JP2021025393A - Vehicle door control apparatus - Google Patents

Abstract

To provide a vehicle door control apparatus which can automatically open and close a door of a vehicle without requiring any user's special operation.SOLUTION: A vehicle door control apparatus 100 according to the present invention has a door drive unit 2 for opening, closing, and stopping a door provided in a vehicle, and a control unit 1 for controlling the door drive unit 2. The control unit 1 confirms whether or not predetermined door closing intention sensing conditions (e.g., the fact that the door is open and an object does not exist between the door and the entrance of the vehicle) are established regarding the door or a vehicle side state of the vehicle in view of the door for use in sensing the user's intension that the door should be closed. If the door closing intention sensing conditions are established, the control unit 1 controls the door drive unit 2 to close the door.SELECTED DRAWING: Figure 1

Description

The present invention relates to a vehicle door control device for controlling the opening and closing of a door provided in a vehicle, and more particularly to a technique for automatically closing the door.

For example, as disclosed in Patent Documents 1 to 4, a vehicle door control device for controlling the opening and closing of a door provided in a vehicle is known. Such a vehicle door control device includes a drive unit that opens and closes and stops the vehicle door, a control unit that controls the drive unit, and the like.

In Patent Document 1, when a user operates a mobile key or a switch provided near the door outer handle, the control unit controls the drive unit to open and close the door. Further, when the occupant detection sensor detects that there is an occupant in the vehicle interior, the control unit invalidates the operation of the switch from outside the vehicle and does not open or close the door.

In Patent Document 2, based on the result of receiving the detection signal transmitted from the electronic key outside the vehicle by the receiving unit provided in the vehicle, the control unit determines whether or not the user is in the detection range outside the vehicle. It is determined whether or not a predetermined operation (such as holding a hand over the detection range or passing through the detection range) has been performed. Then, when the control unit determines that the user is in the detection range outside the vehicle and the user has performed a predetermined operation, the control unit controls the drive unit to lock / unlock and open / close the door.

In Patent Document 3, in the automatic opening mode, when the door is closed and locked, the control unit communicates with the portable device carried by the user by the transmission / reception unit provided in the vehicle to carry the vehicle. Perform ID verification of the machine. Then, when the ID verification of the portable device is successful continuously for a predetermined time and the infrared sensor provided in the vehicle detects that the user is in a predetermined range outside the vehicle slightly wider than the rotation range of the door, the control unit Determines that the opening conditions have been met, unlocks the door, and sounds the buzzer. Alternatively, when the touch sensor detects that the ID verification of the portable device is successful and the user touches the door handle provided outside or inside the vehicle, the control unit unlocks the door and sounds the buzzer. After that, while the infrared sensor detects that the user has left the predetermined range outside the vehicle and the obstacle sensor provided in the vehicle detects that there is no obstacle in the rotation range of the door, the control unit keeps moving. , Control the drive unit to open the door.

In Patent Document 4, a detection unit including an infrared sensor, a distance image sensor, a camera, an ultrasonic sensor, or the like detects a user's hand outside the door and measures the distance to the hand. Then, the control unit controls the drive unit based on the distance data to open the door to a certain position.

Japanese Unexamined Patent Publication No. 2005-212505 Japanese Unexamined Patent Publication No. 2010-95935 Japanese Unexamined Patent Publication No. 2007-315049 Japanese Patent No. 6459091

Conventionally, in order to automatically open and close the door of a vehicle, it is necessary for the user to perform a special operation such as performing a predetermined operation on a switch or a sensor or carrying a portable device in the vicinity of the vehicle. was there. However, when the door is closed automatically, if the user's special action cannot be detected for some reason and the door is left open, the security and safety will be reduced. It is beneficial for crime prevention to automatically close the door regardless of the presence or absence of operation, and it is also beneficial for maintaining the environment inside the vehicle and ensuring the safety of the occupants of the vehicle. Further, when the door is automatically closed, it is more convenient for the user when the door is not required than when a special operation is required.

An object of the present invention is to provide a vehicle door control device capable of automatically closing a vehicle door without a user performing a special operation.

The vehicle door control device according to the present invention includes a drive unit that opens and closes and stops a door provided in the vehicle, and a control unit that controls the drive unit. The control unit controls the drive unit to close the door when a predetermined condition regarding the door or the situation on the vehicle body side of the door is satisfied in order to detect the user's intention to close the door.

According to the above, when a predetermined condition regarding the door or the situation on the vehicle body side of the door is satisfied to detect the user's intention to close the door of the vehicle, the control unit of the vehicle door control device is the drive unit. To close the door. Therefore, the door can be automatically closed without the user performing a special operation for closing the door.

In the present invention, the vehicle door control device may further include an open / close detection unit for detecting an open / closed state of the door, and the predetermined conditions may include that the door is opened.

Further, in the present invention, the vehicle door control device further includes an object detection unit for detecting the presence or absence of an object in a predetermined region between the door and the entrance / exit of the vehicle provided with the door. The condition may include that the object is not in the predetermined area.

Further, in the present invention, in the vehicle door control device, the predetermined area may be all or a part of a pinch risk area where an object may be pinched between the door frame surrounding the entrance / exit and the door.

Further, in the present invention, in the vehicle door control device, the object detection unit is a sensor having a transmission unit that transmits a detection wave to a predetermined region and a reception unit that receives the detection wave transmitted from the transmission unit. The reception state of the detection wave by the receiving unit changes depending on the presence or absence of an object in a predetermined region, and the object detection unit may output a detection signal according to the reception state of the receiving unit to the control unit.

Further, in the present invention, in the vehicle door control device, the door opens and closes by rotating with respect to the door frame, and one or more transmission units are provided on one of the door and the door frame, and the other , One or more receivers are provided so as to correspond to the transmitter, and the directional angle or receiver at which the transmitter transmits the detection wave from the angle when the door is opened at a predetermined angle with respect to the door frame. The directional angle for receiving the detection wave may be larger.

Alternatively, one or more of the door and the door frame are provided with one or more transmitters and one or more receivers, and the other has one or more reflectors that reflect the detection waves transmitted from the transmitters toward the receivers. It may be provided.

Further, in the present invention, in the vehicle door control device, the transmitting unit emits detection light having a predetermined wavelength as a detection wave, the receiving unit receives the detected light, and the object detecting unit is the receiving unit. A detection signal corresponding to the light receiving state may be output to the control unit.

Further, in the present invention, the vehicle door control device further includes a load detecting unit for detecting a load applied to a receiving surface for an object inside the entrance / exit of a vehicle provided with a door, and the above-mentioned predetermined conditions are satisfied. It may include that the load detected by the load detection unit has changed by a predetermined value or more.

Further, in the present invention, in the vehicle door control device, the control unit controls the drive unit when the object detection unit detects that an object exists in a predetermined area during the closing operation of the door by the drive unit. The door may be stopped, or the door may be stopped and then opened.

According to the present invention, the door of the vehicle can be automatically closed without the user performing a special operation, thus improving crime prevention, safety, and convenience.

It is an electric block diagram of the vehicle door control device by embodiment of this invention. It is a figure which showed an example of the detection area of the object sensor of FIG. It is a figure which showed other example of the detection area of the object sensor of FIG. It is a figure which showed other example of the detection area of the object sensor of FIG. It is a figure which showed an example of the object sensor of FIG. It is a figure which showed the other example of the object sensor of FIG. It is a figure which showed the other example of the object sensor of FIG. It is a flowchart which showed the operation of the vehicle door control device by 1st Embodiment of this invention. It is a flowchart which showed the operation of the vehicle door control device by 2nd Embodiment of this invention. It is a flowchart which showed the operation of the vehicle door control device by 3rd Embodiment of this invention. It is a figure which showed the other embodiment of this invention. It is a figure which showed the other embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In each figure, the same parts or corresponding parts are designated by the same reference numerals.

First, the electrical configuration of the vehicle door control device 100 of the embodiment will be described.

FIG. 1 is an electrical configuration diagram of the vehicle door control device 100. The vehicle door control device 100 is mounted on a vehicle 30 (FIG. 2 or the like) composed of a four-wheeled vehicle, and controls opening and closing of a door 34 (FIG. 2 or the like) provided on the vehicle 30.

In FIG. 1, the control unit 1 is composed of an ECU (electronic control device). The door drive unit 2 includes an opening / closing mechanism (not shown) for opening / closing the door 34 of the vehicle 30, a motor (not shown) for operating the opening / closing mechanism, and the like. The door drive unit 2 operates the opening / closing mechanism by the driving force of the motor to open / close / stop the door 34. The control unit 1 is provided with a drive circuit (not shown) for driving the motor of the door drive unit 2.

The door opening sensor 3 detects the opening of the door 34. The control unit 1 detects the open / closed state of the door 34 based on the opening degree of the door 34 detected by the door opening degree sensor 3 and the changed state of the opening degree.

The door latch switch 4 detects the open / closed state of the latch provided on the door 34. The control unit 1 detects that the door 34 has been opened or that the door 34 has been closed (fully closed state) based on the detection signal output from the door latch switch 4. The door opening sensor 3 and the door latch switch 4 are examples of the "open / close detection unit" of the present invention.

As another example, the control unit 1 may detect the open / closed state of the door 34 based on the signal output from the door drive unit 2 according to the drive state of the motor of the door drive unit 2.

The object sensor 5 detects the presence or absence of an object (person or object) in a predetermined detection area between the door 34 and the entrance / exit 32 (such as FIG. 3C) of the vehicle 30 provided with the door 34. .. The control unit 1 determines whether or not there is an object in the detection area based on the detection signal output from the object sensor 5. The object sensor 5 is an example of the "object detection unit" of the present invention.

The load sensor 6 detects the load applied to the receiving surface for an object (person or object) such as a seat, a floor surface, or a loading platform near the inside of the entrance 32 of the vehicle 30. Based on the load detected by the load sensor 6 and the change state of the load, the control unit 1 determines that the user has boarded / disembarked from the boarding / alighting port 32 or that the luggage has been carried in / out. The load sensor 6 is an example of the "load detection unit" of the present invention.

The control unit 1 has a predetermined closing intention for detecting the user's intention to close the door 34 based on the detection result of the door opening sensor 3, the door latch switch 4, the object sensor 5, or the load sensor 6. Judge the success or failure of the sensing condition. The closing intention detection condition is a condition relating to the situation on the vehicle body 31 (FIG. 2 or the like) side of the vehicle 30 from the door 34 or the door 34.

The door handle switch 7 is installed on a door handle (not shown) provided on the outer surface of the door 34. The door handle switch 7 is operated to open and close the door 34 from outside the vehicle. For example, with the door 34 closed, the on-board unit (not shown) mounted on the vehicle 30 succeeds in authenticating the FOB key (not shown) carried by the user, and the door handle switch 7 is operated by the user. Then, the control unit 1 controls the door drive unit 2 to open the door 34. Further, when the door handle switch 7 is operated by the user while the door 34 is open, the control unit 1 controls the door drive unit 2 to close the door 34.

The brake pedal switch 8 detects a stepping operation of the brake pedal (not shown) of the vehicle 30. When the brake pedal switch 8 detects that the brake pedal has been stepped on by the user with the door 34 open, the control unit 1 controls the door drive unit 2 to close the door 34.

Next, a detection region in which the object sensor 5 detects the presence or absence of an object will be described.

2 to 4 are views showing an example of a detection region of the object sensor 5. 2 and 3 show a cross-sectional view of the vehicle 30 and the door 34 when viewed from above in FIG. 2A, and a cross-sectional view of the vehicle 30 and the door 34 when viewed from the rear in FIG. 3B. .. Further, FIGS. 3C and 4 show perspective views of the vehicle 30 and the door 34 when viewed from diagonally rearward.

As shown in FIGS. 2 to 4, the door 34 is provided on the side of the vehicle 30. The door 34 automatically and manually rotates in the lateral direction (left-right direction of the vehicle 30) to open and close the entrance / exit 32 (FIGS. 3 (c) and 4) of the vehicle 30. 2 to 4 show a state in which the door 34 is opened and the entrance / exit 32 is opened.

In the example of FIG. 2, the entire space (cross-hatched portion) A between the door 34 and the entrance / exit 32 is set as a detection region for detecting the presence / absence of the object 20 by the object sensor 5. In this case, for example, an object is a sensor having an appropriate number of transmitters for transmitting detection waves such as light, radio waves, or ultrasonic waves and an appropriate number of receivers for receiving the detection waves in the entire detection region A. It may be used as a sensor 5. Then, one or more of the transmitting unit and the receiving unit may be installed on the door 34 or the vehicle body 31 (door frame 33 or the like) of the vehicle 30. Alternatively, for example, a camera that captures the entire detection area A may be used as the object sensor 5 and installed in the door 34 or the vehicle body 31 (inside the vehicle) of the vehicle 30.

In the example of FIG. 3, in the space between the door 34 and the entrance / exit 32 (space A in FIG. 2), the pinching risk area where the object 20 may be sandwiched between the door frame 33 and the door 34 surrounding the entrance / exit 32. (Cross-hatched portions in FIGS. 3A and 3B) All Ass are set in the detection region for detecting the presence or absence of the object 20 by the object sensor 5. Specifically, the pinch risk region As is the vertical and lateral (front-rear and backward directions of the vehicle 30) ends 34a, 34b, 34c, 34d of the door 34 that contacts or approaches the door frame 33 with the door 34 closed. (Cross-hatched portion shown in the door 34 of FIG. 3C) is a locus that moves when the door 34 is closed. That is, between the end portions 34a, 34b, 34c, 34d of the door 34 shown by cross-hatching in FIG. 3C and the vertical and lateral portions 33a, 33b, 33c, 33d of the door frame 33. The space in is the pinch risk area As. In this case, for example, a sensor having an appropriate number of transmitting units for transmitting detection waves such as light and radio waves to the region As and an appropriate number of receiving units for receiving the detected waves may be used as the object sensor 5. Then, the transmitting unit and the receiving unit may be installed at the end portions 34a, 34b, 34c, 34d of the door 34 or the respective portions 33a, 33b, 33c, 33d of the door frame 33.

Further, a part of the pinching risk area As may be set as a detection area for detecting the presence or absence of the object 20 by the object sensor 5. For example, the detection region Ab shown in FIG. 4 is the lower portion of the pinching risk region As shown in FIG. Specifically, the detection area Ab is a locus in which the lower end portion 34b of the door 34 moves when the door 34 is closed, and is a space between the lower end portion 34b and the lower portion 33b of the door frame 33. When a user, a pet, or the like gets on or off the detection area Ab, the body of the user, the pet, or the like always enters the detection area Ab through the entrance / exit 32 opened by opening the door 34. In this case, for example, a sensor having an appropriate number of transmitters for transmitting detection waves such as light and radio waves to the detection region Ab and an appropriate number of receivers for receiving the detection waves may be used as the object sensor 5. .. Then, the transmitting unit and the receiving unit may be installed at the lower end portion 34b of the door 34 or the lower portion 33b of the door frame 33.

Further, as another example, when the door 34 is open, the rear end portion 34d of the door 34 in the pinch risk region As farthest from the door frame 33 (when the rear end portion 34d of the door 34 in FIG. 3C is closed). The moving locus and the space between the rear end portion 34d and the rear portion 33d of the door frame 33) may be set as the detection region. When the user gets on and off the door 34, the user's body always enters the rear portion.

Next, a specific configuration example of the object sensor 5 will be described.

5 and 7 are views showing an example of the object sensor 5. 5 to 7 show a state in which the door 34 and the door frame 33 are viewed from above.

As shown in FIGS. 5 to 7, the object sensor 5 has a light emitting unit 5a and a light receiving unit 5b. The light projecting unit 5a projects detection light having a predetermined wavelength (indicated by the arrow of the alternate long and short dash line) into the detection regions A, As, and Ab as a detection wave for detecting the object 20. The light receiving unit 5b receives the detection light projected from the light projecting unit 5a. A plurality of light emitting units 5a and light receiving units 5b are provided on the door 34 or the door frame 33 at predetermined intervals. The light projecting unit 5a is an example of the "transmitting unit" of the present invention, and the light receiving unit 5b is an example of the "receiving unit" of the present invention.

In the example of FIG. 5, a plurality of light projecting units 5a are provided on the door 34 at predetermined intervals. A plurality of light receiving units 5b are provided on the door frame 33 at predetermined intervals so as to correspond and face each light emitting unit 5a on a one-to-one basis. When there is no object 20 in the detection areas A, As, and Ab, the light projected from each light projecting unit 5a is received by the corresponding light receiving unit 5b. Further, when the object 20 is present in the detection areas A, As, and Ab, the light projected from at least a part of the light emitting unit 5a is blocked by the object 20 and is not received by the corresponding light receiving unit 5b. Therefore, the light receiving state (light receiving amount) of at least a part of the light receiving part 5b changes depending on whether the object 20 is present or present in the detection areas A, As, and Ab, and the light receiving state of the part of the light receiving part 5b is changed. The level of the detection signal (light receiving signal) output from the object sensor 5 to the control unit 1 also changes accordingly. The control unit 1 determines whether or not the object 20 is present in the detection areas A, As, and Ab based on the change in the level of the detection signal output from the object sensor 5.

When the door 34 is opened and closed, that is, when the door 34 rotates laterally around the Q point, each light projecting portion 5a provided on the door 34 moves in an arcuate trajectory to the door frame 33. The direction of each light projecting unit 5a with respect to each light receiving unit 5b provided is changed. Therefore, even if there is no object 20 in the detection areas A, As, and Ab, the amount of detected light received by each light receiving unit 5b and the amount of ambient light received depending on the angle (opening) of the door 34 with respect to the door frame 33. Changes. Specifically, as the angle of the door 34 with respect to the door frame 33 increases, the amount of light received by each light receiving unit 5b decreases, and the amount of ambient light received increases.

Further, in order to prevent blind spots in which the object 20 cannot be detected by the object sensor 5 from occurring in the detection regions A, As, and Ab, the directional angle θ at which each light projecting unit 5a projects the detected light is increased. Is effective. However, as the directional angle θ at which each light projecting unit 5a projects the detected light increases, the amount of detected light received by each light receiving unit 5b decreases, and the amount of ambient light received increases.

Then, as the amount of light received by each light receiving unit 5b decreases and the amount of ambient light received increases, the S / N ratio of the detection signal output from the object sensor 5 decreases, and based on the detection signal. Therefore, the accuracy with which the control unit 1 detects the object 20 is also lowered.

Therefore, in this example, when the door 34 is opened with respect to the door frame 33 at a predetermined angle φ, the optical axis of each light emitting unit 5a and the optical axis of each corresponding light receiving unit 5b coincide with each other. Each light emitting unit 5a and each light receiving unit 5b are installed so as to do so. The angle φ is an angle at which the object 20 in the detection areas A, As, and Ab can be reliably detected by the object sensor 5. Further, the directional angle θ at which each light projecting unit 5a projects the detected light is set to be larger than the angle φ (θ> φ). As a result, when the door 34 is opened at an angle larger than the angle φ with respect to the door frame 33, the amount of light received by each light receiving unit 5b is reduced and the amount of ambient light received is suppressed from increasing. it can. Further, even when the door 34 is opened at an angle smaller than the angle φ with respect to the door frame 33, the amount of light received by each light receiving unit 5b is reduced, and the amount of ambient light received is suppressed from increasing. be able to. Further, by setting the directional angle θ at which each light projecting unit 5a projects the detected light to twice or more the angle φ (θ ≧ 2φ), the amount of light received by each light receiving unit 5b is reduced and disturbance occurs. It is possible to further suppress an increase in the amount of light received.

As another example, the directivity angle at which each light receiving unit 5b receives the detected light may be set to be larger than the angle φ or set to be twice or more the angle φ. By setting the directional angle at which the light emitting unit 5a projects the detection light or the directional angle at which the light receiving unit 5b receives the detected light to be larger than the predetermined opening angle φ of the door 34 with respect to the door frame 33, the door 34 can be opened. When the light receiving unit 5b is in the open state, it is possible to prevent the light receiving portion 5b from receiving a small amount of detected light and suppressing a large amount of receiving ambient light. As a result, it is possible to suppress a decrease in the S / N ratio of the detection signal output from the object sensor 5, and the accuracy with which the control unit 1 detects the object 20 based on the detection signal is improved.

In the example of FIG. 6, a plurality of light emitting units 5a and light receiving units 5b are provided on the door 34 at predetermined intervals. The corresponding light projecting unit 5a and the light receiving unit 5b are close to each other. The door frame 33 is provided with a plurality of high reflectance diffusers 11 at predetermined intervals so as to correspond to the light emitting units 5a and the light receiving units 5b. Each high reflectance diffuser 11 reflects the detection light projected from the corresponding light projecting unit 5a and guides it to the corresponding light receiving unit 5b. The high reflectance diffuser 11 is an example of the "reflector" of the present invention. Since the amount of light received by each of the corresponding light receiving units 5b varies according to the distance of each high reflectance diffuser 11 from the rotation center Q of the door 34, the object sensor 5 outputs according to the light receiving state of each light receiving unit 5b. The S / N ratio of the detected signal also varies. The reflectance of each high-reflectance diffuser 11 may be changed so as to suppress the variation in the S / N ratio.

In the example of FIG. 7, a plurality of retroreflectors 12 are provided on the door frame 33 at predetermined intervals instead of the high reflectance diffuser 11 of FIG. Each retroreflective body 12 reflects the detection light projected from the corresponding light projecting unit 5a and guides it to the corresponding light receiving unit 5b. The retroreflector 12 is an example of the "reflector" of the present invention. As the retroreflector 12, it is preferable to use a type that does not have complete reflexivity.

By providing the object sensor 5 as shown in FIG. 6 or 7, when there is no object 20 in the detection areas A, As, and Ab, the light projected from each projecting unit 5a has a corresponding high reflectance diffusion. It is reflected by the body 11 or the retroreflector 12, and is received by the corresponding light receiving unit 5b. Further, when the object 20 is present in the detection areas A, As, and Ab, the light projected from at least a part of the light emitting unit 5a is blocked by the object 20 and is not received by the corresponding light receiving unit 5b. Therefore, the light receiving state (light receiving amount) of at least a part of the light receiving part 5b changes depending on whether the object 20 is absent or present in the detection areas A, As, and Ab, and the light receiving state of the part of the light receiving part 5b is changed. The level of the detection signal output from the object sensor 5 to the control unit 1 also changes accordingly. The control unit 1 determines whether or not the object 20 is present in the detection areas A, As, and Ab based on the change in the level of the detection signal output from the object sensor 5.

As another example, the door frame 33 is provided with a plurality of light emitting parts 5a and light receiving parts 5b at predetermined intervals, and the door 34 is provided with high reflectance diffusion so as to correspond to each light emitting part 5a and each light receiving part 5b. A plurality of bodies 11 or retroreflectors 12 may be provided at predetermined intervals. Further, instead of the high reflectance diffuser 11 and the retroreflective body 12, other reflectors that reflect light may be used.

Next, the operation of the vehicle door control device 100 of the first embodiment will be described.

FIG. 8 is a flowchart showing the operation of the vehicle door control device 100 of the first embodiment. When the control unit 1 detects that the door 34 of the vehicle 30 has opened based on the detection results of the door opening sensor 3 and the door latch switch 4 (step S1: YES), the control unit 1 gets on and off of a person or luggage from the entrance 32. Waits for the elapse of a predetermined time (step S2).

When the predetermined time elapses (step S2: YES), the control unit 1 detects the presence or absence of the object 20 in the detection areas A, As, and Ab based on the detection signal output from the object sensor 5 (step S3). At this time, if the object 20 is present in the detection areas A, As, and Ab (step S3: NO), the control unit 1 waits for the predetermined time to elapse again (step S2).

Further, if there is no object 20 in the detection areas A, As, and Ab (step S3: YES), the control unit 1 senses the user's intention to close the door 34 because the closing intention sensing condition is satisfied. (Step S4). Then, the control unit 1 controls the door drive unit 2 to close the door 34 (step S5).

During the closing operation of the door 34 by the door driving unit 2, the control unit 1 again detects the presence or absence of the object 20 in the detection areas A, As, and Ab based on the detection signal output from the object sensor 5. Step S6). At this time, if the object 20 is present in the detection areas A, As, and Ab (step S6: YES), the control unit 1 controls the door drive unit 2 to stop the door 34 or temporarily stop the door 34. After that, the operation is opened for a predetermined time (step S7). As a result, the automatic closing operation of the door 34 is interrupted, and the contact between the door 34 and the object 20 or the pinching of the object 20 by the door 34 and the door frame 33 is prevented.

On the other hand, if there is no object 20 in the detection areas A, As, and Ab during the closing operation of the door 34 by the door driving unit 2 (step S6: NO), the control unit 1 determines whether or not the door 34 is fully closed. Is detected (step S8). Here, when it is detected that the door 34 is not in the fully closed state based on the detection results of the door opening sensor 3 and the door latch switch 4 (step S8: NO), the control unit 1 again determines the detection area A. The presence or absence of the object 20 in As and Ab is detected (step S6). During this time, the closing operation of the door 34 by the door driving unit 2 is continued.

Then, when the control unit 1 detects that the door 34 is in the fully closed state without detecting the presence of the object 20 in the detection areas A, As, and Ab (step S6: NO) (step S8: YES). ), The door drive unit 2 is controlled to stop the door 34 (step S9). As a result, the door 34 stands still in the closed state.

After detecting that the door 34 has been opened (step S1: YES), the control unit 1 has operated the door handle switch 7 or the brake pedal during the execution of the other processing of FIG. The switch 8 may detect that the brake pedal has been depressed. In this case, the control unit 1 stops the operation shown in FIG. 8 and causes the door drive unit 2 to close the door 34.

According to the first embodiment, when the closing intention sensing condition regarding the situation on the vehicle body 31 side from the door 34 and the door 34 for detecting the user's intention to close the door 34 of the vehicle 30 is satisfied, the vehicle The control unit 1 of the door control device 100 closes the door 34 by the door drive unit 2. Therefore, the door 34 can be automatically closed without the user performing a special operation for closing the door 34.

Further, in the first embodiment, since the opening of the door 34 is included in the closing intention sensing condition, the opened door 34 can be automatically closed. Further, it is included in the closing intention sensing condition that a predetermined time has elapsed since the door 34 was opened. Therefore, the user may automatically close the door 34 after waiting for the user to get in and out of the vehicle interior or to carry in / out the luggage from the entrance 32 of the vehicle 30 provided with the open door 34. it can.

Further, in the first embodiment, the closing intention sensing condition includes that there is no object in the detection areas A, As, and Ab between the door 34 and the entrance / exit 32. Therefore, the door 34 can be automatically closed after the user moves in and out of the detection areas A, As, and Ab by getting on and off the vehicle interior and loading and unloading the luggage from the entrance 32.

Further, in the embodiment shown in FIG. 2, the entire space A between the door 34 and the entrance / exit 32 is set as the detection area of the object 20. Therefore, if there is no object 20 in the detection area A after the door 34 is opened, the door 34 does not come into contact with the object 20 or the object 20 is not sandwiched between the door 34 and the door frame 33. 34 can be closed automatically and safely.

Further, in the embodiment shown in FIG. 3, in the space A between the door 34 and the entrance / exit 32, the pinching risk region As in which the object 20 may be pinched between the door 34 and the door frame 33 is defined as the pinching risk region As of the object 20. It is set as a detection area. Therefore, after the door 34 is opened, for example, a part of the clothes of the passenger who got on the vehicle protrudes or a part of the object stored in the door pocket of the door 34 protrudes into the area other than the area As of the space A. Even if there is no object 20 in the area As, the door 34 can be closed automatically and safely.

Further, in the embodiment shown in FIG. 4, a part of the pinch risk region As is set as the detection region of the object 20. Since this region Ab is located in the lower portion of the pinch risk region As, when there is no object 20 in the region Ab, there is almost no object 20 in other parts of the pinch risk region As. Therefore, if there is no object 20 in the area Ab after the door 34 is opened, the door 34 can be automatically and safely closed without sandwiching the object 20 between the door 34 and the door frame 33. Further, since the area Ab in FIG. 4 is narrower than the area As in FIG. 3, the number of components of the object sensor 5 for constructing the area Ab can be suppressed to be smaller than the number of components of the object sensor 5 for constructing the area As. it can.

Further, in the embodiment of FIGS. 5 to 7, the light projecting unit 5a that projects the detection light for detecting the object 20 into the detection areas A, As, and Ab, and the detection light projected from the light projecting unit 5a. An object sensor 5 having a light receiving unit 5b that receives light is used. Therefore, the light receiving state of the detected light by the light receiving unit 5b may be different depending on whether the object 20 is present or not in the detection areas A, As, and Ab, and the detection signal output from the object sensor 5 may also be different. it can. Then, based on the detection signal output from the object sensor 5, the control unit 1 can reliably determine whether or not the object 20 is present in the detection areas A, As, and Ab.

Further, in the embodiment of FIG. 5, a plurality of light emitting units 5a are provided on the door 34 at predetermined intervals, and light receiving units 5b are provided on the door frame 33 at predetermined intervals so as to correspond to and face each of the light emitting units 5a. There are multiple. Therefore, it is not necessary to provide other optical components on the door 34 or the door frame 33, and the configuration is simple. The light emitting unit 5a and the light receiving unit 5b can be easily installed on the door 34 and the door frame 33, respectively. it can.

Further, in the embodiment of FIGS. 6 and 7, a plurality of light projecting units 5a and light receiving units 5b are provided on the door frame 33 at predetermined intervals, respectively, so as to correspond to each light emitting unit 5a and each light receiving unit 5b. A plurality of high reflectance diffusers 11 or retroreflectors 12 are provided on the door frame 33 at predetermined intervals. Therefore, when there is no object 20 in the detection areas A, As, and Ab, the detection light projected from each light projecting unit 5a is reflected by the corresponding high reflectance diffuser 11 or the retroreflective body 12. The light can be received by the corresponding light receiving unit 5b. Further, since it is not necessary to route the electric wiring for each light projecting unit 5a and the electric wiring for each light receiving unit 5b from the vehicle body 31 side to the door 34 side of the vehicle 30, it is easy to assemble the object sensor 5 to the vehicle 30. Can be.

Further, in steps S5 to S7 of FIG. 8, if the object 20 is in the detection areas A, As, and Ab during the closing operation of the door 34 by the door drive unit 2, the control unit 1 is moved by the door drive unit 2 to the door. The 34 is stopped, or the door 34 is temporarily stopped and then opened. Therefore, when the door 34 is automatically closed, it is possible to prevent the person or object from coming into contact with the door 34 or the person or object from being caught between the door 34 and the door frame 33.

Next, the operation of the vehicle door control device 100 of the second embodiment will be described.

FIG. 9 is a flowchart showing the operation of the vehicle door control device 100 of the second embodiment. In FIG. 9, the same reference numerals are given to the same processes as those in FIG.

After detecting that the door 34 has been opened (step S1: YES), the control unit 1 determines the load applied to the receiving surface (seat, floor surface, loading platform, etc.) for the object in the vehicle detected by the load sensor 6. It is detected whether or not the value has changed by the value or more (step S11). When the detected load of the load sensor 6 changes by a predetermined value or more (step S11: YES), the control unit 1 waits for the predetermined time to elapse (step S12).

Then, when the predetermined time elapses (step S12: YES), the control unit 1 senses the user's intention to close the door 34 because the closing intention detecting condition is satisfied (step S13). Then, the control unit 1 controls the door drive unit 2 to close the door 34 (step S5).

Then, during the closing operation of the door 34 by the door driving unit 2, the control unit 1 detects the presence or absence of the object 20 in the detection areas A, As, and Ab by the object sensor 5 (step S6). At this time, if the object 20 is present in the detection areas A, As, and Ab (step S6: YES), the control unit 1 continues to detect the presence or absence of the object 20 in the detection areas A, As, and Ab. Then, when the state in which the object 20 is present in the detection areas A, As, and Ab continues for a predetermined time (step S14: YES), the control unit 1 stops the door 34 or temporarily stops the door 34 and then opens the door 34 for a predetermined time. It is operated (step S7).

On the other hand, if there is no object 20 in the detection areas A, As, and Ab during the closing operation of the door 34 by the door driving unit 2 (step S6: NO), the control unit 1 determines whether or not the door 34 is fully closed. (Step S8). Then, if the door 34 is not in the fully closed state (step S8: NO), the control unit 1 again detects the presence or absence of the object 20 in the detection areas A, As, and Ab (step S6). During this time, the closing operation of the door 34 by the door driving unit 2 is continued.

Then, the control unit 1 does not continue the state where the object 20 is not present in the detection areas A, As, and Ab (step S6: NO) or the object 20 is present in the detection areas A, As, and Ab for a predetermined time (step S6: NO). When it is detected in step S14: NO) that the door 34 is in the fully closed state (step S8: YES), the door drive unit 2 is controlled to stop the door 34 (step S9). As a result, the door 34 stands still in the closed state.

After detecting that the door 34 has been opened (step S1: YES), the control unit 1 has operated the door handle switch 7 or the brake pedal during the execution of the other processing of FIG. The switch 8 may detect that the brake pedal has been depressed. In this case, the control unit 1 stops the operation shown in FIG. 9, and the door drive unit 2 closes the door 34.

According to the second embodiment, after the door 34 is opened, a load applied to a receiving surface such as a seat, a floor surface, or a loading platform near the inside of the entrance 32 is detected by the load sensor 6, and the detected load is detected. A change of a predetermined value or more is included in the closed intention detection condition. Therefore, the user can get on the floor in the car from the entrance 32, sit on the seat, stand up from the seat and get off from the entrance 32, put the luggage on the loading platform, and carry out the luggage from the loading platform. After that, the door 34 can be closed automatically.

Further, in the second embodiment, the closing intention sensing condition includes that a predetermined time has elapsed since the load detected by the load sensor 6 changed by a predetermined value or more. Therefore, the door 34 can be automatically closed after waiting for the user to get on, get off, carry in or take out the luggage from the entrance 32.

Further, in the second embodiment, the door driving unit 2 starts the closing operation of the door 34 before detecting the presence / absence of the object 20 in the detection areas A, As, and Ab, so that the door 34 is quickly and automatically closed. be able to.

Further, in step S5, step S6, step S14, and step S7 of FIG. 9, the state where the object 20 is present in the detection areas A, As, and Ab continues for a predetermined time while the door 34 is closed by the door driving unit 2. , The control unit 1 stops the door 34 by the door drive unit 2, or temporarily stops the door 34 and then opens the door 34. Therefore, when the door 34 is automatically closed, it is possible to more effectively prevent contact between a person or an object and the door 34, or pinching of a person or an object between the door 34 and the door frame 33. it can. Further, even if the object 20 is present in the detection areas A, As, and Ab, the state does not continue for a predetermined time, and if the state is temporary, the closing operation of the door 34 by the door driving unit 2 is continued. Therefore, the door 34 can be easily closed to the fully closed state automatically.

Next, the operation of the vehicle door control device 100 of the third embodiment will be described.

FIG. 10 is a flowchart showing the operation of the vehicle door control device 100 of the third embodiment. In FIG. 10, the same reference numerals are given to the same processes as those in FIGS. 8 and 9.

In FIG. 10, when the door 34 is opened (step S1: YES), the load detected by the load sensor 6 changes by a predetermined value or more (step S11: YES), and a predetermined time elapses (step S12: YES), The control unit 1 detects the presence or absence of the object 20 in the detection areas A, As, and Ab by the object sensor 5 (step S3). At this time, if there is no object 20 in the detection areas A, As, and Ab (step S3: YES), the control unit 1 subsequently detects the presence or absence of the object 20 in the detection areas A, As, and Ab by the object sensor 5.

Then, the control unit 1 detects that there is no object 20 in the detection areas A, As, and Ab (step S3: YES), and by the time a predetermined time elapses, the object 20 is in the detection areas A, As, and Ab. When it is detected that there is (step S15: NO), the presence or absence of the object 20 in the detection areas A, As, and Ab is subsequently detected (step S3).

On the other hand, when the control unit 1 detects that a predetermined time has elapsed in the state where there is no object 20 in the detection areas A, As, and Ab (step S15: YES), the closing intention detection condition is satisfied. It senses the user's intention to close 34 (step S16). Then, the control unit 1 controls the door drive unit 2 to close the door 34 (step S5).

During the closing operation of the door 34 by the door driving unit 2, the control unit 1 has an object 20 in the detection areas A, As, and Ab (step S6: YES), and when this state continues for a predetermined time (step S14). : YES), the door 34 is stopped, or the door 34 is temporarily stopped and then opened for a predetermined time (step S7).

On the other hand, when there is no object 20 in the detection areas A, As, and Ab during the closing operation of the door 34 by the door drive unit 2 (step S6: NO), or when there is an object 20 in the detection areas A, As, and Ab. (Step S6: YES), if this state does not continue for a predetermined time (step S14: NO), the closing operation of the door 34 by the door driving unit 2 is continued.

Then, the control unit 1 does not continue the state where the object 20 is not present in the detection areas A, As, and Ab (step S6: NO) or the object 20 is present in the detection areas A, As, and Ab for a predetermined time (step S6: NO). When it is detected in step S14: NO) that the door 34 is in the fully closed state (step S8: YES), the door drive unit 2 is controlled to stop the door 34 (step S9).

According to the third embodiment, in addition to the fact that the door 34 is opened, the detected load of the load sensor 6 is changed by a predetermined value or more, and a predetermined time has elapsed since then, the object 20 is in the detection areas A, As, and Ab. It is included in the closed intention detection condition that the state without the door continues for a predetermined time. Therefore, the door 34 can be automatically closed after the user can get on and off the door 32, carry in and out the luggage, and move out of the detection areas A, As, and Ab without fail. Further, it is more surely prevented that the door 34 comes into contact with a person or an object, or a person or an object is caught between the door 34 and the door frame 33, and the door 34 can be automatically and safely closed. ..

In addition to the above-described embodiments, the present invention can employ various embodiments as described below.

In the above embodiment, the closing intention detection conditions are that the door 34 of the vehicle 30 is opened, that there is no object in the detection areas A, As, and Ab between the door 34 and the entrance / exit 32, and that the inside of the entrance / exit 32 is inside. As an example, the load applied to the receiving surface for an object in the vicinity has changed by a predetermined value or more, or a predetermined time has elapsed since any of them occurred. However, the present invention is not limited to these. As another example, the closing intention detection condition is that a camera or other sensor detects the entry / exit of a person or the loading / unloading of luggage from the entrance 32, and that the open door 34 is not loaded. May be included. Further, any one of the above items may be used as a closed intention sensing condition, or two or more may be combined as a closed intention sensing condition. That is, one or more conditions relating to the door 34 and the situation on the vehicle body 31 side of the door 34 for detecting the user's intention to close the door 34 of the vehicle 30 may be set as the closing intention sensing condition.

In the above embodiments, the transversely rotating door 34 provided on the side of the vehicle 30 has been given as an example, but the present invention is not limited to this. In addition to this, the present invention can be applied to other doors such as a sliding door provided on the side portion of the vehicle and a back door provided on the rear portion of the vehicle. The present invention can also be applied to a plurality of doors provided in a vehicle.

In the example of FIG. 11, the present invention is applied to a sliding door 44 provided on the side of the vehicle 40 and sliding in the front-rear direction. In this case, for example, the space (cross-hatched portion) Ac between the front end portion 44c of the slide door 44 and the front end portion 43c of the door frame 43 provided on the vehicle body 41 corresponding to the slide door 44 is an object sensor. It may be a detection area for detecting an object according to 5. The detection area Ac is included in the space (reference numeral omitted) between the slide door 44 and the entrance / exit 42 of the vehicle 40 provided with the slide door 44.

In the example of FIG. 12, the present invention is applied to a back door 54 provided at the rear of the vehicle 50 and rotating in the vertical direction. In this case, for example, as shown in FIG. 12A, the tip end portion (cross-hatched portion) 54b of the back door 54 and the lower portion (cross) of the door frame 53 provided on the vehicle body 51 corresponding to the back door 54. The space Ad between the hatched portion) 53b may be used as a detection region for detecting an object by the object sensor 5. Alternatively, as shown in FIG. 12B, the front end portion 54b and the left and right end portions 54c and 54d (cross-hatched portion) of the back door 54, and the lower portion 53b and the left and right portions 53c and 53d (cross-hatched portion) of the door frame 53. ) May be used as a detection region for detecting an object by the object sensor 5. These detection areas Ad and Ae are included in the space (reference numeral omitted) between the back door 54 and the entrance / exit 52 of the vehicle 50 provided with the back door 54.

In the above embodiment, an example in which the present invention is applied to the vehicle door control device 100 mounted on the vehicles 30, 40, 50 made of a four-wheeled vehicle has been given, but the present invention is mounted on other vehicles. It can also be applied to vehicle door control devices.

1 Control unit 2 Door drive unit (drive unit)
3 Door opening sensor (open / close detection unit)
4 Door latch switch (open / close detection unit)
5 Object sensor (object detector)
5a Floodlight (transmitter)
5b Light receiving part (receiver)
6 Load sensor (load detector)
11 High reflectance diffuser (reflector)
12 Retroreflective body (reflector)
20 Object 30, 40, 50 Vehicle 31, 41, 51 Body 32, 42, 52 Entrance / exit 33, 43, 53 Door frame 34 Door 44 Sliding door 54 Back door 100 Vehicle door control device A Between the door and the entrance / exit A certain space, object detection area Ab Part of the pinch risk area, object detection area Ac, Ad, Ae Object detection area As pinch risk area, object detection area φ Predetermined angle θ Direction angle

Claims (10)

A drive unit that opens and closes and stops the doors provided in the vehicle,
In a vehicle door control device including a control unit that controls the drive unit,
The control unit controls the drive unit when a predetermined condition regarding the door or the situation on the vehicle body side of the vehicle from the door for detecting the user's intention to close the door is satisfied. A vehicle door control device characterized in that the door is closed. In the vehicle door control device according to claim 1,
An open / close detection unit for detecting the open / closed state of the door is further provided.
A vehicle door control device, characterized in that the predetermined condition includes that the door is opened. In the vehicle door control device according to claim 1 or 2.
An object detection unit for detecting the presence or absence of an object in a predetermined area between the door and the entrance / exit of the vehicle provided with the door is further provided.
A vehicle door control device, characterized in that the predetermined conditions include that an object is not in the predetermined area. In the vehicle door control device according to claim 3,
The vehicle door control device, characterized in that the predetermined area is all or a part of a pinch risk area in which an object may be pinched between the door frame surrounding the entrance and exit and the door. In the vehicle door control device according to claim 3 or 4.
The object detection unit includes a sensor having a transmission unit that transmits a detection wave to the predetermined region and a reception unit that receives the detection wave transmitted from the transmission unit.
The reception state of the detection wave by the receiving unit changes depending on the presence or absence of an object in the predetermined region.
The vehicle door control device is characterized in that the object detection unit outputs a detection signal according to a reception state of the reception unit to the control unit. In the vehicle door control device according to claim 5.
The door opens and closes by rotating with respect to the door frame.
One or more of the doors and the door frame are provided with one or more transmitting units, and the other is provided with one or more receiving units so as to correspond to the transmitting units.
The directional angle at which the transmitting unit transmits the detected wave or the directional angle at which the receiving unit receives the detected wave is larger than the angle when the door is opened at a predetermined angle with respect to the door frame. , A vehicle door control device. In the vehicle door control device according to claim 5.
One or more of the door and the door frame are provided with one or more transmitting units and one or more receiving units, and the other is a reflection that reflects the detection wave transmitted from the transmitting unit toward the receiving unit. A vehicle door control device characterized in that one or more bodies are provided. In the vehicle door control device according to any one of claims 5 to 7.
The transmitter emits detection light having a predetermined wavelength as the detection wave.
The receiving unit receives the detected light and receives the detected light.
The vehicle door control device is characterized in that the object detection unit outputs a detection signal according to a light receiving state of the reception unit to the control unit. In the vehicle door control device according to any one of claims 1 to 8.
Further provided with a load detecting unit for detecting a load applied to a receiving surface for an object inside the entrance / exit of the vehicle provided with the door.
A vehicle door control device, characterized in that the predetermined condition includes a change in a load detected by the load detecting unit by a predetermined value or more. In the vehicle door control device according to any one of claims 1 to 9.
When the object detection unit detects that an object exists in the predetermined area during the closing operation of the door by the drive unit, the control unit controls the drive unit to stop the door. Or, a vehicle door control device characterized in that the door is temporarily stopped and then opened.

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