have a format in which the transmission unit and the reception unit are the same transmission / reception unit. Good.

  The LED 34 is an optical display unit that performs an optical display (operation mark) on the ground G so as to guide the user to a set position. Three LEDs 34 are mounted on the control board 18 and illuminate the ground G through the opening 16 so that the user can visually recognize when the surroundings of the vehicle 1 are dark as well as when the surroundings are bright. A cylindrical lens mounting portion 35 is disposed on the control board 18, and a lens 36 is disposed on the lens mounting portion 35. The lens 36 collects the light from the LED 34 and irradiates the ground G.

  As shown in FIG. 2, the controller 38 is a control unit that controls the door opening and closing device 10. The controller 38 includes a storage unit 38 a that stores a control program, setting data such as a threshold value used in the control program, a data table for calculating a distance from the detection result of the center sensor 26, and the like. The controller 38 also has functions as a measurement unit 38b and a display control unit 38c. In the present embodiment, one microcomputer is used as the controller 38, but the measurement unit 38b and the display control unit 38c may be configured by individual control means.

  The controller 38 can determine that an object to be detected exists in the approach region a by the reception units 28, 32A, and 32B receiving the reflected wave. Further, the controller 38 can determine that there is no detected object in the approach area a when the receiving units 28, 32 </ b> A, 32 </ b> B do not receive the reflected wave. Further, the controller 38 can determine whether or not the user has moved based on the detection result by the center sensor 26 and the amount of change in the past detection result stored in the storage unit 38a. When the controller 38 determines that the user has performed the set motion based on the detection result by the center sensor 26 and the detection result by the side sensors 30A and 30B, the controller 38 opens or closes the door driving unit 24. Let

  Specifically, the controller 38 as the measuring unit 38b measures (calculates) the distance from the center sensor 26 to the detected object. The reception time from when the transmission unit 27 transmits a radio signal to when the reception unit 28 receives a reflected wave becomes longer as the distance from the center sensor 26 to the object to be detected becomes longer. Therefore, the measurement unit 38b can measure the distance from the center sensor 26 to the detected object by measuring the reception time corresponding to the distance. In addition, the measurement part 38b can measure the distance from the side sensors 30A and 30B to a to-be-detected object also from the detection result of the side sensors 30A and 30B. That is, the measuring unit 38b and the center sensor 26 constitute one distance measuring sensor (first detecting means). Further, the measurement unit 38b and the side sensor 30A constitute one distance measurement sensor (second detection means), and the measurement unit 38b and the side sensor 30B constitute one distance measurement sensor (second detection means). To do.

  The measurement result M obtained by the measurement unit 38b is stored in the storage unit 38a as distance information D. The distance information D is a detection result of the center sensor 26 and is stored in the storage unit 38a for a set number of times (for example, 10 times). When the storage amount exceeds the set number of times, the distance information D is erased from the storage unit 38a in order from the oldest.

  The controller 38 as the display control unit 38c switches the LED 34 between a lighting state, a blinking state, and a light-off state. For example, when the verification unit 22 determines that the object to be detected is a user and the user exists in an operation section s described later, the display control unit 38c switches the LED 34 from the off state to the blinking state. If it is determined that the user has moved to a trigger zone z1 described later, the display control unit 38c switches the LED 34 from a blinking state to a lighting state. In this way, the display control unit 38c guides the user to move to the trigger zone z1 and notifies the movement timing. The notification of the movement timing may be used in combination with sound output.

  Next, the detection range by the center sensor 26 and the side sensors 30A and 30B and the control by the controller 38 will be described with reference to FIG.

(Details of detection range)
The user may approach the door 4 to open or close the door 4 or may approach the door 4 for the purpose of crossing the front of the door 4. Even in the latter case, the user's movement may coincide with the set movement, for example, by avoiding an obstacle. Therefore, in this embodiment, after the user is authenticated, the movement of the user is determined based on the detection result of the center sensor 26, and the movement of the user is determined based on the detection result of the side sensors 30A and 30B. . In order to realize such a determination, the first detection range R of the center sensor 26 and the second detection ranges r1 and r2 of the side sensors 30A and 30B are as follows.

  As shown in FIGS. 3 and 5, the transmission unit 27 of the center sensor 26 transmits a radio signal so as to spread radially. The conical region for outputting the radio signal is the first detection range R of the center sensor 26 set around the door 4. Similar to the transmission unit 27, the transmission units 31A and 31B of the side sensors 30A and 30B transmit radio signals so as to spread radially. The conical regions for outputting the radio signals are the second detection ranges r1 and r2 of the side sensors 30A and 30B set around the door 4. The first detection range R of the center sensor 26 is wider in both the horizontal direction and the vertical direction than the second detection ranges r1 and r2 of the side sensors 30A and 30B. For example, the angle α of the first detection range R of the center sensor 26 made of an ultrasonic sensor is 80 degrees, and the angle β of the second detection ranges r1 and r2 of the side sensors 30A and 30B made of infrared sensors is 10 degrees. .

  As shown in FIG. 3, the center (detection center axis) C of the first detection range R of the center sensor 26 is set to extend backward along the center line in the front-rear direction of the vehicle 1. The direction in which the detection center axis C extends is the same as the direction orthogonal to the door 4 to be controlled. The centers (detection center axes) c1 and c2 of the second detection ranges c1 and c2 of the side sensors 30A and 30B are set to be inclined in directions away from each other.

  In the present embodiment, the second detection range r1 of the side sensor 30A is arranged along one side (left side in FIG. 3) in the horizontal direction of the first detection range R. The second detection range r2 of the side sensor 30B is disposed along the other side in the lateral direction of the first detection range R (the right side in FIG. 3). Further, the lateral inclination angles of the detection center axes c1 and c2 in the side sensors 30A and 30B are set so that a part of the first detection range R and a part of the second detection ranges r1 and r2 overlap. ing.

  As shown in FIG. 5, the detection center axis C of the first detection range R of the center sensor 26 is set so as to be output from the vehicle body 2 in the horizontal direction. In addition, a horizontal direction is a direction along the parked ground G. The detection center axes c1 and c2 of the second detection ranges r1 and r2 of the side sensors 30A and 30B are set to incline upward from the detection center axis C of the first detection range R. As a result, the user crosses the narrow second detection ranges r1 and r2 to prevent the detection error of the user by the side sensors 30A and 30B.

  The entire range including the first detection range R of the center sensor 26 and the second detection ranges r1 and r2 of the pair of side sensors 30A and 30B is the approach region a. That is, the approach area a is a range from the outer end o1 of the second detection range r1 of the side sensor 30A to the outer end o2 of the second detection range r2 of the side sensor 30B in the plan view (lateral direction) of FIG. is there.

  In the approach area a, an operation section s for detecting a user's movement is set. The operation section s includes a region from the inner end i1 of the second detection range r1 of the side sensor 30A to the outer end i2 of the second detection range r2 of the side sensor 30B. That is, the operation section s is an area excluding the second detection ranges r1 and r2 of the side sensors 30A and 30B in the approach area a.

  Based on the detection result of the center sensor 26 and the detection results of the side sensors 30A and 30B, the controller 38 can determine whether or not the detected object exists in the operation section s. That is, when only the center sensor 26 detects the detected object and neither of the side sensors 30A and 30B detects the detected object, the controller 38 can determine that the detected object is located in the operation section s. Further, when the center sensor 26 detects the detected object and detects the detected object in one of the pair of side sensors 30A and 30B, the controller 38 determines that the detected object is located outside the operation section s. it can. Of course, if the center sensor 26 cannot detect the detected object and one of the pair of side sensors 30A and 30B detects the detected object, the controller 38 determines that the detected object is located outside the operation section s. I can judge.

  In this way, the second detection ranges r1 and r2 of the side sensors 30A and 30B are arranged on both sides of the first detection range R of the center sensor 26 so as to detect the presence of the detected object and the movement of the user. Yes. Therefore, the movement of the detected object from the specific direction can be detected with a simple configuration. Specifically, the pair of side sensors 30A and 30B can detect an object to be detected including a user who comes out of the operation section s or a user who enters the operation section s from the side.

  Further, since the first detection range R of the center sensor 26 is wider than the second detection ranges r1 and r2 of the side sensors 30A and 30B, a sufficient space can be secured as an operation section where the user performs a set movement. . Therefore, it is possible to prevent the inconvenience that the side sensors 30A and 30B detect the user when the user performs the set movement.

(Details of operation section)
The operation section s is divided into two or more operation detection areas according to the distance from the center sensor 26. In the present embodiment, a trigger zone z1 close to the vehicle body 2 and a start zone z2 far from the vehicle body 2 are provided. The trigger zone z <b> 1 is a portion for determining that the user has approached the vehicle body 2 by the center sensor 26 and starting control for driving the door 4. The start zone z2 is set at a portion farther from the vehicle body 2 than the trigger zone z1, and is a position where the opened / closed door 4 does not generally collide with the user. The start zone z2 of this embodiment is further divided into a first portion z2a close to the vehicle body 2 and a second portion z2b remote from the vehicle body 2.

  For example, the upper limit of the detection distance of the center sensor 26 in the direction away from the vehicle body 2 is 120 cm. In this case, the trigger zone z1 is a range from a position 20 cm away from the center sensor 26 to a position 40 cm away. The start area z2 is a range from a position 50 cm away from the center sensor 26 to a position 120 cm away. Further, the first portion z2a of the start zone z2 ranges from a position 50 cm away from the center sensor 26 to a position 80 cm away, and the second portion z2b extends from a position 80 cm away from the center sensor 26 to a position 120 cm away. The range. And the display position P by LED34 is set to the vehicle body 2 side end of the trigger area z1.

  As described above, the controller 38 as the measurement unit 38b can measure the distance to the object to be detected based on the time from the transmission of the radio signal to the reception of the reflected wave. Therefore, the controller 38 can determine in which zone z1, z2a, z2b of the operation zone s the object to be detected is based on the distance measured by the measuring unit 38b.

  Further, the controller 38 compares the measurement result M of the measurement unit 38b with the distance information D stored in the storage unit 38a, and can determine whether or not the user has moved according to the amount of change. Can determine distance. When the user moves, the amount of change between the current measurement result M and the previous distance information D increases in accordance with the movement distance. On the other hand, when the user does not move, the measurement result M and the distance information D This is because the amount of change has almost no difference or becomes equal.

  In the operation section s thus configured, an intermediate section z3 having a predetermined width is formed between the trigger section z1 and the start section z2. The intermediate zone z3 is for clearly determining whether the user exists in the trigger zone z1 or the start zone z2.

  Referring to FIG. 5, since the detection range R of the center sensor 26 is radial, an area z <b> 4 where small items cannot be detected is formed below the detection range R in a region close to the vehicle body 2. When an object to be detected exists only in this zone z4, the object to be detected cannot be detected by the center sensor 26. However, the state in which the user has moved to the zone z4 can be detected by the center sensor 26. This is because the user's body is located in the detection range R of the center sensor 26 even if the user's foot is located in the zone z4. That is, if even a part of the detected object is located in the detection range R, the center sensor 26 can detect the detected object.

(Details of control by the controller)
When the side sensors 30 </ b> A and 30 </ b> B detect the user after the authentication by the verification unit 22, the controller 38 invalidates the determination of the user's movement before the detection and redoes the determination for controlling the opening / closing of the door 4. A method of invalidating the determination before detection is to delete the distance information D stored in the storage unit 38a. Thereby, since the detection result (measurement result M) by the center sensor 26 cannot be compared, the movement of the user cannot be determined. Note that the stored information D in the storage unit 38 a is also deleted when the controller 38 completes the opening or closing drive of the door 4.

  The automatic opening / closing control of the door 4 by the controller 38 is started when the vehicle 1 is parked and the engine is stopped. Then, the controller 38 drives the door 4 by, for example, the user performing the following set movement.

  As shown in FIG. 3, when opening the closed door 4, the user moves as m <b> 1-m <b> 4. That is, the user enters the approach area a (m1) and moves (m2) to the start zone z2. Next, the user moves forward (m3) toward the door 4 and steps on the trigger area z1 (display position P) blinked and displayed by the LED 34 (first operation). When the blinking display by the LED 34 changes to the lighting display, the user moves backward (m4) toward the first portion z2a of the start zone z2 that is away from the door 4 (second operation). When the controller 38 determines that the user has performed the set movements m1 to m4, the controller 38 opens the door 4 by opening the door driving unit 24.

  When the opened door 4 is driven to close, the user moves like m1-m5 and moves backward one step more than when the door 4 is driven to open. That is, the user enters the approach area a (m1) and moves (m2) to the start zone z2. Next, the user moves forward (m3) toward the door 4 and steps on the trigger area z1 (display position P) blinked and displayed by the LED 34 (first operation). When the blinking display by the LED 34 is changed to the lighting display, the user retreats (m4) toward the first part z2a of the start zone z2 that is away from the door 4 (second operation), and then the second part. Retreat to z2b (m5) (third operation). When the controller 38 determines that the user has performed the set movements m1-m5, the controller 38 drives the door driving unit 24 to close and closes the door 4.

  As shown in FIG. 6B, first to sixth modes are set for the control of the controller 38 in order to detect the user's movement and prompt the user to perform a predetermined movement. In the approach mode (step S9) that is the first mode, it is verified whether or not the detected object that has entered the approach area a is a user. In the start mode (step S11), which is the second mode, the control for determining the movement of the user is started by confirming the open / closed state of the door 4. In the trigger mode (step S13) that is the third mode, it is determined whether or not the user has moved to the trigger zone z1, and the opening control or closing control of the door 4 is started. In the back mode (step S15), which is the fourth mode, when the door 4 is opened, it is determined whether or not the user has moved backward, and the door drive unit 24 is driven to open. The closed back first mode (step S17) which is the fifth mode and the closed back second mode (step S19) which is the sixth mode are executed when the door 4 is closed. In the first closed-back mode, it is determined whether or not the user has moved backward. In the second closed-back mode, it is determined whether or not the user who has moved backward has further moved back, and the door drive unit 24 is driven to close. .

  Further, when the side sensors 30A and 30B detect the user in the start mode, the trigger mode, the back mode, the closed back first mode, and the closed back second mode, the controller 38 invalidates the judgment so far, Reset the open / close control.

Next, the control by the controller 38 will be described in more detail according to the flowcharts of FIGS. 6A to 12. Note that the counter N used in FIGS. 7 to 12 counts the following.
Counter Na: Number of detected objects in approach area a Counter Nb: Number of times smart entry authentication does not match Counter Nc: Number of times user cannot be detected in start area z2 Counter Nd: User cannot be detected in trigger area z1 Number of times Counter Ne: Number of times the user's back cannot be detected Counter Nf: Number of times the user's back cannot be detected Counter Ng: Number of times the user's back cannot be detected

(Main flow)
As shown in FIG. 6A, when the engine of the vehicle 1 is stopped, the controller 38 initializes itself in step S1, and waits until the detection time by the center sensor 26 and the side sensors 30A and 30B is reached in step S2. To do. Here, the detection time is measured by a built-in timer of the controller 38. The detection time differs depending on whether or not an object to be detected exists in the approach area a, and the detection time is set shorter than the case where the detection object does not exist. For example, when there is no object to be detected, detection is performed every 0.5 seconds, and when there is an object to be detected, detection is performed every 0.05 seconds.

  When the detection time elapses, a radio signal (ultrasonic wave) is output from the transmission unit 27 of the center sensor 26 in step S3, and then the reflected wave is received by the reception unit 28 of the center sensor 26 in step S4. Next, in step S5, radio signals (infrared rays) are output from the transmission units 31A and 31B of the side sensors 30A and 30B, and then in step S6, reflected waves are received by the reception units 32A and 32B of the side sensors 30A and 30B. . Note that transmission / reception of the signals in steps S5 and S6 may be performed one by one or both of the side sensors 30A and 30B at the same time.

  Next, the controller 38 stores the distance information D as a detection result by the center sensor 26 in the storage unit 38a in step S7. Thereafter, as shown in FIG. 6B, control corresponding to each situation is executed.

  In step S8, it is determined whether or not the approach mode is set. If the approach mode is set, the process proceeds to step S9, the approach mode is executed, and the process proceeds to step S2 in FIG. 6A. If the approach mode is not set, the process proceeds to step S10.

  In step S10, it is determined whether or not the start mode is set. If the start mode is set, the process proceeds to step S11, the start mode is executed, and the process proceeds to step S2 in FIG. 6A. If the start mode is not set, the process proceeds to step S12.

  In step S12, it is determined whether or not the trigger mode is set. If the trigger mode is set, the process proceeds to step S13, the trigger mode is executed, and the process proceeds to step S2 in FIG. 6A. If the trigger mode is not set, the process proceeds to step S14.

  In step S14, it is determined whether or not the back mode is set. If the back mode is set, the process proceeds to step S15, the back mode is executed, and the process proceeds to step S2 in FIG. 6A. If the back mode is not set, the process proceeds to step S16.

  In step S16, it is determined whether or not the closed back first mode is set. If the closed back first mode is set, the process proceeds to step S17, the closed back first mode is executed, and the process proceeds to step S2 in FIG. 6A. On the other hand, when the closed back first mode is not set, the process proceeds to step S18.

  In step S18, it is determined whether or not the closed back second mode is set. When the closed back second mode is set, the process proceeds to step S19, the closed back second mode is executed, and the process proceeds to step S2 in FIG. 6A. On the other hand, if the closed back second mode is not set, the process proceeds to step S20.

  Step S20 is executed in a state where none of the above-described modes is set. This step S20 is a state in which an object to be detected is not detected in the approach area a, and the controller 38 enters the approach area a based on the detection result of the center sensor 26 and the detection results of the side sensors 30A and 30B. It is determined whether or not an object to be detected including the user has entered. If the entry of the detected object is detected, the process proceeds to step S21, the approach mode is set, and the process proceeds to step S2 in FIG. 6A. If no entry of the object to be detected is detected, the process proceeds to step S22, the mode setting is cleared, and the process proceeds to step S2 in FIG. 6A.

(Approach mode)
As shown in FIG. 7, in the approach mode of step S9, the controller 38 determines whether or not an object to be detected has entered the approach area a in step S9-1. If the detected object has not entered the approach area a, the process proceeds to step S9-2 to clear the approach mode, and to clear the counter Na that is the number of detections of the detected object. Proceed to the flow. If the detected object has entered the approach area a, the process proceeds to step S9-3.

  In step S9-3, after adding 1 to the counter Na, it is determined in step S9-4 whether or not the counter Na is greater than 2. If the counter Na is greater than 2, the process proceeds to step S9-5. If the counter Na is 2 or less, the process proceeds to the main flow.

  In step S9-5, a smart entry authentication request signal is output to the verification means 22. As a result, the verification unit 22 requests the electronic key to transmit an authentication code, and compares the authentication code received from the electronic key with the registered regular code to determine the presence or absence of the user. In step S9-6, the approach mode is cleared, the counter Na is cleared, the start mode is set, and the process proceeds to the main flow.

  In this manner, before detecting the user's set movement, it is determined whether or not the user has approached by detecting an object to be detected in the approach area a, and key authentication is performed. Therefore, since the user's movement for opening and closing the door 4 can be detected quickly, convenience can be improved.

(Start mode)
As shown in FIG. 8, in the start mode of step S <b> 11, the controller 38 confirms whether or not the smart entry authentication has been normally performed by reception from the verification unit 22 in step S <b> 11-1. If the user is successfully authenticated and the user is present in the approach area a, the process proceeds to step S11-2. If the user is not normally authenticated and the user is not present in the approach area a, the process proceeds to step S11-3. .

  In step S11-2, it is confirmed whether the door 4 is in an open state or a closed state by a signal from the door drive unit 24, and the process proceeds to step S11-6. In addition, you may perform the state confirmation of this door 4 in the back mode of step S15.

  In step S11-3, after adding 1 to the counter Nb, it is detected in step S11-4 whether or not the counter Nb is greater than 3. If the counter Nb exceeds 3, the process proceeds to step S11-5, where the start mode is cleared, the counters Nb and Nc are cleared, and the process proceeds to the main flow. When the counter Nb is 3 or less, the process proceeds to the main flow as it is.

  In step S11-6, it is determined whether the user has left the operation section s based on the detection results of the side sensors 30A and 30B. When the user leaves the operation section s, the process proceeds to step S11-7, and when the user remains in the operation section s, the process proceeds to step S11-9.

  In step S11-7, after all the detection results (distance information D) of the center sensor 26 stored in the storage unit 38a are deleted, in step S11-8, the mode setting is cleared and all counters N are cleared. Then, proceed to the main flow.

  In step S11-9, based on the measurement result M by the center sensor 26 and the measurement unit 38b, it is determined whether or not the user is located in the start zone z2. If a user exists in the start area z2, the process proceeds to step S11-10. If a user does not exist in the start area z2, the process proceeds to step S11-11.

  In step S11-10, the LED 34 is blinked by the display control unit 38c to clear the start mode. Further, the counters Nb and Nc are cleared, the trigger mode is set, and the process proceeds to the main flow.

  In step S11-11, after adding 1 to the counter Nc, it is detected in step S11-12 whether or not the counter Nc is greater than 20. If the counter Nc exceeds 20, the process proceeds to step S11-13 to clear the start mode, clear the counters Nb and Nc, and proceed to the main flow. When the counter Nc is 20 or less, the process proceeds to the main flow as it is.

(Trigger mode)
As shown in FIG. 9, in the trigger mode of step S13, the controller 38 determines whether or not the user has left the operation section s based on the detection results of the side sensors 30A and 30B in step S13-1. If the user leaves the operation section s, the process proceeds to step S13-2. If the user remains in the operation section s, the process proceeds to step S13-4.

  In step S13-2, after all the detection results (distance information D) of the center sensor 26 stored in the storage unit 38a are deleted, in step S13-3, the mode setting is cleared and all counters N are cleared. Then, proceed to the main flow.

  In step S13-4, it is determined whether the user has moved to the trigger zone z1 based on the measurement result M by the center sensor 26 and the measurement unit 38b. If the user has entered the trigger zone z1, the process proceeds to step S13-5, the LED 34 is turned on, and the trigger mode is cleared. Further, the counter Nd is cleared, the back mode is set, and the process proceeds to the main flow.

  If it is not possible to determine the movement of the user to the trigger zone z1 in step S13-4, 1 is added to the counter Nd in step S13-6, and then the counter Nd is greater than 20 in step S13-7. Detect whether or not. If the counter Nd exceeds 20, the process proceeds to step S13-8, the LED 34 is turned off, the trigger mode is cleared, the counter Nd is cleared, and the process proceeds to the main flow. When the counter Nd is 20 or less, the process proceeds to the main flow as it is.

(Back mode)
As shown in FIG. 10, in the back mode of step S15, the controller 38 blinks the LED 34 in step S15-1, and then controls to open the door 4 from the current open / closed state of the door 4 in step S15-2. Check whether it is closed or closed. When the door 4 is controlled to be closed, the process proceeds to step S15-3, the back mode is cleared, the closed back first mode is set, and the process proceeds to the main flow. If the door 4 is to be opened, the process proceeds to step S15-4.

  In step S15-4, it is determined whether or not the user has left the operation section s based on the detection results of the side sensors 30A and 30B. If the user leaves the operation section s, the process proceeds to step S15-5. If the user remains in the operation section s, the process proceeds to step S15-7.

  In step S15-5, all the detection results (distance information D) of the center sensor 26 stored in the storage unit 38a are erased. Then, in step S15-6, the mode setting is cleared and all counters N are cleared. Then, proceed to the main flow.

  In step S15-7, it is determined whether or not the user has moved to the first part z2a of the start zone z2 based on the measurement result M by the center sensor 26 and the measurement unit 38b. If the user has moved back to the first part z2a, the process proceeds to step S15-8. If the user has not moved back to the first part z2a, the process proceeds to step S15-11.

  In step S15-8, the door drive unit 24 outputs the door 4 opening signal to drive the door 4 to open, and then in step S15-9, the center sensor 26 stored in the storage unit 38a is detected. All results (distance information D) are deleted. In step S15-10, the LED 34 is turned off, the back mode is cleared, the counter Ne is cleared, and the process proceeds to the main flow.

  In step S15-11, after adding 1 to the counter Ne, it is detected in step S15-12 whether or not the counter Ne is greater than 20. If the counter Ne exceeds 20, the process proceeds to step S15-13, the LED 34 is turned off, the back mode is cleared, the counter Ne is cleared, and the process proceeds to the main flow. When the counter Ne is 20 or less, the process proceeds to the main flow as it is.

(Closed back first mode)
As shown in FIG. 11, in the first closed back mode, the controller 38 determines whether or not the user has left the operation section s based on the detection results of the side sensors 30A and 30B in step S17-1. If the user leaves the operation section s, the process proceeds to step S17-2. If the user remains in the operation section s, the process proceeds to step S17-4.

  In step S17-2, after all the detection results (distance information D) of the center sensor 26 stored in the storage unit 38a are deleted, in step S17-3, the mode setting is cleared and all counters N are cleared. Then, proceed to the main flow.

  In step S17-4, it is determined whether or not the user has moved to the first part z2a of the start zone z2 based on the measurement result M by the center sensor 26 and the measurement unit 38b. If the user has moved backward to the first portion z2a, the process proceeds to step S17-5, where the closed back first mode is cleared, the counter Nf is cleared, the closed back second mode is set, and the main flow is performed. Proceed to

  If the user has not moved back to the first portion z2a in step S17-4, 1 is added to the counter Nf in step S17-6, and then the counter Nf is greater than 20 in step S17-7. Detect whether or not. If the counter Nf exceeds 20, the process proceeds to step S17-8, the LED 34 is turned off, the closed back first mode is cleared, the counter Nf is cleared, and the process proceeds to the main flow. When the counter Nf is 20 or less, the process proceeds to the main flow as it is.

(Closed back second mode)
As shown in FIG. 12, the controller 38 in the closed back second mode determines whether or not the user has left the operation section s based on the detection results of the side sensors 30A and 30B in step S19-1. If the user leaves the operation section s, the process proceeds to step S19-2. If the user remains in the operation section s, the process proceeds to step S19-4.

  In step S19-2, after all the detection results (distance information D) of the center sensor 26 stored in the storage unit 38a are deleted, in step S19-3, the mode setting is cleared and all counters N are cleared. Then, proceed to the main flow.

  In step S19-4, based on the measurement result M by the center sensor 26 and the measurement unit 38b, it is determined whether or not the user has moved to the second portion z2b of the start zone z2. If the user has moved back to the second part z2b, the process proceeds to step S19-5. If the user has not moved back to the second part z2b, the process proceeds to step S19-8.

  In step S19-5, after the door 4 is driven to close by outputting an open signal of the door 4, the center sensor 26 stored in the storage unit 38a is detected in step S19-6. All results (distance information D) are deleted. In step S19-7, the LED 34 is turned off, the second closed back mode is cleared, the counter Ng is cleared, and the process proceeds to the main flow.

  In step S19-8, after adding 1 to the counter Ng, it is detected in step S19-9 whether or not the counter Ng is greater than 20. If the counter Ng exceeds 20, the process proceeds to step S19-10, the LED 34 is turned off, the closed back second mode is cleared, the counter Ng is cleared, and the process proceeds to the main flow. When the counter Ng is 20 or less, the process proceeds to the main flow as it is.

  As described above, in the door opening and closing apparatus 10 of the present embodiment, the second detection ranges r1 and r2 of the side sensors 30A and 30B are arranged on both sides of the first detection range R of one center sensor 26. Therefore, it is reliably determined with a simple configuration whether or not the user has performed a set movement in the operation section s, and whether or not the movement is an irregular movement by the user such as crossing the operation section s. it can. Therefore, it is possible to prevent the door opening / closing device 10 from malfunctioning due to a movement not intended by the user. Moreover, when the side sensors 30A and 30B detect the user, the distance information D in the storage unit 38a is erased, so that the determination before detection can be reliably reset.

  In addition, the controller 38 determines the movement of the user based on the measurement result M obtained by the measurement unit 38b and the amount of change in the distance information D in the storage unit 38a. Moreover, since the user recognizes the operation method and timing of the door opening and closing device 10 by the display by the LED 34, the operability of the door opening and closing device 10 can be improved. Moreover, since the LED 34 is driven by the user entering the operation section s, the battery power is not wasted.

  Further, in steps S11-6, S13-1, S15-4, S17-1, and S19-1, not only the user leaves the operation section s but also humans and animals other than the user lie in the operation section s. It is possible to detect that it has entered from. Even in such a case, the detection result (distance information D) of the center sensor 26 stored in the storage unit 38a is deleted, and the determination made so far is reset. Therefore, when the user is performing an opening operation or a closing operation, a person other than the user can enter the rotation range of the door 4 to prevent the rotating door 4 from colliding with another person.

  In addition, the door opening / closing apparatus 10 of this invention is not limited to the structure of the said embodiment, A various change is possible.

  For example, the authentication by the verification unit 22 may be performed by the vehicle 1 transmitting an authentication radio wave at any time instead of being performed by the entry of the detected object into the approach area a. Thus, the user authentication time by the collating means 22 can be changed as desired. The display for guiding the user can change the size, shape, and brightness as desired. Alternatively, the trigger area z1 may be reduced when the trigger area z1 is close to the vehicle body 2, and may be increased when the trigger area z1 is far from the vehicle body 2.

  The resetting of the door opening / closing control may be executed by detecting the user continuously for a certain time by the side sensors 30A and 30B, and may not be executed by a short-time detection. Further, the angle of the first detection range R of the center sensor 26 and the angles of the second detection ranges r1 and r2 of the side sensors 30A and 30B can be changed as desired. Of course, the inclination angle of the detection center axis C of the center sensor 26 and the inclination angles of the detection center axes c1 and c2 of the side sensors 30A and 30B can be changed as desired.

DESCRIPTION OF SYMBOLS 1 ... Vehicle 2 ... Vehicle body 3 ... Rear bumper 4 ... Door 10 ... Door opening / closing device 12 ... Casing 13 ... Cover 14 ... Fixed part 15a-15c ... Sensor attaching part 16 ... Opening part 18 ... Control board 19 ... Connector 20 ... Connector 22 ... collation means 24 ... door drive unit 26 ... center sensor (first detection means)
27 ... Transmitting section 28 ... Receiving section 30A, 30B ... Side sensor (second detecting means)
31A, 31B ... Transmitter 32A, 32B ... Receiver 34 ... LED (light display means)
35 ... Lens mounting part 36 ... Lens 38 ... Controller (control means)
38a ... Storage section (first detection means, second detection means)
38b ... Measurement unit 38c ... Display control unit G ... Ground R ... First detection range C ... First output center (detection center axis)
r1, r2 ... second detection range c1, c2 ... second output center (detection center axis)
o1, o2 ... outer end i1, i2 ... inner end a ... approach zone s ... operating zone z1 ... trigger zone z2 ... start zone z2a ... first zone z2b ... second zone z3 ... intermediate zone z4 ... zone where small objects cannot be detected P … Display position

Claims (10)

A door drive unit capable of opening and closing the door with respect to the vehicle body;
First detection means for detecting an object to be detected existing in a set first detection range around the door;
A pair of second detection means for detecting an object present in a set second detection range around the door;
Control that outputs a signal for driving the door to the door drive unit when it is determined that the detected object has made a set movement based on detection results of the first detection unit and the pair of second detection units. Means and
Of the pair of second detection means, one of the second detection ranges is arranged on one side in the lateral direction of the first detection range, and the other second detection range is in the lateral direction of the first detection range. A door opening and closing device arranged on the other side. Of the pair of second detection means, an area from the lateral inner end of one second detection range to the lateral inner end of the other second detection range is set as an operation section,
2. The door opening and closing device according to claim 1, wherein the control unit determines whether or not the detected object has performed a set movement in the operation section based on a detection result of the first detection unit.   The door opening / closing apparatus according to claim 1 or 2, wherein the first detection range of the first detection means is wider than the second detection range of the second detection means.   The door opening and closing apparatus according to claim 3, wherein the first detection means is an ultrasonic sensor and the second detection means is an infrared sensor.   The door according to any one of claims 1 to 4, wherein the second detection center axis of the second detection means is inclined upward than the first detection center axis of the first detection means. Switchgear. A storage unit for storing the detection result of the first detection unit as distance information;
6. The control unit according to claim 1, wherein the control unit determines whether the detected object has performed a set movement based on a detection result of the first detection unit and a change amount of the distance information in the storage unit. The door opening / closing apparatus of any one of Claims. A trigger area set in the operation section for starting predetermined control by the control means;
Optical display means for optical display;
The display control unit that controls the light display unit so as to guide the detected object toward the trigger area when the detected object is detected in the operation section. Item 7. The door opening and closing device according to any one of Items 3 to 6. Based on the detection results of the first detection means and the pair of second detection means, the control means determines that an object to be detected has entered the approach area consisting of the first detection range and the pair of second detection ranges. When the determination is made, a verification unit that performs key authentication of the electronic key by wireless communication is provided
The control means invalidates the judgment before the detection of the detected object by the second detecting means when the second detecting means detects the detected object after the key authentication by the collating means. The door opening and closing device according to any one of 7.   The door opening / closing apparatus according to claim 8, wherein the control means invalidates the determination before the detection by deleting the distance information in the storage unit.   The said set movement has a 1st operation | movement which advances to the direction which approaches the said door, and a 2nd operation | movement which reverse | retreats to the direction which leaves | separates from the said door. Door opener.

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