JP2018092260A - Vehicle door opening/closing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To previously call attention of a driver by obtaining a circumferential situation of a vehicle even before engine starting.SOLUTION: A vehicle door opening/closing device includes: drive means for driving opening/closing of a door 3 of a vehicle; first detection means 4 arranged in the door 3 so as to detect an object to be detected positioned within a set range outside the vehicle; second detection means 25 for detecting presence/absence of a person in a driver's seat; notification means 26; and control means 8 for controlling door drive means 7 to drive opening/closing of the door 3 on the basis of a detection signal in the first detection means 4. In the case the object to be detected is detected within the set range by the first detection means 4 during stopping of the vehicle 1, when a person is detected in the driver's seat by the second detection means 25, the control means 8 controls the notification means 26 to perform notification.SELECTED DRAWING: Figure 3

Description

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

  In the past, accidents occurred when the accelerator was mistakenly pressed for braking and started incorrectly. For this reason, an erroneous start warning device is known in which an ultrasonic sensor is provided in a vehicle to prevent erroneous start by grasping the situation around the vehicle (see, for example, Patent Document 1).

Japanese Patent Laying-Open No. 2015-121960

  However, the conventional erroneous start warning device is activated after the engine is started, and an alarm is issued after an erroneous operation is actually performed. For this reason, it is desirable to be able to call attention in advance when the driver gets on.

  An object of the present invention is to provide a vehicle door opening and closing device that can grasp the situation around the vehicle and alert the driver in advance even before the engine is started.

As a means for solving the above problems, the present invention provides:
Driving means for opening and closing the door of the vehicle;
First detection means provided on the door for detecting an object to be detected located in a set range outside the vehicle;
Second detection means for detecting presence or absence of a person in the driver's seat;
Notification means;
Control means for driving and controlling the drive means based on a detection signal from the first detection means to open and close the door;
With
When the vehicle is stopped and the first detection means detects an object to be detected within a set range, the control means detects the person in the driver's seat by the second detection means, Provided is a vehicle door opening and closing device characterized by notifying.

  With this configuration, the object to be detected can be detected in advance within the set range outside the vehicle with a configuration for automatically opening and closing the door. When the driver is seated in the driver's seat, this can be detected and an erroneous start can be warned. Therefore, it is possible to make the driver recognize the situation around the vehicle before starting the engine without requiring a separate new configuration, and the safety is further improved.

  According to the present invention, the configuration for automatically opening and closing the door can be used to notify the driver in advance when there is a risk of causing an accident due to erroneous start. For this reason, it is not necessary to add a new configuration for preventing erroneous start. In addition, it is possible to notify before starting the engine, and the safety is further improved.

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. 6 is a flowchart of foreign object detection processing in FIG. The flowchart of the door opening / closing process of FIG. The flowchart which shows the continuation of FIG. 7A. FIG. 7B is a flowchart of a stepping error prevention process in FIG. 7A. The flowchart of the approach process of FIG. 7A. The flowchart of the start process of FIG. 7A. The flowchart of the trigger process of FIG. 7B. FIG. 7B is a flowchart of the release process of FIG. 7B. The flowchart of the 1st closure processing of Drawing 7B. The flowchart of the 2nd closing process of Drawing 7B.

  Embodiments according to the present invention will be described below with reference to the accompanying drawings.

  1A to 2D are side views of a vehicle 1 that employs a door opening and closing device 2 according to the present embodiment. The door opening and closing device 2 is for automatically opening and closing a hatchback door (hereinafter simply referred to as a door 3) provided at the rear portion of the vehicle 1. That is, according to the door opening / closing device 2, if the user performs a predetermined operation on the rear side of the door 3, the door 3 can be automatically opened and closed without using a hand. Details of processing for automatically opening and closing the door 3 will be described later.

  As shown in FIG. 3, the door opening / closing device 2 includes first detection means 4, illumination means 5, collation means 6, door drive means 7, and control means 8. However, in FIG. 3, the portion surrounded by the two-dot chain line is the configuration added this time, and the existing first detection means 4 and matching means 6 are used.

  Referring also to FIG. 4, the first detection means 4 includes two back sonars (first detection sensor 9 and second detection sensor 2 at the center) among a total of four back sonars (ultrasonic sensors) attached to the rear bumper 30. It comprises a detection sensor 10). Note that the detection results of the two back sonars (the third detection sensor 11 and the fourth detection sensor 12) on both sides are not used for opening and closing the door.

  Each of the detection sensors 9 to 12 includes a transmitter 13 and a receiver 14. The ultrasonic waves emitted from the transmitter 13 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 reflected wave of the ultrasonic wave transmitted to the detection range is received by the receiver 14. The detection result based on the reflected wave from the detection range in the first detection sensor 9 and the second detection sensor 10 is the determination of the presence / absence of the detection object within the detection range and, if there is a detection object, the detection object It is used for the calculation of the distance.

  The foreign substance detection region 15 is within the range of the first detection distance (for example, 80 cm) detected by each of the detection sensors 9 to 12. The presence / absence of a foreign object is determined based on whether or not there is an object detected within this range. Further, the approach region 16 is within a range of a second detection distance (for example, 120 cm) detected by each of the first detection sensor 9 and the second detection sensor 10. In the approach area 16, overlapping areas detected by both the first detection sensor 9 and the second detection sensor 10 are set in a plurality of areas depending on the difference in detection distance. A range from the third detection distance (for example, 20 cm) to the fourth detection distance (for example, 40 cm) is set in the trigger area 17. A range from the fifth detection distance (for example, 50 cm) to the second detection distance (for example, 120 cm) is set in the start area 18. The start area 18 includes a first section 19 and a second section 20. The first section 19 is between the fifth detection distance (for example, 50 cm) and the sixth detection distance (for example, 80 cm). The second section 20 is between the sixth detection distance (for example, 80 cm) and the second detection distance (for example, 120 cm).

  The illumination means 5 is comprised by LED. Although not shown in detail, the LED 5 is mounted on a substrate in a casing attached to the central portion of the rear bumper 30. An opening is formed in the casing, and a lens is provided there. The light from the LED 5 is collected by a lens so that the ground can be irradiated with an illuminance visible to the user not only when the surroundings of the vehicle 1 are dark but also when the vehicle 1 is bright. The irradiation position is the trigger area 17, which is an optical display (operation mark 40) for guiding the user.

  The verification means 6 includes a transceiver including an external LF (Low Frequency) antenna that receives a signal from a key (mobile device). The transceiver performs communication using a key and an LF signal, and is activated in response to a command from a host ECU (Electronic Control Unit) inside the vehicle. Thereby, key authentication is performed by the host ECU.

  Although not shown, the door driving means 7 is composed of a motor, a gear mechanism, a damper, and the like that can rotate the door 3 in the opening direction and the closing direction. The door driving means 7 is connected to the control means 8 through a communication cable so as to be communicable. The door driving means 7 and the control means 8 may be wirelessly connected.

  The control means 8 includes a controller including 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 8, 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 a threshold value and a determination value used in the control program, and a data table used when calculating a distance from the detection result of the detection sensor.

  The measuring unit 22 determines the distance to the detected object based on the time from when the transmitter 13 of each of the detection sensors 9 to 12 transmits the ultrasonic wave until the receiver 14 receives the reflected wave. taking measurement. 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 whether or not a foreign object is located in the detection range of each of the first to fourth detection sensors 9 to 12, that is, the foreign object detection region 15 in the foreign object detection process described later. If any of the first to fourth detection sensors 9 to 12 detects a foreign object continuously in the foreign object detection area 15 for a predetermined time, the step error warning mode is set.

  The illumination control unit 24 switches the LED 5 to a lighting state, a blinking state, and a light-off state. For example, if it is determined that the user is located in the start area 18, the irradiation state of the LED 5 is switched from off to flashing. If it is determined that the user has moved from the start area 18 to the trigger area 17, the irradiation state of the LED 5 is switched from blinking to lighting. In this way, the user is directed to the trigger area 17.

  Moreover, the 2nd detection means 25 for detecting whether a driver | operator exists in a driver's seat is provided. As the second detection means 25, in addition to detecting a person in the driver's seat directly, such as a seating sensor (air micro sensor) that detects that a person is sitting in the driver's seat, an optical sensor, etc., the door on the driver's seat side is opened and closed. Various sensors such as a sensor for detection (third detection means) and a host ECU (fourth detection means) for performing in-vehicle LF authentication at the driver's seat can be used.

  In addition, a notification means 26 for notifying the driver is provided in the vehicle. As the notification means 26, various devices such as a notification by light such as an LED as well as a notification by sound such as a buzzer or a speaker can be used. Here, after confirming that the driver is located in the driver's seat, it is notified that a foreign object is located in the vicinity of the vehicle 1.

  The detection signal from the second detection means 25 is input to the control means 8, and an operation signal is output to the notification means 26 by performing a stepping prevention process, which will be described later, in the control means 8. Notification is made to the person.

  Next, the operation (abnormality detection processing and door opening / closing processing) of the vehicle door opening / closing device 2 having the above-described configuration will be described with reference to the flowcharts shown in FIGS.

(Main flow)
As shown in FIG. 5, after the foreign object detection process (step S1) is executed, the door opening / closing process (step S2) is executed.

(Foreign matter detection processing: step S1)
As shown in FIG. 6, in the foreign object detection process, ultrasonic waves are transmitted from the transmitters 13 of the first to fourth detection sensors 9 to 12 (step S <b> 11), and the reflected waves are received by the receiver 14. (Step S12). Then, based on the result, it is determined whether or not a foreign substance is located in the detection range of each of the first to fourth detection sensors 9 to 12, that is, the foreign substance detection area 15 (step S13). If a foreign substance is detected in any foreign substance detection area 15 of the detection sensors 9 to 12, 1 is added to the counter N (step S14), and the process waits until the counter N exceeds 2 (step S15). If a foreign object is detected in the foreign object detection area 15 during this waiting time, a stepping error warning mode is set and the counter is cleared (step S16).

(Door opening and closing process: Step S2)
As shown in FIGS. 7A and 7B, the door opening / closing process includes a stepping error prevention process (step S25), an approach process (step S32), a start process (step S33), a trigger process (step S34), and a back process (step S35). ), The first closing process (step S36) and the second closing process (step S37).

  That is, after initializing each data used in the door opening / closing process (step S21), it waits until the detection time elapses (step S22). Here, the detection time is set to 0.025 seconds. When the detection time has elapsed, ultrasonic waves are transmitted from the transmitters 13 of the detection sensors 9 to 12 (step S23), and the reflected waves are received by the receiver 14 (step S24). Then, a step error prevention process is executed (step S25). Further, it is determined which process is the set process (steps S26 to S31), and the process corresponding to the corresponding mode is executed (steps S32 to S37). During this time, if the detection distance D by the first detection sensor 9 or the second detection sensor 10 is less than a set value (here, set to 120 cm) (step S38), the processing mode is set to the approach mode (step S39). . If the mode is not any mode and the user is not entering the approach area 16, all the modes are cleared (step S40).

(Step error prevention process: Step S25)
As described above, if a foreign object is detected in the foreign object detection area 15 before the engine is started using the four detection sensors 9 to 12 functioning as back sonar, the driver who is the user is notified of the fact. .

That is, the step error prevention process shown in FIG. 8 is executed. In the step error prevention process, when the second detection means detects that the driver is seated in the driver's seat (step S25-1), it is determined whether or not the step error warning mode is set (step S25-). 2). If the stepping error warning mode is set, the notification means 26 notifies the driver (step S25-3). As a result, the driver can receive a warning when sitting in the driver's seat before starting the engine. For this reason, it is possible to prevent in advance the occurrence of a problem that the accelerator is mistaken for braking and the vehicle starts erroneously after the engine is started. The notification to the driver by the notification means 26 may be performed when the opening of the driver's seat door is detected or when the key authentication is performed by the in-vehicle LF authentication in the driver's seat.

(Approach processing: Step S32)
If the approach mode is set in step S18, the approach process shown in FIG. 9 is executed. In the approach process, it is determined whether or not the user who is the detected object is located in the approach area 16 (step S32-1). Here, the approach region 16 is a detection range of the first detection sensor 9 or the second detection sensor 10. If there is a detection signal from either the first detection sensor 9 or the second detection sensor 10, it is determined that the user is located in the approach region 16.

  If the user is located in the approach area 16 (step S32-1: YES), 1 is added to the counter Na (step S32-2), and the process waits until the counter Na exceeds 2. If it is determined that the detected object is waiting for a predetermined time in the approach area 16 (step S32-3: YES), key authentication is requested (step S32-4). In key authentication, the verification unit 6 requests the electronic key to transmit an authentication code, and compares the authentication code received from the electronic key with a registered normal code. If the authentication code matches the regular code, it is determined that the user is a user, the approach mode is cleared, and the start mode is set (step S32-5). That is, the processing mode is changed from the approach mode to the start mode.

  If the user is not located in the approach area 16 or if the user moves outside the approach area within a predetermined time even if it is located, the approach mode is cleared (step S32-6).

  As described above, in the approach processing, the key authentication is performed when the user is located in the approach area 16 in a wide range set in advance. Thus, when the user automatically opens and closes the door 3, the key authentication process can be completed in advance before executing a specific operation described later. In addition, authentication is performed only when the user is continuously located in the approach area 16 for a predetermined time, and authentication is not performed for a person who is temporarily located in the approach area 16 such as a passerby. , Power consumption can be suppressed.

(Start process: Step S33)
If the approach mode is set in the approach process, the start process shown in FIG. 10 is started. In the start process, it is determined whether or not the key authentication is appropriately performed in the approach process (step S33-1). If the authentication is properly performed, the open / closed state of the door 3 (whether the door 3 is located at the open position or the closed position) is read (step S33-2). At this time, the LED 5 is turned on. Then, based on the detection signal from the first detection sensor 9 or the second detection sensor 10, it is determined whether or not the user is located in the start area 18 (step S33-3).

  If it is determined that the user is located within the start area 18, the measuring unit 22 calculates the distance to the user. The distance measurement by the measurement unit 22 is performed at regular time intervals, and the measurement results are sequentially stored in the storage unit 21.

And as shown to FIG. 1A, LED5 is blinked and a trigger area | region is irradiated, A start mode is changed into a trigger mode (step S33-4). The user can be prompted to move by blinking the LED 5. By irradiating the trigger area, it is possible to grasp at a glance where the user should move.

  If it is determined that the key authentication is not properly performed (step S33-1: NO), 1 is added to the counter Nb (step S33-5). If key authentication is not performed before the counter Nb exceeds 3 (step S33-6), the start mode is cleared (step S33-7).

  If it is determined that the user is not located in the start area 18 (step S33-3: NO), 1 is added to the counter Nc (step S33-8). If the user is not in the start section before the counter Nc exceeds 20 (step S33-9), the start mode is cleared (step S33-10).

  As described above, in the start process, whether or not the door opening / closing operation may be started is determined based on whether or not the user is located in the start area 18. For this reason, it is possible to prevent the transition from the start process to the trigger process from being performed carelessly. In addition, by blinking the LED 5, it is possible to prompt the user to move and to indicate at a glance where to move.

(Trigger processing: Step S34)
If the start mode is set in the start process, the trigger process shown in FIG. 11 is started. In the trigger process, it is determined whether the user is moving from the start area 18 into the trigger area 17 based on the detection results of the first detection sensor 9 and the second detection sensor 10 (step S34-1). . As shown in FIG. 1B, if the user has moved into the trigger area 17, the LED 5 is changed from the blinking state to the lighting state, and the processing mode is changed from the trigger mode to the open mode (step S34-2).

  If the user has not moved into the trigger area 17 (step S34-1: NO), 1 is added to the counter Nd (step S34-3). If the user does not move into the trigger area 17 before the counter Nd exceeds 20 (step S34-4), the LED 5 is turned off and the trigger mode is cleared (step S34-5).

  As described above, in the trigger process, the user can visually recognize that the movement from the start area 18 to the trigger area 17 is completed by changing the LED 5 from the blinking state to the lighting state.

  When the process from the approach process to the trigger process is completed as described above, the opening process for automatically opening the door 3 is executed if the door 3 is closed as follows, and the door 3 is opened if the door 3 is open. 3 is automatically closed (first closing process and second closing process).

(Opening process: Step S35)
If the release mode is set in the trigger process, the release process shown in FIG. 12 is started. In the opening process, the LED 5 is blinked (step S35-1), the start area 18 is irradiated, and the user is guided to the start area 18.

  Subsequently, it is determined whether or not the door 3 is closed (step S35-2). If the door 3 is closed, it is determined whether or not the user has moved to the start area 18 (step S35-3). As shown in FIG. 1C, if the user has moved into the start area 18, the door driving means 7 is driven and controlled to open the door 3, the LED 5 is turned off, and the opening mode is cleared. It executes (step S35-4).

  Thus, in the opening process, the user moving to the trigger area 17 can be urged to move to the start area 18 by the light irradiating the ground from the LED 5 in a blinking state. When the user moves to the start area 18 and confirms safety, the door 3 is opened as shown in FIG. 1D. For this reason, the door 3 can be opened automatically smoothly and safely.

  If the door 3 is not closed (step S35-2: NO), as shown in FIG. 2A, the door 3 is in the open position, so the processing mode is changed from the open mode to the first closed mode (step S35-). 5).

  If the user has not moved into the start area 18 (step S35-3: NO), 1 is added to the counter Ng (step S35-6). If the user does not move into the start area 18 before the counter Ng exceeds 20 (step S35-7), the LED 5 is turned off and the closed mode is cleared (step S35-8).

(First closing process: Step S36)
As shown in FIG. 2A, if the door 3 is in the open state and the processing mode is set to the first closing mode in the opening process, the first closing process shown in FIG. 13 is started. In the first closing process, it is determined whether or not the user is located in the first section 19 of the start area 18 (step S36-1). At this time, the ground is blinkingly displayed by the LED 5, and it is understood that the user has only to move into the start area 18. If the user moves to the first section 19 of the start area 18 (step S36-1: YES), the processing mode is set to the second closed mode (step S36-2).

  If the user has not moved to the first section 19 of the start area 18 (step S36-1: NO), 1 is added to the counter (step S36-3). If the user does not move into the first section 19 of the start area 18 before the counter exceeds 20 (step S36-4), the first closed mode is cleared and the LED 5 is turned off (step S36-5).

(Second closing process: Step S37)
If the first closing process is set to the first closing mode, the second closing process shown in FIG. 14 is started. In the second closing process, it is determined whether or not the user has moved from the first section 19 to the second section 20 in the start area 18 (step S37-1). If the user has moved into the start area 18, a door closing output signal is transmitted to the door driving unit that closes the door 3 to close the door 3. Further, the LED 5 is turned off, and the first closed mode is cleared (step S37-2).

  If the user has not moved into the second section 20, 1 is added to the counter (step S37-3). If the user does not move from the first section 10 to the second section 20 of the start area 18 before the counter exceeds 20 (step S37-4), the first closing mode is cleared and the LED 5 is turned off (step S37). -5).

  As described above, in the first closing process and the second closing process, the door 3 is automatically closed when the user moves from the first section 19 to the second section 20 of the start section. Therefore, it is possible to deal with the user safely and with a simple operation without being caught between the doors 3.

  In addition, this invention is not limited to the structure described in the said embodiment, A various change is possible.

  In the above-described embodiment, the four detection sensors 9 to 12 functioning as back sonar are used to detect foreign matter in the foreign matter detection area 15 before starting the engine, but the detection sensor further functions as front sonar. (Not shown) may be used.

  Although the hatchback door has been described in the above embodiment, the present invention is not limited to this, and it may be a hinged door or a sliding door for getting on and off.

  In the above-described embodiment, the LED 5 illuminates the ground and notifies the user by light, but it is also possible to notify by sound instead of light or together with light.

DESCRIPTION OF SYMBOLS 1 ... Vehicle 2 ... Door opening and closing device 3 ... Door 4 ... 1st detection means 5 ... Illumination means (LED)
DESCRIPTION OF SYMBOLS 6 ... Verification means 7 ... Door drive means 8 ... Control means 9 ... 1st detection sensor 10 ... 2nd detection sensor 11 ... 3rd detection sensor 12 ... 4th detection sensor 13 ... Transmitter 14 ... Receiver 15 ... Foreign material Detection area 16 ... Approach area 17 ... Trigger area 18 ... Start area 19 ... First section 20 ... Second section 21 ... Storage section 22 ... Measuring section 23 ... Determination section 24 ... Illumination control section 25 ... Second detection means 26 ... Notification Means 30 ... Rear bumper

Claims (3)

Driving means for opening and closing the door of the vehicle;
First detection means provided on the door for detecting an object to be detected located in a set range outside the vehicle;
Second detection means for detecting presence or absence of a person in the driver's seat;
Notification means;
Control means for driving and controlling the drive means based on a detection signal from the first detection means to open and close the door;
With
When the vehicle is stopped and the first detection means detects an object to be detected within a set range, the control means detects the person in the driver's seat by the second detection means, A vehicle door opening and closing device for informing. The first detection means comprises a plurality of detection sensors, and each detection sensor detects an object to be detected located in a setting range that does not overlap at least partially.
2. The vehicle door according to claim 1, wherein the control unit performs notification by the notification unit when at least one of the detection sensors detects that an object to be detected is positioned within a set range. Switchgear. Of the doors, the third detection means for detecting the open / closed state of the door of the driver's seat is further provided in place of the second detection means or together with the second detection means,
The vehicle door opening and closing device according to claim 1 or 2, wherein the control means performs notification by the notification means by detecting that the door has been opened by the third detection means.

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