JP2021008794A - Door open/close control system - Google Patents

Abstract

To provide a door open/close control system capable of improving safety when opening the sliding door.SOLUTION: A door open/close control system includes: a door open/close unit 1 capable of opening and closing a slide door D2 with electric power; operation switches 5, 10 that are operated when opening the slide door D2 with the door open/close unit 1; an imaging unit 2 located in the passenger compartment, which is capable of picking up an image of a predetermined area inside the car; an object detection unit 32 capable of identifying the presence or absence of an object in the predetermined area based on the image information picked up by the imaging unit 2; a control unit 3 capable of controlling the drive of the door open/close unit 1 when the operation switches 5 or 10 is operated. The control unit 3 is configured so as to, when the slide door D2 is positioned at the full-closed position and when the object detection unit 32 identifies at least a part of an object in the predetermined area based on the image information picked up by the imaging unit 2, disable the operation switches 5 and 10 and prohibit the control of open-drive of the door open/close unit 1.SELECTED DRAWING: Figure 7

Description

The present invention relates to a door opening / closing control system including a door opening / closing device capable of opening / closing a sliding door of a vehicle by a power source such as a motor.

In a vehicle equipped with a door opening / closing device that can open / close the sliding door of the vehicle with a power source such as a motor, in order to ensure safety, an object such as a human body is placed on the opening / closing track of the sliding door during the closing operation of the sliding door. When the presence is detected, the motor is stopped and controlled to stop the closing operation of the sliding door so that the sliding door can be prevented from coming into contact with the object.

As a method of detecting the existence of an object on the opening / closing trajectory of the sliding door, for example, an object close to the sliding door is detected based on the image information captured by an imaging unit capable of capturing the surroundings of the sliding door. (See Patent Document 1).

Japanese Unexamined Patent Publication No. 2018-09386

However, in the door opening / closing control system described in Patent Document 1, the imaging unit can image the opening / closing trajectory of the sliding door. For example, the state of the human body such as a child or an infant sitting in the rear seat of the vehicle interior can be captured. Since it is impossible to monitor, if the human body leans against the lining trim of the sliding door, if the sliding door is opened without checking the condition inside the vehicle by opening from the outside of the vehicle, a part of the human body will be seated. It is not possible to prevent the situation of getting caught in the gap between the car and the car body.

In view of the above problems, it is an object of the present invention to provide a door opening / closing control system capable of improving safety when the sliding door is opened by making it possible to monitor the situation in the vehicle interior.

According to the present invention, the above problems are solved as follows.
The door opening / closing control system of the present invention includes a door opening / closing device that can electrically open / close a sliding door that is supported to open / close the vehicle body, and an operation switch that is operated when the sliding door is opened / closed by the door opening / closing device. An image pickup unit that is arranged in the vehicle interior and can image a predetermined area in the vehicle interior, and an object detection unit that can identify the presence or absence of an object in the predetermined area based on the image information captured by the image pickup unit. The control unit is provided with a control unit capable of driving and controlling the door opening / closing device when the operation switch is operated. The control unit is an image captured by the imaging unit with the sliding door in a fully closed position. When the object detection unit identifies at least a part of the object in the predetermined area based on the information, the operation of the operation switch is invalidated and the opening drive control of the door opening / closing device is not executed. It is characterized by that.

Preferably, the predetermined area is set in a range between the lining trim of the sliding door as a reference surface and a position slightly distant from the reference surface toward the vehicle interior side, and is a part of the object. Based on the image information captured by the image pickup unit, the image information identified by the object detection unit is within a predetermined size range and has a predetermined shape.

Preferably, the imaging unit is a distance image camera that acquires image information including three-dimensional distance information.

According to the present invention, when the situation in the vehicle interior is monitored based on the image information captured by the image pickup unit provided in the vehicle interior and an object is identified in a predetermined area in the vehicle interior, the operation of the operation switch is canceled. By doing so, it is possible to prevent an object in the vehicle interior from being caught in the gap between the seat and the vehicle body.

It is a side view of the vehicle C equipped with the door open / close control system which concerns on this invention. It is a block diagram which shows one Embodiment of a door opening / closing control system. It is a schematic front view which shows the positional relationship between a vehicle and a human body. It is a schematic plan view which shows the positional relationship between a vehicle and a human body. It is a schematic perspective view for demonstrating the situation in the vehicle interior. It is a schematic perspective view for demonstrating the pattern that a user tries to get into a vehicle interior while the sliding door is opened. To explain the flow of the door opening operation when the sliding door is in the fully closed position and opened from the outside of the vehicle, and the flow of the door closing operation when the sliding door is stopped in the half-open position when the sliding door is opened. It is a flowchart diagram. To explain the flow of the door opening operation when the sliding door is in the fully closed position and opened from the passenger compartment, and the flow of the door closing operation when the sliding door is stopped in the half-open position when the sliding door is opened. It is a flowchart diagram. It is a flowchart for demonstrating the flow of the closing operation of a sliding door when the sliding door is in a fully open position and is closed operation from the outside of a vehicle. It is a flowchart for demonstrating the closing operation of a sliding door when the sliding door is in a fully open position and is closed operation from the vehicle interior.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a side view of a vehicle C equipped with a door opening / closing control system according to the present invention. FIG. 2 is a block diagram showing an embodiment of a door opening / closing control system.

The vehicle C according to the present embodiment has left and right swing-type side doors D1 that can open and close front entrances and exits provided on both left and right sides of the front part of the vehicle body, and rear entrances and exits provided on both left and right sides of the rear part of the vehicle body. It is a type of automobile equipped with left and right sliding doors D2 that can open and close the opening E, and has a door opening / closing device 1 that can open and close the sliding door D2 electrically, and a sliding door D2 that is arranged in the vehicle interior and includes a rear entrance / exit E. The user is provided with an image pickup unit 2 capable of photographing the periphery of the door, and a control unit 3 that controls the door opening / closing device 1 based on each operation signal, detection signal, and image information captured by the image pickup unit 2, which will be described later. It is equipped with a door open / close control system that enhances safety and convenience when getting on and off the vehicle C using the entrance E.

The sliding door D2 is movably supported on the side surface of the vehicle body in the front-rear direction so that the rear entrance / exit E can be opened / closed by the power of the door opening / closing device 1, and the outside handle OH arranged on the outside of the vehicle and the vehicle. It includes an inside handle IH arranged inside, a fully closed door lock device CDR arranged inside, a fully open door latch device ODR, and a closer device CL.

The door opening / closing device 1 includes a drive source opening / closing motor 4 and a power transmission mechanism (not shown) that transmits the power of the opening / closing motor 4 to the slide door D2, and transmits the power of the opening / closing motor 4. By transmitting to the slide door D2 via the mechanism, the slide door D2 is moved in the opening direction (rear) and the closing direction (front). The opening / closing motor 4 is controlled by the control unit 3 as described later. The door opening / closing device 1 is provided with a sensor (not shown) for detecting the position of the sliding door D2 at that time.

The outside handle OH is gripped when the slide door D2 is opened and closed from the outside of the vehicle, and has a capacitance sensor capable of detecting the contact or approach of the user's hand. The capacitance sensor transmits an open operation signal to the control unit 3 by detecting the user's hand when the slide door D2 is in the fully open position, and when the slide door D2 is in the fully open position, the capacitance sensor transmits an open operation signal. An outside operation switch 5 that transmits a closing operation signal to the control unit 3 by detecting the user's hand is configured.

The inside handle IH is pivotally supported inside the vehicle of the slide door D2 so as to be rotatable in the front-rear direction, and is rotated when the slide door D2 is opened and closed from the inside of the vehicle, and the forward rotation operation is a closing operation. Therefore, the rearward rotation operation is configured to be an open operation. An inside closing operation switch 6 for detecting the closing operation of the inside handle IH and an inside opening operation switch 7 for detecting the opening operation are provided in or near the inside handle IH itself. Each operation signal of the inside closing operation switch 6 and the inside opening operation switch 7 is transmitted to the control unit 3.

The fully closed door latch device CDR holds the slide door D2 in the fully closed position by engaging with a striker on the vehicle body side (not shown), and includes an electric release actuator ACT1 and a locking / unlocking actuator ACT2.

The release actuator ACT1 is driven and controlled by the control unit 3 to operate the release mechanism unit (not shown) of the fully closed door latch device CDR, disengage the fully closed door latch device CDR from the striker, and fully close. The sliding door D2 held in the position can be opened. The release mechanism portion of the fully closed door latch device CDR is connected to the release mechanism portion of the fully open door latch ODR. As a result, the power of the release actuator ACT1 is also transmitted to the release mechanism portion of the fully open door latch device ODR via the release mechanism portion of the fully closed door latch device CDR, and the engagement between the fully open door latch device ODR and the striker is released. , The sliding door D2 held in the fully open position can be closed.

The locking / unlocking actuator ACT2 switches the fully closed door latch device CDR into a locked state and an unlocked state. When the fully closed door latch device CDR is in the unlocked state, the sliding door D2 can be opened by disengaging the fully closed door latch device CDR from the striker by operating the outside operation switch 5. When the fully closed door latch device CDR is in the locked state, even if the outside operation switch 5 is operated, the sliding door D2 cannot be opened because the engagement between the fully closed door latch device CDR and the striker cannot be released. However, if the user is successfully authenticated by carrying the key body 11 of a system such as a keyless entry system, the fully closed door latch device CDR is in either the unlocked state or the locked state. Even in the state, it is possible to open the slide door D2 by operating the outside operation switch 5.

The fully open door latch device ODR holds the slide door D2 in the fully open position by engaging with a striker (not shown) on the vehicle body side, and when the slide door D2 is fully open, the outside operation switch 5 or the inside close operation switch. By operating the release actuator ACT1 based on the closing operation of No. 6, the engagement with the striker is released and the sliding door D2 can be closed from the fully open position.

The closer device CL has a configuration in which the meshing mechanism portion (not shown) of the fully closed door latch device CDR is operated in the meshing direction in which it meshes with the striker by the power of a motor or the like, and the slide door D2 is half operated when the slide door D2 is closed. It is forcibly moved from the latch position (half-door position) to the fully closed position.

The imaging unit 2 is installed on the ceiling inside the vehicle interior, and is determined in advance around the slide door D2 including the rear entrance / exit E, specifically, a predetermined area inside the vehicle interior, a door opening / closing track area of the slide door D2, and the outside of the vehicle. By imaging an object existing in the predetermined area, the situation around the sliding door D2 including the vehicle interior is monitored.

The object imaged by the imaging unit 2 will be described as a human body in the following description, but the object is not limited to this, and examples of the object can be a luggage, an animal, or the like.

Preferably, the imaging unit 2 is a distance image camera that acquires image information including three-dimensional distance information. The distance image camera is preferably a TOF (Time of Flight) camera, for example. Further, preferably, the imaging unit 2 sets the imaging reference as the left sliding door D2 in order to reliably image the human body existing in the predetermined area inside the vehicle interior, the door opening / closing track area, and the predetermined area outside the vehicle. In some cases, it will be installed above the rear entrance on the right side. The image information (including video information) captured by the image capturing unit 2 is transmitted to the control unit 2. However, since the image pickup unit 2 is arranged in the vehicle interior, the image pickup unit 2 can take an image of the door opening / closing drive area and the predetermined area outside the vehicle only when the slide door D2 is open.

The control unit 3 is composed of an ECU (electronic control unit) and is connected to a CAN (Controller Area Network) provided in the vehicle C. The input interface of the control unit 3 is an image pickup unit 2, an outside operation switch 5, an inside close operation switch 6, an inside open operation switch 7, a shift lever detection switch 8, a vehicle speed sensor 9, and a remote control switch 10 via CAN. Etc. are electrically connected. The remote control switch 10 is an operation switch provided in the driver's seat of the vehicle C or the like and operated when the slide door D2 is opened / closed by the door opening / closing device 1.

The door opening / closing motor 4, the release actuator ACT1, the locking / unlocking actuator ACT2, and the closer device CL are electrically connected to the output interface of the control unit 3. Further, the control unit 3 is provided with a receiving unit (not shown) capable of receiving radio waves transmitted from the key body 11.

The control unit 3 includes an authentication unit 31 that authenticates the user, an object detection unit 32 that detects the presence or absence of a human body, the shape of the human body, and the movement of the hand based on the image information captured by the imaging unit 2. It includes an opening / closing motor 4, a release actuator ACT1, a locking / unlocking actuator ACT2, and an opening / closing control unit 33 that controls the closer device CL. As the control unit 3, a microcomputer mainly composed of a CPU, a ROM, a RAM, and an I / O interface can be used.

The authentication unit 31 authenticates the user based on authentication information such as radio waves for authentication transmitted from the key body 11.

FIG. 3 is a schematic front view showing the positional relationship between the vehicle C and the human body. FIG. 4 is a schematic plan view showing the positional relationship between the vehicle C and the human body. FIG. 5 is a schematic perspective view for explaining the situation inside the vehicle interior. FIG. 6 is a schematic perspective view for explaining a pattern in which a user tries to get into the vehicle interior while the sliding door D2 is open.

The object detection unit 32 can identify whether or not the acquired image information is a human body based on the image information captured by the image pickup unit 2, and if it is a human body, can detect the moving direction and the moving speed. At the same time, it is detected in which of a plurality of predetermined areas the detected human body is located. For example, as the predetermined areas, as shown in FIGS. 3 and 4, a door opening / closing drive area A1, a danger area A2 on the outside of the vehicle, a danger reserve area A3, and a danger area A4 on the vehicle interior side are set.

For the identification, movement direction, and movement speed of the human body, only objects within a certain distance range are extracted from the image information acquired from the image pickup unit 2, and only the recognized necessary part (shape characteristic part of the human body) is separated from the background image. It is done by identifying.

The door opening / closing track area A1 is an area corresponding to the track in which the sliding door D2 opens / closes, and as shown in FIG. 3, the human body H1 enters the door opening / closing track area A1 and the sliding door D2 closes. In this case, it is a dangerous area where the human body H1 is sandwiched between the sliding door D2 and the frame of the entrance / exit E.

As shown in FIGS. 3 and 4, the danger area A2 is set within a range of, for example, 30 cm from the door opening / closing track area A1 to the outside of the vehicle, and the human body H2 is extremely close to the door opening / closing track area A1 to the entrance / exit E side as much as possible. This is an area where there is a risk of contacting or being pinched by the sliding door D2 that is closed when the movement is performed so as to move toward.

As shown in FIGS. 3 and 4, the danger reserve area A3 is set within a range of 100 cm from the door opening / closing track area A1 to the outside of the vehicle, and unless the human body H3 moves significantly toward the entrance / exit E side due to an unexpected movement. , A safe area.

As shown in FIGS. 3 and 4, the danger area A4 inside the vehicle is, for example, within a range of 6 cm from the reference surface to the vehicle interior side with the lining trim D3 provided on the side surface of the sliding door D2 on the indoor side as a reference surface. When the slide door D2 is opened, for example, as shown in FIG. 5, in a situation where the human body H4 such as an infant sitting in the rear seat S is approaching or leaning on the closed slide door D2, This is an area where a part (for example, the head) of the human body H4 may be caught in the gap between the backrest S1 of the rear seat S and the vehicle body.

Based on the image information captured by the imaging unit 2, the object detection unit 32 identifies the entire image of the human body including adults and children in the door opening / closing track area A1, the danger area A2, and the danger reserve area A3, and inside the vehicle. In the danger area A4 of the above, for example, it is identified whether or not it is the head or a part of the head of the human body. As a method of identifying the head, when the human body is identified based on the image information in the vehicle interior imaged by the imaging unit 2, the image information for each part of the identified human body is used in the height and width directions of the image information. When the number of pixels of the above and the number of pixels of the integrated value are within a predetermined range, that is, within a predetermined size range and the shape is generally rounded, a method of distinguishing the head from the head can be considered. The number of pixels changes depending on the resolution of the image information captured by the imaging unit 2.

Further, the object detection unit 32 identifies the shape and movement of the human body within a predetermined gesture area based on the image information captured by the image pickup unit 2. The gesture recognition unit 9 is an image capturing unit 11. The hand gesture is recognized based on the image data Sa1 including the three-dimensional distance information acquired from. The gesture recognition unit 9 recognizes the hand gesture based on the image data Sa1 including the three-dimensional distance information acquired from the image capturing unit 11. The gesture recognition unit 9 recognizes the hand gesture based on the image data Sa1 including the three-dimensional distance information acquired from the image capturing unit 11. The gesture recognition unit 9 recognizes the hand gesture based on the image data Sa1 including the three-dimensional distance information acquired from the image capturing unit 11. The gesture recognition unit 9 recognizes the hand gesture based on the image data Sa1 including the three-dimensional distance information acquired from the image capturing unit 11. The gesture recognition unit 9 recognizes the hand gesture based on the image data Sa1 including the three-dimensional distance information acquired from the image capturing unit 11. In this case, in this case, in this case. The inside of the gesture area is, for example, the inside of the danger area A1 on the outside of the vehicle, and within the range of, for example, 30 cm from the lining trim D3 of the slide door D2 on the inside of the vehicle.

Further, when the object detection unit 32 detects that the identified hand shape has moved in a predetermined shape indicating the intention to open the slide door D2 and in the direction of opening the slide door D2, that is, by the user. When an open gesture is detected, an open operation signal is transmitted to the open / close control unit 33, and the slide door D2 is moved in a predetermined shape indicating the intention to close the slide door D2 in the closing direction. Is detected, that is, when a closing gesture by the user is detected, a closing operation signal is transmitted to the open / close control unit 33.

The open / close control unit 33 includes an outside operation switch 5, an inside close operation switch 6, an inside open operation switch 7, an operation signal of the remote control switch 10 and the key body 11, the position information of the human body detected by the object detection unit 32, and a hand. The opening / closing motor 4, the release actuator ACT1 and the locking / unlocking actuator ACT2 are controlled based on the operating direction of.

The open / close control unit 33 closes the slide door D2 when the object detection unit 32 transmits information to the effect that the human body is not detected in any of the door open / close track areas A1, danger areas A2, A4 and danger reserve area A3. The door opening / closing motor 4 is controlled to close at a high speed so that the speed becomes high, and when information indicating that the human body H3 exists in the danger reserve area A3 is transmitted from the object detection unit 32, the closing speed of the sliding door D2 When the opening / closing motor 4 is controlled to close the normal speed so that the speed becomes a normal speed lower than the high speed, and information indicating that the human body H2 exists in the danger area A2 is transmitted from the object detection unit 32. Variable speed control is performed to control the closing speed of the opening / closing motor 4 at a low speed so that the closing speed of the sliding door D2 becomes a low speed even lower than the normal speed. The variable speed control is executed when the closing operation signal from the remote control switch 10 and the key main body 11 is input, and in principle, when the closing operation signal from the outside operation switch 5 and the inside closing operation switch 6 is input. Normal speed closing control is executed as.

The open / close control unit 33 disables the closing operation of the slide door D2 when and when the information that the human body H1 exists in the door open / close track area A1 is transmitted from the object detection unit 32. When the information that the human body H4 exists in the danger area A4 inside the vehicle is transmitted from the object detection unit 32, the opening operation of the outside operation switch 5, the remote control switch 10 and the key body 11 is cancelled. Cancel control is performed, and open drive control of the opening / closing motor 4 is not performed. The above-mentioned stop control is executed when any of the closing operation signals of the outside operation switch 5, the inside closing operation switch 6, the remote control switch 10 and the key main body 11 is input. The above-mentioned cancel control is not executed when the closing operation signal is transmitted from the inside closing operation switch 6.

Next, the door opening / closing control process executed by the door opening / closing control system will be described with reference to the flowcharts shown in FIGS. 7 to 10. In the following description, the authentication unit 31 has successfully authenticated the user, the shift lever detection switch 8 detects the neutral position or the parking position of the shift lever, and the vehicle speed sensor 9 detects the stop of the vehicle C. It is assumed that you are doing it.

First, based on the flowchart shown in FIG. 7, the slide door D2 is in the fully closed position, and the door is opened when the sliding door D2 is opened from the outside of the vehicle, and the sliding door D2 is in the half-opened position when the sliding door D2 is opened. The flow of the door closing operation when stopped will be described.

When the control unit 3 receives the opening operation signal on the outside of the vehicle from the outside operation switch 5 or the key body 11 (possessed by the user outside the vehicle) in step S101, the control unit 3 is based on the image information captured by the image pickup unit 2 in step S102. When the object detection unit 32 identifies whether or not the human body H4 exists in the danger area A4 inside the vehicle and does not identify the human body H4 in the danger area A4 inside the vehicle (NO), the release drive is performed in step S103. When the control is performed and the human body H4 is identified in the danger area A4 (YES), the opening operation signal on the outside of the vehicle is canceled in step S112.

In step S103, the control unit 3 transmits a release drive control signal to the open / close control unit 33 to control the release actuator ACT1 by release drive. As a result, the fully closed door latch device CDR and the striker are disengaged. Next, in step S104, the control unit 3 transmits an open drive control signal to the open / close control unit 33 to control the open / close drive motor 4. As a result, the sliding door D2 starts to open from the fully closed position. In this case, the opening / closing motor 4 is driven and controlled by the opening / closing drive unit 33 so that the opening speed of the slide door D2 becomes a normal speed.

Next, in step S105, the control unit 3 moves the object detection unit 32 into the door opening / closing track area A1 based on the image information captured by the image pickup unit 2 while the slide door D2 is open. If (NO) is not specified, the open drive control of the open / close motor 4 is continued until the slide door D2 reaches the fully open position, and when the slide door D2 reaches the fully open position, the stop control of the open / close motor 4 is performed. (Step S106). As a result, when the human body H1 does not exist in the door opening / closing track area A1, the sliding door D2 moves to the fully open position and the fully open door latch device ODR is held in the fully open position by engaging with the striker.

In step S102 described above, when the object detection unit 32 identifies the human body H4 in the danger area A4 inside the vehicle based on the image information captured by the image pickup unit 2 (YES), the control unit 3 controls step S112. In, the opening operation signal on the outside of the vehicle of the outside operation switch 5 and the key body 11 is canceled, and the drive control of the release actuator ACT1 and the opening / closing motor 4 is not executed.

The fact that the human body H4 is identified in the danger area A4 inside the vehicle means that the human body H4 such as a child or an infant sitting in the rear seat S is inside the sliding door D2 under the situation shown in FIG. It is considered that the situation is dangerous, such as leaning against the lining trim D3 of the above. Therefore, in such a situation, when the slide door D2 is opened from the fully closed position by the opening operation from the outside of the vehicle, a part of the human body H4, for example, the head is caught in the gap between the vehicle body and the backrest S1. There is a risk. In order to prevent this, the door open / close control system of the present embodiment cancels the opening operation signal on the outside of the vehicle when the human body H4 is identified in the danger area A4 on the inside of the vehicle, and the sliding door D2. Is not opened.

In step S105 described above, when the object detection unit 32 identifies the human body H1 in the door opening / closing trajectory area A1 based on the image information captured by the image pickup unit 2 while the slide door D2 is open (YES). In step S107, the control unit 3 transmits a stop control signal to the open / close control unit 33 to stop and control the open / close motor 4 even before the slide door D2 reaches the fully open position. As a result, the sliding door D2 that has been opened stops at the half-open position without reaching the fully open position.

The fact that the human body H1 was identified in the door opening / closing track area A1 while the slide door D2 was open in step S105 means that the slide door D2 was open and operated as shown in FIGS. Nevertheless, it is considered that the human body H1 is entering the door opening / closing drive area A1 and trying to get into the vehicle interior. Therefore, in this case, if the opening amount of the slide door D2 stopped at the half-open position is a sufficient opening amount for the human body H1, it is not always necessary to open the slide door D2 any more. By doing so, it is not necessary to stop the slide door D2 at an early stage and uselessly open the opening / closing motor 4.

Preferably, when the human body H1 is identified in the door opening / closing track area A1, the timing for stopping and controlling the opening / closing motor 4 is such that when the human body H1 is identified in the door opening / closing track area A1, the sliding door D2 is the human body H1. When the half-open position has a sufficient opening amount for riding, the opening / closing motor 4 is immediately stopped and controlled, and when the sliding door D2 is in the half-open position with a narrow opening amount for the human body H1, the sliding door D2 The opening / closing motor 4 is stopped and controlled when the door is opened to a predetermined half-opening position having a sufficient opening amount for the human body H1 to ride.

In step S107, after performing half-open stop control for stopping the slide door D2 in the half-open position, in the next step S108, the control unit 3 is in a state where the slide door D2 is stopped in the half-open position. When the object detection unit 32 does not identify the human body H1 in the door opening / closing track area A1 based on the captured image information (NO), in other words, the ride of the human body H1 into the vehicle interior is completed and the door opening / closing drive area A1 In the case of evacuating from, the process proceeds to step S109, waits for the closing operation signal inside the vehicle, and if the human body H1 is still identified in the door opening / closing track area A1 (YES), the image information captured by the imaging unit 2 The identification of the human body H1 is continued based on.

In step S109, the control unit 3 receives the closing operation signal of the inside closing operation switch 6 by the human body H5 on board, or based on the image information of the user's hand shape and operation taken by the imaging unit 2. When the object detection unit 32 detects the closing gesture, the closing drive control signal is transmitted to the opening / closing control unit 33 to control the closing drive of the opening / closing motor 4 (step S110), and when the slide door D2 reaches the fully closed position. The opening / closing motor 4 is stopped and controlled (step S111). As a result, the sliding door D2 is closed from the half-open position by the closing drive of the door opening / closing device 1, and the fully closed door latch device CDR is held in the fully closed position by engaging with the striker.

As described above, in the door opening / closing control system of the present embodiment, the human body is identified in the door opening / closing drive area A1 by the user trying to get into the vehicle interior while the sliding door D2 is open. In this case, the slide door D2 is stopped at the half-open position, and then the inside handle IH is closed or the closing gesture is performed when the boarding is completed to close the slide door from the half-open position. Therefore, it is possible to shorten the opening / closing time of the slide door D2 that the user spends at the time of boarding, and enables the user to board the vehicle quickly.

Next, based on the flowchart shown in FIG. 8, the sliding door D2 is in the fully closed position, and the door opening operation when the sliding door D2 is opened from the vehicle interior, and the sliding door D2 in the half-opening position when the sliding door D2 is opened. The flow of the door closing operation when the vehicle is stopped will be described.

The control unit 3 is the opening operation signal of the inside opening operation switch 7 by the opening operation of the inside handle IH by the human body H5 in the vehicle interior sitting in the rear seat S in step S201, or the user's hand photographed by the imaging unit 2. When the object detection unit 32 detects the opening gesture inside the vehicle based on the image information of the shape and operation, the release actuator ACT1 is driven and controlled (step S202), and then the opening / closing motor 4 of the door opening / closing device 1 is opened. Drive control (step S203). As a result, the sliding door D2 starts to open from the fully closed position. In this case, the opening / closing motor 4 is driven and controlled so that the opening speed of the slide door D2 becomes a normal speed.

Next, in step S204, the control unit 3 has the object detection unit 32 in the door opening / closing track area A1 based on the image information captured by the image pickup unit 2 while the slide door D2 is open. If (NO) is not specified, the open drive control of the open / close motor 4 is continued until the slide door D2 reaches the fully open position, and when the slide door D2 reaches the fully open position, the stop control of the open / close motor 4 is performed. (Step S205). As a result, when the human body H1 is not identified in the door opening / closing track area A1, the sliding door D2 moves to the fully open position by the open drive of the door opening / closing device 1, and the fully open door latch device ODR engages with the striker. It is held in the fully open position.

In step S204 described above, when the human body H1 is identified in the door opening / closing track area A1 while the slide door D2 is open (YES), in step S206, the control unit 3 causes the slide door D2 to move. Even before reaching the fully open position, a stop control signal is transmitted to the open / close control unit 33 to stop and control the open / close motor 4. As a result, the sliding door D2 that has been open is stopped at the half-open position.

The fact that the human body H1 is identified in the door opening / closing track area A1 while the sliding door D2 is open in step S204 means that the human body is a user even though the sliding door D2 is open. It is considered that H1 is entering the door opening / closing drive area A1 and is about to get out of the vehicle interior. Therefore, in this case, if the opening amount of the slide door D2 stopped at the half-open position is a sufficient opening amount for the user to get off the vehicle, it is not always necessary to open the slide door D2 any more. By doing so, it is not necessary to stop the slide door D2 at an early stage and unnecessarily open the opening / closing motor 4 when the user gets off the vehicle.

Preferably, when the human body H1 is identified in the door opening / closing track area A1, the timing for stopping and controlling the opening / closing motor 4 is such that when the human body H1 is identified in the door opening / closing track area A1, the user disembarks from the sliding door D2. In the case of a half-open position having a sufficient opening amount, the opening / closing motor 4 is immediately stopped and controlled when the human body H1 is identified, and the sliding door D2 is in a half-open position with a narrow opening amount for the user to get off. In this case, the opening / closing motor 4 is stopped and controlled when the sliding door D2 is opened to a predetermined half-open position having a sufficient opening amount for the user to get off.

Next, in step S207, the control unit 3 moves the object detection unit 32 into the door opening / closing track area A1 based on the image information captured by the image pickup unit 2 while the slide door D2 is stopped at the half-open position. When the human body H1 is identified (YES), the monitoring of the identification of the human body H1 is continued based on the image information captured by the imaging unit 2, and the object detection unit 32 removes the human body H1 from the door opening / closing track area A1. When it is identified (NO), in other words, when the disembarkation of the human body H1 which is a occupant is completed, the closing operation signal on the outside of the vehicle is awaited.

Next, in step S208, the control unit 3 inputs the operation signal of the outside operation switch 5, or the object detection unit is based on the image information of the user's hand shape and motion captured by the imaging unit 2. When the 32 detects the closing gesture, a closing drive control signal is transmitted to the opening / closing control unit 33 to control the closing drive of the opening / closing motor 4 (step S209), and when the slide door D2 reaches the fully closed position, the opening / closing motor 4 Is stopped and controlled (step S210). As a result, the sliding door D2 is closed from the half-open position by the closing drive of the door opening / closing device 1, and the fully closed door latch device CDR is held in the fully closed position by engaging with the striker.

As described above, when the door opening / closing control system of the present embodiment is opened from the vehicle interior, the human body H1 is identified in the door opening / closing drive area A1 while the sliding door D2 is being opened. In that case, the slide door D2 is stopped at the half-open position, and when the user retracts from the door opening / closing track area A1 and then closes the slide door D2 from the outside of the vehicle, the slide door D2 is closed from the half-open position. Since the control is performed, the opening and closing time of the sliding door D2 that the user spends when getting off the vehicle can be shortened, and the user can get off the vehicle quickly.

When the slide door D2 is opened from the inside of the vehicle, the occupant is in a posture close to the lining trim D3 of the slide door D2, but when the remote control switch 10 is opened from the driver's seat, the occupant behind the driver's seat is opened. Since it is difficult to visually recognize the human body H4 in the danger area A4 inside the vehicle, it is desirable to perform cancellation control of the opening operation inside the vehicle.

Next, the flow of closing operation of the sliding door D2 when the sliding door D2 is in the fully open position and is closed from the outside of the vehicle will be described based on the flowchart shown in FIG.

The control unit 3 receives the closing operation signal on the outside of the vehicle from the outside operation switch 5 or the key body 11 in step S301, or an image of the shape and operation of the user's hand outside the vehicle taken by the imaging unit 2. When the object detection unit 32 detects the closed gesture on the outside of the vehicle based on the information, the object detection unit 32 identifies the human body H1 in the door opening / closing track area A1 based on the image information captured by the image pickup unit 2 in step 302. If not (NO), the control in step S303 is performed, and if the human body H1 is identified in the door opening / closing track area A1 (YES), the cancel control for canceling the closing operation signal on the outside of the vehicle is performed in step S308. ..

In step S303, the control unit 3 controls the release actuator ACT1 by release drive based on the closing operation signal on the outside of the vehicle. As a result, the engagement between the fully open door latch device ODR and the striker is released. Next, in step S304, the control unit 3 controls the opening / closing motor 4 in a closed drive. As a result, the sliding door D2 starts the closing operation from the fully open position.

In the closing drive control of the opening / closing motor 4 in step S304, the opening / closing control unit 33 controls the opening / closing motor 4 to drive at a normal speed when it is based on the detection of the closing operation signal and the closing gesture by the outside operation switch 5. When based on the closing operation signal from the key body 11 possessed by the user outside the vehicle, the following variable speed drive control is performed.
(A) When the object detection unit 32 does not identify the human body in any of the door opening / closing track area A1, the danger area A2, the preliminary danger area A3, and the danger area A4 based on the image information captured by the image pickup unit 2. The opening / closing motor 4 is controlled to be closed at high speed so that the sliding door D2 closes at high speed.
(B) An opening / closing motor so that the slide door D2 closes at a normal speed when the object detection unit 32 identifies the human body H3 in the danger reserve area A3 based on the image information captured by the image pickup unit 2. 4 is controlled by a normal speed closed drive.
(C) When the object detection unit 32 identifies the human body H1 in the danger area A1 inside and outside the vehicle based on the image information captured by the image pickup unit 2, the slide door D2 closes at a low speed. , The opening / closing motor 4 is controlled to be closed at low speed.
That is, the speed is controlled so that the closing speed of the slide door D2 becomes slower as the human body outside the vehicle approaches the entrance / exit E, and the closing speed of the slide door D2 becomes faster as the human body outside the vehicle moves away from the entrance / exit E. The speed is controlled so that

Next, in step S305, the control unit 3 moves the object detection unit 32 into the door opening / closing track area A1 based on the image information captured by the image pickup unit 2 while the slide door D2 is closed. If (YES) is not specified, the closing drive control of the opening / closing motor 4 is continued until the slide door D2 reaches the fully closed position, and when the slide door D2 reaches the fully closed position, the opening / closing motor 4 is stopped. Control is performed (step S306). As a result, when the human body H1 is not identified in the door opening / closing track area A1, the sliding door D2 is moved to the fully closed position and the fully closed door latch device CDR is held in the fully closed position by engaging with the striker. The door.

In step S302 described above, when the object detection unit 32 identifies the human body H in the door opening / closing track area A1 before the slide door D2 closes based on the image information captured by the image pickup unit 2 (YES). Cancels the outside operation switch 5, the closing gesture, and the closing operation of the key body 11 on the outside of the vehicle in step S308, and does not execute the drive control of the release actuator ACT1 and the opening / closing motor 4.

Further, in step S305 described above, when the object detection unit 32 identifies the human body H1 in the door opening / closing track area A1 while the slide door D2 is closed based on the image information captured by the image pickup unit 2. In (YES), the control unit 3 controls the stop of the opening / closing motor 4 in step S307. As a result, the human body H1 existing in the door opening / closing track area A1 can be detected without contact, and a situation in which the closed sliding door D2 comes into contact with the human body can be prevented.

Next, a flow of closing operation control of the slide door D2 when the slide door D2 is in the fully open position and is closed from the vehicle interior will be described based on the flowchart shown in FIG.

In step S401, when the object detection unit 32 does not identify the human body H1 in the door opening / closing track area A1 based on the image information captured by the image pickup unit 2 (NO), the control unit 3 controls after step S402. When the human body H1 is identified in the door opening / closing track area A1 (YES), the control after step S421 is performed.

In the case of shifting to step S402, the control unit 3 is the closing operation signal of the inside closing operation switch 6 by the closing operation of the inside handle IH by the human body H5 in the vehicle interior, or the shape of the user's hand photographed by the imaging unit 2. When the object detection unit 32 detects the closing gesture inside the vehicle or receives the closing operation signal inside the vehicle from the remote control switch 10, the object detection unit 32 is based on the closing operation signal inside the vehicle. , The release drive control signal is transmitted to the open / close control unit 33 to perform release drive control of the release actuator ACT1 (step S403), and then the open / close motor 4 is closed drive controlled (step S404). As a result, the engagement between the fully open door latch device ODR and the striker is released, and the slide door D2 starts the closing operation from the fully open position.

In the closing drive control of the opening / closing motor 4 in step S404, the opening / closing control unit 33 controls the normal speed closing drive of the opening / closing motor 4 when it is based on the detection of the closing operation signal or the closing gesture by the inside closing operation switch 6. If it is based on the closing operation signal from the remote control switch 11, the speed variable drive control as described above is performed.

Next, in step S405, when the object detection unit 32 does not identify the human body H1 in the door opening / closing track area A1 based on the image information captured by the imaging unit 2 (NO), the control unit 3 is for opening / closing. The closing drive control of the motor 4 is continued until the slide door D2 reaches the fully closed position, and when the slide door D2 reaches the fully closed position, the stop control of the opening / closing motor 4 is performed (step S406). As a result, when the human body H1 is not identified in the door opening / closing track area A1, the sliding door D2 is moved to the fully closed position and the fully closed door latch device CDR is held in the fully closed position by engaging with the striker. The door.

When the object detection unit 32 identifies the human body H1 in the door opening / closing track area A1 based on the image information captured by the image pickup unit 2 in step S405 (YES), the control unit 3 is closed in step S408. In order to avoid the danger that the operating sliding door D2 comes into contact with the human body H1, the opening / closing motor 4 is immediately stopped and controlled when the human body H1 is identified without contact. As a result, the closed sliding door D2 stops at the half-open position before coming into contact with the human body H1 and does not pinch the human body H1.

In step S401 described above, the situation is such that the sliding door D2 is in the fully open position and the object detection unit 32 identifies the human body H1 in the door opening / closing orbital area A1 based on the image information captured by the imaging unit 2. It is considered that the human body H1, which is an adult who got off earlier, is getting into the passenger compartment to get off the infant in the passenger compartment, or is getting into the passenger compartment to take out large luggage etc. Be done. Therefore, when the process proceeds to step S421, the control unit 3 does not transmit the closing drive command signal to the opening / closing control unit 33 even if the closing operation signal of the inside closing operation switch 6 by the closing operation of the inside handle IH is input. Then, the closing operation signal by the inside closing operation switch 6 is temporarily stored.

Next, in step S422, the control unit 3 identifies whether or not the human body H1 has been removed from the door opening / closing track area A1, and if the removal of the human body H1 is identified (YES), the process proceeds to step S403. If the removal of the human body H1 is not identified, the identification of the removal of the human body H1 is repeated.

When the process proceeds to step S403, the control unit 3 executes the processes of step S403 and subsequent steps after a predetermined time has elapsed from the time when the removal of the human body H1 is identified. As a result, the slide door D2 does not close immediately when the inside handle IH is closed in the fully open position, but when the human body H1 is removed from the door opening / closing track area A1, it automatically closes from the fully open position. After starting the operation, if the human body H1 is not identified in the door opening / closing track area A1, the vehicle moves to the fully closed position. In this case, if the closing operation of the slide door D2 is based on the memory of the closing operation signal by the inside closing operation switch 6, the locking / unlocking actuator ACT2 is driven and controlled at the fully closed position of the slide door D2 to perform the fully closed door latch. The device CDR is automatically switched from the unlocked state to the locked state.

As described above, when the inside handle IH is closed while the human body H1 is identified in the door opening / closing track area A1 at the fully open position of the sliding door D2, the closing operation of the inside closing operation switch 6 is stored. After that, when the human body is removed from the door opening / closing track area A1, the door opening / closing device 1 is closed and the sliding door D2 is automatically closed, so that, for example, when an occupant gets off. If both hands of the occupant are occupied and the sliding door D2 cannot be closed, the inside handle IH is closed in advance from the outside of the vehicle so that the sliding door D2 automatically closes after the disembarkation is completed. Therefore, it is extremely convenient. In the fully open position of the sliding door D2, a human body exists in the door opening / closing track area A1 in order for an adult outside the vehicle to disembark an infant in the room or to take out a large luggage in the room. It is conceivable that you are using. In addition, as a situation where both hands of the occupant who got off the vehicle are occupied, it is conceivable that the occupant is holding an infant or the like or carrying a large baggage or the like.

As described above, the door opening / closing control system of the present embodiment has the following defined non-contact entanglement prevention function, entanglement prevention function of the human body in the vehicle interior, and door closing speed variable function as safety. As convenience, it has a reservation door automatic closing function, a gesture door opening / closing function, and a boarding / alighting time shortening function defined below.

The non-contact biting prevention function means that when the human body is identified in the door opening / closing track area A1 based on the image information captured by the imaging unit 2 when the sliding door D2 is closed, the human body is not caught. A function of stopping the closing operation of the sliding door D2 in order to prevent the sliding door D2.

The function of preventing the human body from getting caught in the vehicle interior is, for example, when the human body such as an infant in the vehicle interior is leaning against the lining trim D3 of the slide door D2 and the slide door D2 is opened from the outside. In order to prevent a part from getting caught in the gap between the seat and the car body, if the human body is identified in the danger area A4 inside the car, the door opening operation from the outside is canceled (invalid). ).

The door closing speed variable function changes the closing speed of the sliding door D2 so that the closing speed of the sliding door D2 becomes slower as the human body outside the vehicle approaches the rear entrance / exit E in the closing operation of the sliding door D2. The function to make it.

The reservation door automatic closing function means that when the user gets off the vehicle at the fully open position of the sliding door D2, the user holds a child or holds a large baggage, and both hands of the user are blocked to close the sliding door D2. If the operation is difficult, by closing the inside handle from the outside of the car in advance before both hands of the user are blocked, it is confirmed that the object is not identified in the pinching area such as when the infant gets off with the user. This is a function of automatically closing the slide door D2 after the operation.

The gesture door opening / closing function refers to a function of automatically opening / closing the slide door D2 based on a user's gesture.

The boarding / alighting time shortening function is to stop the slide door D2 at the half-open position when the user gets on and off the vehicle even before the slide door D2 reaches the fully open position when the slide door D2 is opened. After that, when the user closes the door, the closing operation is performed from the half-open position to shorten the opening / closing time of the slide door D2 that the user spends when getting on and off, so that the user can get on and off quickly. Refers to a function.

1 Door opening / closing device 2 Imaging unit 3 Control unit 31 Authentication unit 32 Object detection unit 33 Open / close control unit 4 Open / close motor 5 Outside operation switch 6 Inside close operation switch 7 Inside open operation switch 8 Shift lever detection switch 9 Vehicle speed sensor 10 Remote Operation switch 11 Key body A1 Door open / close track area A2 Danger area outside the vehicle A3 Danger reserve area outside the vehicle A4 Danger area inside the vehicle ACT1 Release actuator ACT2 Locking / unlocking actuator C Vehicle CDR Fully closed door latch device CL closer device D1 Side door D2 Sliding door D3 Lining trim E Rear entrance / exit IH Inside handle OH Outside handle ODR Fully open door latch device S Rear seat S1 Backrest

Claims (3)

A door opening and closing device that can electrically open and close the sliding door that is supported by the vehicle body and
An operation switch that is operated when the sliding door is opened by the door opening / closing device,
An image pickup unit that is arranged in the vehicle interior and can image a predetermined area in the vehicle interior.
An object detection unit capable of identifying the presence or absence of an object in the predetermined area based on the image information captured by the image pickup unit.
A control unit capable of driving and controlling the door opening / closing device when the operation switch is operated is provided.
In the control unit, the object detection unit identifies at least a part of the object in the predetermined area based on the image information captured by the image pickup unit while the slide door is in the fully closed position. In this case, the door opening / closing control system is characterized in that the operation of the operation switch is invalidated and the opening drive control of the door opening / closing device is not executed. The predetermined area is set in a range between the slide door lining trim as a reference surface and a position slightly distant from the reference surface toward the vehicle interior side.
The part of the object is characterized in that the image information identified by the object detection unit is within a predetermined size range and has a predetermined shape based on the image information captured by the image pickup unit. The door opening / closing control system according to claim 1. The door opening / closing control system according to claim 1 or 2, wherein the imaging unit is a distance image camera that acquires image information including three-dimensional distance information.

Images