JP2018084093A - Door opening and closing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent illegal theft by a third person.SOLUTION: An opening and closing device of a door 4 includes door driving means 18 which can open and close the door 4, detection means 12 for detecting an object to be detected in the vicinity of the door 4, collation means 17 for performing key authentication, and control means 20 for driving the door driving means 18 on the basis of the detection result of the detection means 12. The control means 20 makes the collation means 17 perform key authentication when the detection means 12 detects the object to be detected during driving of the door driving means 18, interrupts driving of the door driving means 18 when the key authentication is established, and close-drives the door driving means 18 when the key authentication is not established.SELECTED DRAWING: Figure 3

Description

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

  A recent vehicle is equipped with a door opening and closing device that can open and close the door without using a hand. In Patent Document 1, when an object to be detected (obstacle) existing near the door is detected, the opening speed of the door that is being opened is slowed down, stopped, or switched to the closed drive. A switchgear is disclosed.

JP 2007-138466 A

  However, the door opening and closing device of Patent Document 1 does not take any consideration into unauthorized theft when the detected object is a third party other than the user.

  An object of the present invention is to provide a door opening and closing device that can prevent unauthorized theft by a third party.

  The present invention includes a door driving means capable of opening and closing a door with respect to a vehicle body, a detecting means for detecting an object to be detected around the door, a collating means for performing key authentication by wireless communication, and the detecting means Control means for driving the door driving means based on the detection result of the key, and when the detecting means detects the detected object during the driving of the door driving means, the verification means performs key authentication by the verification means. And a door opening / closing device that interrupts driving of the door driving means when the key authentication is established and closes the door driving means when the key authentication is not established. .

  According to this door opening / closing apparatus, when the detection means detects the detected object while the door drive means is being driven, it is confirmed whether the user is a user or a third party other than the user by key authentication. When the user is a user, the door is prevented from colliding with the user by interrupting the door opening / closing drive. If it is a third party, the door is closed to prevent the third party from getting into the vehicle.

  In the door opening and closing device of the present invention, the key authentication is performed while the door driving means is being driven, and the door is closed when it is determined that it is a third party other than the user. Can be prevented.

The perspective view which shows 1 process of the operation | movement for opening a door. The perspective view which shows another 1 process of the operation | movement for opening a door. The perspective view which shows another 1 process of the operation | movement for opening a door. The perspective view which shows the state which the door opened. The perspective view which shows 1 process of the operation | movement for closing a door. The perspective view which shows another 1 process of the operation | movement for closing a door. The perspective view which shows another 1 process of the operation | movement for closing a door. The perspective view which shows the state which the door closed. The block diagram which shows the structure of a door opening / closing apparatus. The top view which shows the relationship between the detection range of a door opening / closing apparatus and a display position. The main flowchart which shows the control by a control means. FIG. 5B is a flowchart continued from FIG. 5A. The flowchart of the approach process of FIG. 5A. The flowchart of the start process of FIG. 5A. The flowchart of the trigger process of FIG. 5A. The flowchart of the open | release process of FIG. 5B. The flowchart of the 1st closing process of Drawing 5B. The flowchart of the 2nd closing process of FIG. 5B. The flowchart of the open | release warning process of FIG. 5B. 5B is a flowchart of the closing alarm process of FIG. 5B.

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

  1A to 2D show a vehicle 1 that employs a door opening and closing device 10 according to the present embodiment. The door opening and closing device 10 is for automatically opening and closing a hatchback door 4 (hereinafter simply referred to as a door) provided at the rear of the vehicle 1. According to the door opening / closing device 10, the door 4 can be automatically opened and closed without using a hand if the user performs a predetermined operation on the rear side of the door 4. Details of processing for automatically opening and closing the door 4 will be described later.

(Configuration of door opening and closing device)
As shown in FIG. 3, the door opening / closing device 10 includes a detection unit 12, an illumination unit 16, a collation unit 17, a door drive unit 18, a door lock device 19, and a control unit 20. However, in FIG. 3, the part surrounded by the alternate long and short dash line is the configuration added this time, and existing parts mounted on the vehicle 1 are used for the detection unit 12, the verification unit 17, and the door lock device 19.

  Referring also to FIG. 4, the detection means 12 is a first detection of two locations adjacent to each other in the vehicle width direction at the center among a total of four back sonars (ultrasonic sensors) attached to the rear bumper 3. It consists of a sensor 13A and a second detection sensor 13B. The detection results of the third detection sensor 13C and the fourth detection sensor 13D at two locations on both sides are not used in the door opening / closing control. Note that the detection sensors 13 </ b> A to 13 </ b> D as back sonars are mounted to monitor the rear when the vehicle 1 is traveling. As driving assistance using these detection sensors 13A to 13D, there are an alarm when a foreign object including a person is detected during back running, and automatic parking for parking in an empty space. Detailed descriptions of these driving support functions are omitted.

  Each of the detection sensors 13 </ b> A to 13 </ b> D includes a transmitter 14 and a receiver 15. The ultrasonic waves emitted from the transmitter 14 form detection ranges that expand in a conical shape toward the rear of the vehicle. On the ground, the detection range extends in a fan shape (center angle is about 45 degrees). The ultrasonic reflected light transmitted to the detection ranges 32 </ b> A to 32 </ b> D is received by the receiver 15. The detection results of the first detection sensor 13A and the second detection sensor 13B are used for the determination of the presence or absence of the detection object in the detection ranges 32A and 32B and the calculation of the distance to the detection object. The detected object includes a user and a third party other than the user.

  FIG. 4 shows detection ranges 32A to 32D of the detection sensors 13A to 13D set on the ground in plan view. As shown in FIG. 4, the entire range 32A, 32B detected by each of the first detection sensor 13A and the second detection sensor 13B is an approach region 33. A range (overlapping region) detected by both the first detection sensor 13A and the second detection sensor 13B is the operation section 34. The operation section 34 is divided into a plurality of sections depending on the difference in detection distance. The trigger area 35 is set between the first set distance s1 (for example, 20 cm) and the second set distance s2 (for example, 40 cm). The start area 36 is set between the third set distance s3 (for example, 50 cm) and the fourth set distance s4 (for example, 120 cm). The start area 36 includes a first section 37 and a second section 38. The first section 37 is between the third set distance s3 and the fifth set distance s5 (for example, 80 cm). The second section 38 is between the fifth set distance s5 and the fourth set distance s4.

  The illumination means 16 is composed of LEDs. Although not shown in detail, the LED is mounted on a substrate in a casing attached to the central portion of the rear bumper 3. An opening is formed in the casing, and a lens is provided there. The light from the LED is collected by a lens so that the ground can be irradiated with an illuminance that can be visually recognized by the user when the surroundings of the vehicle 1 are dark as well as bright. The irradiation position is a trigger area 35, which is an optical display (operation mark) 30 for guiding the user.

  The collating means 17 includes a transmitter / receiver equipped with an external LF transmission / reception antenna for performing key authentication outside the vehicle and performing communication using a key (portable device) and an LF (Low Frequency) signal. The transceiver is activated in response to a command from a host ECU (Electronic Control Unit), and key authentication processing is performed. In the key authentication process, an authentication code transmission request is made to the key, the authentication code received from the key is compared with a registered regular code, and if they match (satisfy), it is determined that the user is a user.

  Although not shown, the door driving means 18 is configured by a motor, a gear mechanism, a damper, and the like that can rotate the door 4 in the opening direction and the closing direction. The door driving means 18 is communicably connected to the control means 20 via a communication cable. The door driving means 18 and the control means 20 may be wirelessly connected.

  The door lock device 19 is disposed on the door 4 and closes the door 4 so as to be openable with respect to the vehicle body 2. The door lock device 19 is communicably connected to the control means 20 via a communication cable, and outputs an open signal (for example, an ON signal) when the door 4 is open, and closes a signal (for example, OFF when the door 4 is closed). Signal).

  The control means 20 includes a controller that includes a storage unit 21, a measurement unit 22, a determination unit 23, and an illumination control unit 24. In the present embodiment, one microcomputer is used as the control means 20, but the measurement unit 22, the determination unit 23, and the illumination control unit 24 may be configured by individual microcomputers.

  The storage unit 21 stores a control program, setting data such as threshold values and determination values used in the control program, and a data table for calculating a distance from the detection results of the detection sensors 13A and 13B.

  The measuring unit 22 detects the object to be detected based on the time (detection result) from when the transmitter 14 of the detection sensors 13A and 13B transmits an ultrasonic wave until the receiver 15 receives the reflected wave. Measure the distance to. That is, the measuring unit 22 and the detection sensors 13A and 13B constitute a distance measuring sensor capable of measuring the distance from the detection sensors 13A and 13B to the detected object. The measurement result is stored in the storage unit 21 as distance information. The storage unit 21 can store distance information for a set number of times (for example, 10 times). If the stored distance information exceeds the set number of times, the oldest information is deleted in order.

  The determination unit 23 determines a user's movement based on a change in distance that is a measurement result of the measurement unit 22. That is, it is determined whether the user has moved or stopped based on the difference (change amount) between the current measurement result and the previous measurement result. If the amount of change is large, the moving distance is large. Conversely, if the amount of change is small, the moving distance is small. A determination value is set in advance. If the amount of change exceeds the determination value, it is determined to have moved, and if it is equal to or less than the determination value, it is determined to be stopped.

  The illumination control unit 24 switches the illumination unit 16 between a lighting state, a blinking state, and a light-off state. For example, when performing the opening process of the door 4, if the user determines that the user is located in the start area 36, the irradiation state of the illumination unit 16 is switched from off to blinking. If it is determined that the user has moved from the start area 36 to the trigger area 35, the irradiation state of the illumination means 16 is switched from blinking to lighting. In this way, the user is directed to the trigger area 35, which is a specific area.

  The automatic opening / closing control of the door 4 by the control means 20 is started when the vehicle 1 is parked and the engine is stopped. The control unit 20 opens or closes the door 4 by the door driving unit 18 when the determination unit 23 determines that the key authentication by the verification unit 17 has been established and the user has performed the set operation.

  For example, when the door 4 is opened with respect to the vehicle body 2, the user performs the operations shown in FIGS. 1A to 1C. Specifically, as shown in FIG. 1A, the vehicle moves forward so as to approach the door 4, and steps on the display 30 as shown in FIG. 1B (first movement). Subsequently, as shown in FIG. 1C, the robot 4 moves backward away from the door 4 (second movement). The control unit 20 opens the door 4 as shown in FIG. 1D when the determination unit 23 determines that the set opening operation has been performed.

  When closing the door 4 with respect to the vehicle body 2, the user performs the operations shown in FIGS. 2A to 2C. Specifically, as shown in FIG. 2A, the vehicle moves forward so as to approach the door 4, and steps on the display 30 as shown in FIG. 2B (first movement). Subsequently, as shown in FIG. 2C, after retreating away from the door 4 (second movement), it further retreats one step (third movement). The door opening / closing device 10 closes the door 4 as shown in FIG. 2D when the determination unit 23 determines that the set closing operation has been performed.

  Here, when a user carelessly approaches the door 4 being opened and closed, the user and the door 4 may collide. Further, if the user leaves the vehicle 1 while the door 4 is opened and closed, the luggage in the vehicle or the vehicle 1 itself may be stolen by a third party. Therefore, in the present embodiment, when an object to be detected is present in the approach area 33 while the door 4 is opened and closed, an alarm for alerting the periphery is performed.

(Details of alarm processing)
The opening / closing control by the control means 20 includes an opening alarm process executed during the opening drive by the door driving means 18 and a closing alarm process executed during the closing drive by the door driving means 18. As shown in FIG. 3, the door opening and closing device 10 further includes alarm means 26 for performing an alarm by sound. The alarm means 26 is also used as an existing horn mounted on the vehicle 1. The alarm means 26 can output alarms having different sound volumes by changing the applied voltage value, and can output alarms having different levels by changing the frequency. In addition, the alarm output pattern can be changed by changing the period in which the voltage is applied.

  In both alarm processes, when the detection unit 12 detects the object to be detected, the verification unit 17 performs key authentication. When the key authentication is established, the driving of the door driving means 18 is interrupted in order to ensure the safety of the user. If the key authentication is not established, it is determined that a third party is approaching, and the door driving means 18 is switched to the closing drive when the door is being driven, while the door is being driven when the door is being closed. The drive unit 18 continues to be closed. Further, the driving of the interrupted door driving means 18 is resumed when the user leaves the approach area 33 and no third party exists in the approach area 33.

  Further, the control means 20 outputs warnings of different alert levels depending on the warning means 26 depending on whether the key authentication is established or not. For example, when the key authentication is established, a warning of the first volume (for example, 75 dB) is output from the alarm means 26, and when the key authentication is not established, the alarm for the second volume (for example, 85 dB) having a higher alerting level than the first volume. Is output from the alarm means 26. The level of the alarm sound and the output pattern may be different.

  As described above, when the user is detected, the door 4 is interrupted to prevent the door 4 from colliding with the user, and the alarm is output at a low alert level so that the user does not collide with the door 4. To alert the user. On the other hand, when a third party is detected, the door driving means 18 that is being driven to open is switched to the closing drive, and the door driving means 18 that is being closed is continuously driven to close the door 4 and the third party. Prevent getting into the vehicle. Further, by outputting an alarm at a high arousing level, the user who is away from the vehicle 1 is made aware of any change while hesitating that a third party approaches the vehicle 1. This prevents unauthorized theft of the vehicle 1 itself or the luggage by a third party.

Next, the operation of the door opening and closing device 10 having the above-described configuration will be described according to the flowcharts shown in FIGS. 5A to 13. The counter N used in the following description counts the following.
Counter Na: Number of detected objects in the approach area 33 Counter Nb: Number of unsuccessful authentication processes Counter Nc: Number of times a user cannot be detected in the start area 36 Counter Nd: Number of times a user cannot be detected in the trigger area 35 Counter Ne: Number of times a user's backward movement cannot be detected Counter Nf: Number of times a user's backward movement cannot be detected Counter Ng: Number of times a user's backward movement cannot be detected Counter Nh: Number of times authentication processing is not established Counter Ni: Number of times authentication processing is not established

(Main flow)
As shown in FIGS. 5A and 5B, the door opening / closing control by the control means 20 includes approach processing (step S6), start processing (step S8), trigger processing (step S10), opening processing (step S12), and first closing. The process (step S14), the second closing process (step S16), the opening alarm process (step S18), and the closing alarm process (step S20) are performed.

  The control means 20 first initializes each data used in the door opening / closing control (step S1), and then waits until a predetermined detection time elapses (step S2). When the detection time has elapsed, ultrasonic waves are transmitted from the transmitters 14 of the detection sensors 13A and 13B (step S3), and the reflected waves of the ultrasonic waves are received by the receiver 15 (step S4). Further, it is determined which process is set (steps S5, S7, S9, S11, S13, S15, S17, S19), and the process corresponding to the corresponding mode as described below. (Steps S6, S8, S10, S12, S14, S16, S18, S20). During this time, if the detection distance D by the first detection sensor 13A or the second detection sensor 13B is less than the set value (here, set to 120 cm) (step S21), the processing mode is set to the approach mode (step S22). If it is not in any mode and the detected object has not entered the approach area 33, all the modes are cleared (step S23).

(Approach processing: Step S6)
If the approach mode is set in step S5, the approach process shown in FIG. 6 is executed. In the approach process, it is determined whether or not the user as the detected object is located in the approach area 33 (step S6-1). If there is a detection signal from the first detection sensor 13A or the second detection sensor 13B, it is determined that an object to be detected has entered the approach region 33.

  If the object to be detected has not entered the approach area 33 or if it has moved to the outside of the approach area 33 within a predetermined time (step S6-1: No), the approach mode is cleared and the counter Na is reset (step S6-2).

  If the detected object is located in the approach area 33 (step S6-1: Yes), 1 is added to the counter Na (step S6-3), and the process waits until the counter Na exceeds 2 (step S6-). 4). If it is determined that the detected object is waiting for a predetermined time in the approach area 33 (step S6-4: Yes), key authentication is requested (step S6-5). The verification unit 17 compares the authentication code received from the key with the normal code, and determines that the user is a user if they match. Thereafter, the approach mode is cleared and the start mode is set, thereby changing the processing mode and resetting the counter Na (step S6-6).

  As described above, in the approach process, the authentication process is performed when the user is positioned in the preset wide approach area 33. Thus, when the user automatically opens and closes the door 4, the key authentication process can be completed in advance before executing a specific operation.

(Start process: Step S8)
If the start mode is set in the approach process, the start process shown in FIG. 7 is executed. In the start process, it is read whether or not the authentication in the approach process is established (step S8-1). If authentication is not established, 1 is added to the counter Nb (step S8-2). It is determined whether or not the counter Nb exceeds 3 (step S8-3). If it exceeds, the start mode is cleared and the counters Nb and Nc are reset (step S8-4).

  If authentication has been established (step S8-1: Yes), it is read from the door lock device 19 whether the door 4 is in the open position or the closed position, and the illumination means 16 is turned on (step S8-5). Thereafter, it is determined whether or not the user has moved into the start area 36 based on a detection signal from the first detection sensor 13A or the second detection sensor 13B (step S8-6).

  When the user is moving into the start area 36 (step S8-6: Yes), the illumination means 16 is blinked, the processing mode is changed from the start mode to the trigger mode, the counters Nb and Nc are reset, and detection is performed. The means 12 is switched to the mutual oscillation setting (step S8-7). When the user is not stopped in the start area 36 (step S8-6: No), 1 is added to the counter Nc (step S8-8). If the user does not stop in the start area 36 until the counter Nb exceeds 20 (step S8-9: Yes), the start mode is cleared and the counters Nb and Nc are reset (step S8-10).

  As described above, in the start process, whether or not the opening / closing control of the door 4 may be started is determined based on whether or not the user has stopped in the start area 36. For this reason, it is possible to prevent the transition from the start process to the trigger process from being performed carelessly. In addition, the lighting means 16 can be displayed in a blinking manner so that the user should be able to see at a glance where the user should move.

(Trigger processing: Step S10)
If the trigger mode is set in the start process, the trigger process shown in FIG. 8 is executed. In the trigger process, it is determined whether or not the user has moved into the trigger area 35 based on the detection results of the first detection sensor 13A and the second detection sensor 13B (step S10-1). As shown in FIG. 1B, if the user has moved into the trigger area 35, the illumination means 16 is changed from the blinking state to the lighting state, the processing mode is changed from the trigger mode to the open mode, and the counter Nd is reset ( Step S10-2).

  If the user has not moved into the trigger area 35 (step S10-1: No), 1 is added to the counter Nd (step S10-3). If the user does not move into the trigger area 35 before the counter Nd exceeds 20 (step S10-4), the illumination means 16 is turned off, the trigger mode is cleared, and the counter Nd is reset (step S10-5). ).

  Thus, in the trigger process, the user can be made to visually recognize that the movement from the start area 36 to the trigger area 35 has been completed by changing the illumination means 16 from the blinking state to the lighting state.

(Opening process: Step S12)
If the release mode is set in the trigger process, the release process shown in FIG. 9 is executed. In the opening process, the lighting unit 16 is changed from the lighting state to the blinking state (step S12-1), and it is determined whether or not the door 4 is closed (step S12-2).

  If the door 4 is not in the closed state (step S12-2: No), the door 4 is in the open position as shown in FIG. 2A, so the processing mode is changed from the open mode to the first closed mode (step S12- 3).

  If the door 4 is closed (step S12-2: Yes), it is determined whether or not the user has moved to the first section 37 of the start area 36 (step S12-4). As shown in FIG. 1C, if the user has moved to the first section 37 (step S12-4: Yes), the door opening output that drives and controls the door driving means 18 to open the door 4, and the illumination means 16 Is turned off, the counter Ne is cleared, and the processing mode is switched from the open mode to the open alarm mode (step S12-5).

  If the user has not moved into the first section 37 of the start area 36 (step S12-4: No), 1 is added to the counter Ne (step S12-6). If the user does not move into the first section 37 before the counter Ne exceeds 20 (step S12-7), the illumination means 16 is turned off, the open mode is cleared, and the counter Ne is cleared (step S12-). 8).

  In this way, when the user moves to the first section 37 of the start area 36 and confirms safety, the door 4 is opened as shown in FIG. 1D. For this reason, the door 4 can be opened automatically smoothly and safely.

(First closing process: Step S14)
As shown in FIG. 2A, when the door 4 is in the open state and the processing mode is set to the first closing mode in the opening processing, the first closing processing shown in FIG. 10 is executed. In the first closing process, it is determined whether or not the user is located in the first section 37 of the start area 36 (step S14-1). At this time, the illumination means 16 is blinking in the opening process, and it can be seen that the user has only to move into the start area 36.

  If the user has moved to the first section 37 of the start area 36 (step S14-1: Yes), the processing mode is changed from the first closed mode to the second closed mode, and the counter Nf is cleared (step S14). -2).

  If the user has not moved to the first section 37 of the start area 36 (step S14-1: No), 1 is added to the counter Nf (step S14-3). If the user does not move into the first section 37 before the counter Nf exceeds 20 (step S14-4), the first closing mode is cleared, the illumination means 16 is turned off, and the count Nf is cleared (step S14-4). S14-5).

(Second closing process: Step S16)
If the second closing mode is set in the first closing process, the second closing process shown in FIG. 11 is executed. In the second closing process, it is determined whether or not the user has moved from the first section 37 of the start area 36 to the second section 38 (step S16-1).

  If the user has moved to the second section 38 of the start area 36 (step S16-1: Yes), the door closing output for driving and controlling the door driving means 18 to close the door 4, the lighting means 16 being turned off, Clear the counter Ng and change the processing mode from the second closing mode to the closing alarm mode (step S16-2).

  If the user has not moved into the start area 36 (step S14-1: No), 1 is added to the counter Ng (step S16-3). If the user does not move to the second section 38 of the start area 36 before the counter Ng exceeds 20 (step S16-4), the second closing mode is cleared, the illumination means 16 is turned off, and the counter Nj is turned off. Clear (step S16-5).

  As described above, in the first closing process and the second closing process, when the user moves from the first section 37 of the start area 36 to the second section 38 and confirms the safety, the door 4 as shown in FIG. Close. Therefore, it is possible to deal with the user safely and with a simple operation without being caught by the door 4.

(Open alarm processing: Step S18)
If the release alarm mode is set in the release process, the release alarm process shown in FIG. 12 is executed. In the open alarm process, it is determined whether or not an object to be detected exists in the approach area 33 (step S18-1). If the object to be detected exists in the approach area 33, key authentication is requested ( Step S18-2).

  When the key authentication by the collating unit 17 is established (step S18-3: Yes), the alarm unit 26 outputs an alarm with a small volume and stops the door driving unit 18 from being opened (step S18-4). When the authentication by the verification unit 17 is not established (step S18-3: No), 1 is added to the counter Nh (step S18-5). If authentication is not established until the counter Nh exceeds 2 (step S18-6), the alarm means 26 outputs an alarm at a loud volume, outputs a signal for closing the door driving means 18, and clears the counter Nh. Then, the processing mode is switched from the open alarm mode to the close alarm mode (step S18-7). Note that the alarm executed in steps S18-4 and S18-7 is stopped when a predetermined set time (for example, 3 seconds) elapses.

  If there is no object to be detected in the approach area 33 (step S18-1: No), if the opening drive of the door driving means 18 is stopped (step S18-8: Yes), the door driving means 18 is opened. Is resumed (step S18-9). If the door 4 is completely opened (step S18-10: Yes), the open alarm mode is cleared and the counter Nh is reset (step S18-11).

  Thus, in the opening alarm process, when the user is near the door 4 during the opening driving of the door driving means 18, the opening driving is stopped, and when there is a third party near the door 4. The door drive means 18 is switched to the closed drive. Moreover, in the open alarm process, a low volume alarm is given when a user is present near the door 4, and a high volume alarm is given when a third party is present near the door 4. Therefore, unauthorized theft by a third party can be prevented while ensuring the safety of the user.

(Closing alarm processing: Step S20)
If the closing alarm mode is set in the second closing process, the closing alarm process shown in FIG. 13 is executed. In the closing alarm process, it is determined whether or not an object to be detected exists in the approach area 33 (step S20-1). If the object to be detected exists in the approach area 33, key authentication is requested ( Step S20-2).

  When the key authentication by the collating means 17 is established (step S20-3: Yes), the alarm means 26 outputs an alarm with a small volume and stops the door drive means 18 from being closed (step S20-4). When the authentication by the verification means 17 is not established (step S20-3: No), 1 is added to the counter Ni (step S20-5). If authentication is not established until the counter Ni exceeds 2 (step S20-6), the alarm means 26 outputs an alarm at a loud volume and clears the counter Ni (step S20-7). Note that the alarm executed in steps S20-4 and S20-7 is stopped when a predetermined set time (for example, 3 seconds) elapses.

  If there is no object to be detected in the approach area 33 (step S20-1: No), if the door drive means 18 is stopped (step S20-8: Yes), the door drive means 18 is closed. Is closed again (step S20-9). If the door 4 is completely closed (step S20-10: Yes), the closing alarm mode is cleared and the counter Ni is reset (step S20-11).

  Thus, in the closing alarm process, when the user is near the door 4 during the closing drive of the door driving means 18, the closing driving is stopped, and when a third party exists near the door 4. The door driving means 18 continues to be closed. Moreover, in the closing alarm process, a low volume alarm is given when a user is present near the door 4, and a high volume alarm is given when a third party is present near the door 4. Therefore, unauthorized theft by a third party can be prevented while ensuring the safety of the user.

  As described above, the door opening / closing device 10 performs key authentication while the door driving means 18 is being driven, and gives different warnings depending on whether it is a user or a third party. It can be improved. Further, when a user is present near the door 4, the driving of the door driving means 18 is temporarily stopped, and when the user leaves the door 4, the driving of the door driving means 18 is resumed. Can be completed.

  Further, these controls are executed when the determination unit 23 determines that the set operation has been performed based on a change in the distance obtained from the detection result of the detection means 12, so that the user does not use the hand. The door 4 can be opened and closed reliably. In addition, since the determination of the user's motion is performed in the operation section 34 including the overlapping detection ranges 32A and 32B, the user's motion can be detected stably and with high accuracy without using a special device. . Moreover, since a part of the existing back sonar sensor mounted on the vehicle 1 is used as the detection means 12 of the door opening and closing device 10, it is not necessary to mount a dedicated detection sensor. Therefore, an increase in cost for mounting the door opening / closing device 10 on the vehicle 1 can be suppressed.

  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 door 4 may be a hinged door or a sliding door for getting on and off. Moreover, the alarm means 26 for calling attention may be light emission by a head lamp, a tail lamp, or the like. Moreover, when a user exists near the door 4, the alarm means 26 does not need to be operated.

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Car body 3 Rear bumper 4 Door 10 Door opening / closing device 12 Detection means 13A 1st detection sensor 13B 2nd detection sensor 13C 3rd detection sensor 13D 4th detection sensor 14 Transmitter 15 Receiver 16 Illumination means 17 Verification means 18 Door drive means (door detection means)
DESCRIPTION OF SYMBOLS 19 Door lock apparatus 20 Control means 21 Memory | storage part 22 Measuring part (measuring means)
23 Judgment part (judgment means)
24 Illumination control unit (illumination control means)
26 Alarm means 30 Display 32A to 32D Detection range 33 Approach area 34 Operation area 35 Trigger area 36 Start area 37 First section 38 Second section

Claims (5)

Door driving means capable of opening and closing the door with respect to the vehicle body;
Detection means for detecting an object to be detected around the door;
Verification means for performing key authentication by wireless communication;
Control means for driving the door drive means based on the detection result of the detection means,
The control means causes the collating means to perform key authentication when the detecting means detects the detected object while the door driving means is being driven, and drives the door driving means when the key authentication is established. On the other hand, when the key authentication is not established, the door opening and closing device is configured to close the door driving means.   The control means switches the door drive means to a closed drive when the door drive means is open when the key authentication is not established, while the door drive means when the door drive means is closed. The door opening and closing device according to claim 1, wherein the closing drive of the means is continued. An alarm means for calling attention around the vehicle body;
The door opening / closing apparatus according to claim 1 or 2, wherein the control means raises a warning level by the warning means when the key authentication is not established, than when the key authentication is established.   4. The control unit according to claim 1, wherein the control unit restarts the driving of the door driving unit when the detected unit is not detected by the detection unit in a driving interruption state of the door driving unit. 5. Door opener. A determination unit for determining a movement of the detected object according to a change in distance obtained from a detection result of the detection unit;
5. The door opening / closing apparatus according to claim 1, wherein the control unit drives the door driving unit when the determination unit determines that the detected operation has been performed. 5.

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