JP2023020296A - Door drive control device and door drive control system - Google Patents

Abstract

To provide a door drive control device capable of changing the bending degree of a lower door according to the circumstances around a door.SOLUTION: The door drive control device for driving a door including an upper door and a lower door rotatably connected to the upper door, includes: an acquisition unit that acquires detection state information indicating a detection state of an object by a sensor that detects an object existing around the door; and a control unit that controls a driving unit that drives the door so that an angle of the lower door with respect to the upper door can be changed based on the detection state information.SELECTED DRAWING: Figure 2

Description

The present invention relates to a door drive control device and a door drive control system.

Patent Literature 1 discloses a device for driving a folding back door comprising an upper door rotatably connected to a vehicle and a lower door rotatably connected below the upper door. ing.

The device disclosed in Patent Document 1 raises the upper door while folding the back door when opening the closed back door.

JP 2009-209653 A

However, in the device disclosed in Patent Document 1, the back door is placed in the folded state regardless of the surrounding conditions of the door, so that the lower door is difficult to carry in or out of the vehicle. may have an impact. Therefore, there is a problem that it is not possible to meet the demand for changing the degree of bending of the lower door according to the circumstances around the door.

SUMMARY OF THE INVENTION An object of the present invention is to provide a door drive control device and a door drive control system that can change the degree of bending of a lower door according to the surrounding conditions of the door.

A door drive control device of the present invention is a door drive control device for driving a door comprising an upper door and a lower door rotatably connected to the upper door, wherein an object existing around the door is moved. an acquisition unit that acquires detection state information indicating the detection state of the object by a sensor that detects the object, and a drive that drives the door so that the angle of the lower door with respect to the upper door can be changed based on the detection state information. and a control unit that controls the unit.

A door drive control system of the present invention includes the above-described door drive control device, the sensor, and the drive section.

According to the present invention, it is possible to obtain a door drive control device and a door drive control system that can change the degree of bending of the lower door according to the circumstances around the door.

1 is an external view showing an example of a rear portion of a vehicle 100 to which a door drive control system according to an embodiment of the invention is applied; FIG. FIG. 2 is a diagram showing a configuration example of a door drive control system 200; Flowchart for explaining the operation of the door drive control device 4 when opening the door 1 A diagram for explaining the operation of the door drive control device 4. A diagram for explaining the operation of the door drive control device 4. A diagram for explaining the operation of the door drive control device 4. A diagram for explaining the operation of the door drive control device 4. A diagram for explaining the operation of the door drive control device 4. A diagram for explaining the operation of the door drive control device 4.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

FIG. 1 is an external view showing an example of the rear portion of a vehicle 100 to which a door drive control system according to an embodiment of the invention is applied. A vehicle 100 includes a door 1 that opens or closes an opening formed in the rear portion of the vehicle 100, a drive unit 2 that drives the door 1, and a door drive control system.

The open state is a state in which the opening of the vehicle 100 is opened by the door 1, and baggage or the like can be taken in and out of the vehicle 100 through the opening. The closed state is a state in which the opening of vehicle 100 is closed by door 1 .

(Door 1)
The door 1 is a foldable tailgate comprising an upper door 1a and a lower door 1b rotatably connected to the upper door 1a by a hinge or the like. Note that the present invention is not limited to the tailgate of the vehicle 100, and can be applied to, for example, a flip-up door for entry and exit.

The upper door 1a is rotatably attached to the vehicle body 101 via an upper hinge (not shown). A lower door 1b is rotatably connected to the upper door 1a via a lower hinge (not shown).

(Drive unit 2)
The drive unit 2 includes a plurality of first drive units 2a that drive the upper door 1a by converting rotary motion of the motor into linear motion, and drives the lower door 1b by converting the rotary motion of the motor into linear motion. and a second drive unit 2b.

(First drive unit 2a)
The upper door 1a moves from the closed position to the open position by operating each of the plurality of first drive units 2a. The closed position is a position where the opening of the vehicle body 101 is closed, and the open position is a position where the opening of the vehicle body 101 is opened. It should be noted that each of the plurality of first drive units 2a is not particularly limited as long as it can open and close the upper door 1a, and its structure, shape, and the like are not particularly limited. Moreover, each of the plurality of first drive units 2a may be provided with a motor, or only one first drive unit 2a may be provided with a motor.

(Second drive unit 2b)
The second drive unit 2b is a device that changes the angle of the lower door 1b with respect to the upper door 1a. By operating the second drive unit 2b, the angle of the lower door 1b with respect to the upper door 1a is increased to increase the degree of bending of the lower door 1b with respect to the upper door 1a, or the degree of bending of the lower door 1b with respect to the upper door 1a is increased. By reducing the angle, the bending degree of the lower door 1b with respect to the upper door 1a can be reduced. That is, the angle of the lower door 1b with respect to the upper door 1a can be changed.

The second driving portion 2b is not particularly limited in its structure, shape, etc., as long as it can open and close the lower door 1b.

A door 1 is provided with a sensor group 3 for detecting objects existing around the door 1 . Objects are, for example, another vehicle, a wall, a utility pole, a person, a ceiling, and the like. The sensor group 3 includes sensors 31, 32, 33, and 34, for example. Each of the sensors 31, 32, 33, and 34 is, for example, a sonar that emits ultrasonic waves. The sensors 31, 32, 33, and 34 may be sensors other than ultrasonic sonar, such as radio wave sensors and image sensors, as long as they can detect objects.

For example, when the sonar oscillates pulsed sound waves of a certain frequency, the pulsed sound waves are reflected when they hit objects around the vehicle, and some of the pulsed sound waves return to the sonar. The longer the distance from the vehicle 100 to the object, the longer the time it takes for a portion of the pulsed sound wave to return to the sonar after the pulsed sound wave is oscillated. The sonar measures the round-trip time from when a pulsed sound wave is generated until the echo reflected by the object returns to the sonar, and uses the above relationship to estimate the distance to the object.

(Sensor 31)
The sensor 31 is provided in the vicinity of the lower edge of the upper door 1a in the vicinity of the central portion in the left-right direction of the upper door 1a.

By providing the sensor 31 near the lower edge of the upper door 1a, for example, the shortest distance from the door 1 during the opening operation in the folding mode to an object (for example, the ceiling) can be accurately detected, and the door 1 can reach the object. contact can be prevented.

In the folding mode, the entire door 1 is folded by increasing the angle of the lower door 1b with respect to the upper door 1a while operating the upper door 1a or stopping the operation of the upper door 1a. mode. By arranging the sensor 31 on the upper door 1a, it is possible to detect the distance from an obstacle (such as a ceiling) located above the upper door 1a to the upper door 1a without depending on the movement of the lower door 1b. . Therefore, even when the lower door 1b rotates, the upper door 1a can be prevented from contacting an obstacle positioned above the upper door 1a.

(sensor 32)
The sensor 32 is provided in the vicinity of the lower edge of the lower door 1b in the vicinity of the central portion in the left-right direction of the lower door 1b.

By providing the sensor 32 near the lower edge of the lower door 1b, for example, the shortest distance from the door 1 during the opening operation in the normal mode to an object can be accurately detected, and the contact of the door 1 with the object can be detected. can be prevented.

The normal mode is a mode in which the door 1 is operated while the angle of the lower door 1b with respect to the upper door 1a is equal to the angle when the door 1 closes the opening of the vehicle body 101, for example.

(sensor 33)
The sensor 33 is provided in the vicinity of the right edge of the lower door 1b when the lower door 1b is viewed from the rear to the front of the vehicle 100 .

By providing the sensor 33 near the right edge of the lower door 1b, for example, when an object exists on the right side of the lower door 1b, the shortest distance from the door 1 to the object during the opening operation in the folding mode or normal mode is detected. It is possible to detect the distance with high accuracy and prevent the door 1 from coming into contact with an object.

(Sensor 34)
The sensor 34 is provided near the left edge of the lower door 1b when the lower door 1b is viewed forward from the rear of the vehicle 100 .

By providing the sensor 34 near the left edge of the lower door 1b, for example, when an object exists on the left side of the lower door 1b, the shortest distance from the door 1 to the object during the opening operation in the folding mode or normal mode is detected. It is possible to detect the distance with high accuracy and prevent the door 1 from coming into contact with an object.

Next, a configuration example of the door drive control system 200 will be described with reference to FIG. FIG. 2 is a diagram showing a configuration example of the door drive control system 200. As shown in FIG. The door drive control system 200 includes a drive section 2 , a sensor group 3 , a door drive control device 4 and an operating device 5 .

(Door drive control device 4)
The door drive control device 4 is a device that changes the state of the door 1 from the closed state to the open state, or changes the state of the door 1 from the open state to the closed state. The door drive control device 4 may be incorporated in an ECU (Electronic Control Unit) that controls each part of the vehicle 100 , or may be mounted in the drive section 2 .

The door drive control device 4 includes an acquisition section 4a and a control section 4b.

(Acquisition unit 4a)
The acquisition unit 4 a acquires detection state information 3 a indicating the state of object detection by the sensor group 3 . The detection state information 3a is, for example, an echo signal received by the sensor group 3 after being reflected by an object.

(control unit 4b)
When receiving the operation signal 5a transmitted from the operation device 5, the control unit 4b controls the driving unit 2 based on the detection state information 3a so that the angle of the upper door 1a with respect to the vehicle body 101 can be changed. The drive unit 2 is controlled so that the angle of the lower door 1b with respect to the door 1a can be changed.

Specifically, the control unit 4b determines whether an object exists near the door 1 based on the detection state information 3a, and calculates the distance from the door 1 to the object. Based on this result, the control unit 4b determines whether or not to change the angle of the upper door 1a with respect to the vehicle body 101, and whether or not to change the angle of the lower door 1b with respect to the upper door 1a. are determined respectively, and the door 1 is driven according to the results of these determinations.

(Operating device 5)
The operation device 5 is a remote control key, an operation switch mounted on the vehicle 100, or the like. The operation device 5 transmits an operation signal 5a for opening and closing the upper door 1a and the lower door 1b to the controller 4b. The operation signal 5a is an opening operation signal transmitted when an operation to open the door 1 is performed, or a closing operation signal transmitted when an operation to close the door 1 is performed.

Next, the operation of the door drive control device 4 will be described with reference to FIGS. 3 and 4A to 4G. FIG. 3 is a flow chart for explaining the operation of the door drive control device 4 when opening the door 1. As shown in FIG. 4A to 4G are diagrams for explaining the operation of the door drive control device 4. FIG.

In step S1, the control unit 4b determines whether or not an open operation signal has been received. In step S1, the vehicle 100 is parked and is in a standby state waiting for reception of an operation signal, and the sensors 31 to 34 are in a sleep state in which the power is turned off.

When the open operation signal is not received (step S1, NO), the control section 4b repeatedly executes the process of step S1.

When the opening operation signal is received (step S1, YES), the control unit 4b cancels the sleep state if the state of the sensors 31 to 34 is in the sleep state in step S2, and opens the door 1 to the object 6. It is determined whether or not the distance is greater than or equal to the operation start distance D0 (see FIG. 4A).

The operation start distance D0 is a distance that allows the opening operation of the door 1 to start. For example, if the distance detected by the sensor group 3 when the door 1 in the closed position starts to open is less than the operation start distance D0, the door 1 may come into contact with an object existing around the door 1. Therefore, the opening operation of the door 1 is interrupted. Also, when the distance detected by the sensor group 3 during the opening operation of the door 1 changes from the operation start distance D0 or more to less than the operation start distance D0, the door 1 contacts an object existing around the door 1. Since the possibility is high, the opening operation of the door 1 is interrupted.

If the distance from the door 1 to the object 6 is less than the operation start distance D0 (step S2, NO), the controller 4b terminates the series of processes without opening the door 1. FIG. This prevents the door 1 from contacting the object 6 due to interruption of the opening operation of the door 1 .

If the distance from the door 1 to the object 6 is equal to or greater than the operation start distance D0 (step S2, YES), the control unit 4b transmits the opening operation command 4b1 for the door 1 to the driving unit 2 in step S3, thereby opening the door. 1 to start the opening operation.

Next, in step S4, the controller 4b determines whether or not the distance from the door 1 to the object 6 is equal to or less than the first distance D1 (see FIG. 4B).

The first distance D1 is a distance at which the door 1 can be opened without causing the door 1 to be bent in the normal mode because there is no possibility that the door 1 will come into contact with the object 6 during the opening operation.

If the distance from the door 1 to the object 6 is equal to or greater than the first distance D1 (step S4, YES), the controller 4b continues the door opening operation in the normal mode in step S5. That is, when the opening operation of the door 1 is started, if the distance from the sensor group 3 to the object 6 is equal to or greater than the first distance D1, the control unit 4b changes the angle of the lower door 1b with respect to the upper door 1a. The drive part 2 is controlled so that the door 1 opens while maintaining the angle at the closed position.

As a result, when the cargo is carried into the vehicle 100 or when the cargo is unloaded from the vehicle 100, the loading/unloading work of the cargo can be carried out without interruption. In addition, since the process of driving the lower door 1b to place the door 1 in the folded state is omitted, an increase in the power consumption of the drive unit 2 can be suppressed. Moreover, it is possible to reduce the time required to restore the bent door 1 to the angle at the closed position.

Next, in step S6, the controller 4b determines whether or not the distance from the door 1 to the object 6 is less than the second distance D2 (see FIG. 4C).

The second distance D2 is longer than the operation start distance D0 and shorter than the first distance D1. The second distance D2 is a distance that can be opened without contacting the object 6 by folding the door 1, which may contact the object 6 in the normal mode.

If the distance from the door 1 opening in the normal mode to the object 6 is equal to or greater than the second distance D2 (step S6, NO), the control unit 4b determines whether the door 1 is fully opened in step S7. .

For example, the control unit 4b receives drive amount information indicating the drive amount of the upper door 1a transmitted from the first drive unit 2a, and counts the number of pulses included in the drive amount information. The control unit 4b determines that the door 1 is not fully opened when the total pulse number does not exceed the predetermined value, and determines that the door 1 is fully opened when the total pulse number exceeds the predetermined value. I judge that.

If the door 1 is not fully opened (step S7, NO), the control section 4b repeats the processes after step S6.

If the door 1 is fully opened (step S7, YES), the controller 4b ends the series of processes.

Returning to step S4, when the distance from the door 1 to the object 6 is less than the first distance D1 (step S4, NO), the control section 4b executes the process of step S8. The processing of step S8 will be described later. Further, in step S6, when the distance from the door 1 to the object 6 is less than the second distance D2 (step S6, YES), the control section 4b executes the process of step S8.

In step S8, the controller 4b continues the opening operation of the door 1 in the folding mode (see FIG. 4D).

If the distance from the sensor group 3 to the object 6 is less than the first distance D1 when the door 1 starts to open (step S4, NO), the control unit 4b opens the door 1 so that it does not come into contact with the object 6. After the door 1 is bent, or while the door 1 is bent so that the door 1 does not come into contact with the object 6, the drive part 2 is controlled so that the door 1 is opened.

When the distance from the sensor group 3 to the object 6 becomes shorter than the second distance D2 shorter than the first distance D1 after starting the opening operation of the door 1 (step S6, YES), the control unit 4b controls the door 1 After the door 1 is bent so as not to contact the object 6, or while the door 1 is bent so as not to contact the object 6, the drive part 2 is controlled so that the door 1 is opened.

By continuing the opening operation of the door 1 in the folding mode in this manner, the opening operation of the door 1 can be continued while preventing the door 1 from coming into contact with the object 6 .

Next, in step S9, the control unit 4b determines whether or not the distance from the door 1, which continues to open in the folding mode, to the object 6 is equal to or greater than the second distance D2.

For example, the object 6 existing near the door 1 is a person, another vehicle 100, or the like, and when the object 6 moves away from the door 1, the distance from the door 1 to the object 6 becomes the second distance. If D2 or more (step S9, YES), the control unit 4b executes the process of step S10.

In step S10, the control unit 4b determines that the door 1 can be opened without contacting an object even if the door 1 is operated in the normal mode, and changes the opening operation mode of the door 1 from the folding mode to the normal mode. Transition (see Figure 4E).

That is, when the control unit 4b controls the driving unit 2 so that the door 1 is opened in a state where the door 1 is bent so that the door 1 does not come into contact with the object 6, the distance from the sensor group 3 to the object 6 is the second When the distance D2 or more is reached, the angle of the lower door 1b with respect to the upper door 1a is adjusted to the angle when the door 1 is in the closed position, or is lowered so as to approach the angle when the door 1 is in the closed position. The driving part 2 is controlled so that the door 1 is opened by changing the angle of the side door 1b. After that, the control unit 4b executes the process of step S7.

By shifting to the normal mode, the bending degree of the lower door 1b with respect to the upper door 1a can be reduced before the opening operation of the upper door 1a is completed. Therefore, compared to the case where the lower door 1b is operated so as to reduce the degree of bending of the lower door 1b with respect to the upper door 1a after the opening operation of the upper door 1a is completed, it takes longer until the door 1 is fully opened. Time (eg, seconds) can be reduced. Therefore, when loading the cargo into the vehicle 100 or unloading the cargo from the vehicle 100, the loading/unloading work of the cargo can be carried out without interruption.

Returning to step S9, if the distance from the door 1 to the object 6 is less than the second distance D2 (step S9, NO), in step S11, the control unit 4b determines that the distance from the door 1 to the object 6 is the operation start distance It is determined whether or not it is D0 or more.

If the distance from the door 1 to the object 6 is equal to or greater than the actuation start distance D0 (step S11, YES), the controller 4b continues the opening operation of the door 1 in the folding mode and executes the process of step S7.

When the object 6 present around the door 1 approaches the door 1, the vehicle 100 moves backward slightly, or the door 1 rotates in the opening direction, the distance from the door 1 to the object 6 becomes the operation start distance. When it becomes less than D0 (step S11, NO), the control unit 4b executes the process of step S12 (see FIG. 4F).

In step S12, the control unit 4b stops transmission of the driving signal to the driving unit 2 in order to prevent the door 1 from contacting the object 6 during the opening operation in the folding mode, and then terminates the series of processes. . That is, when the distance from the sensor group 3 to the object 6 is less than the predetermined distance for starting the opening operation of the door 1 (step S11, NO), the control unit 4b causes the driving unit 2 to stop the opening operation of the door 1. to control.

The control unit 4b stores operation information of the door 1 during the opening operation (whether or not the door 1 is bent, the starting position of the bending, the position of releasing the bending, etc.) in the storage unit. When the control unit 4b receives a closing operation signal when performing the closing operation of moving the door 1 from the open position to the closed position, the control unit 4b stores operation information of the door 1 during the opening operation of the door 1 from the storage unit. The bending of the door 1 is released at the same position where the bending of the door 1 is started at the time of reading and opening operation, and the door 1 is made to start bending at the same position at which the bending of the door 1 is canceled at the time of the opening operation. to drive. That is, when the door 1 is closed, the control unit 4b performs an operation corresponding to the opening operation of the door 1, which is opposite to the opening operation of the door 1, based on the information regarding the opening operation of the door 1. FIG. This simplifies the control and enables safe operation even when the sensor cannot measure the distance.

In the present embodiment, an example of controlling the opening operation of the door 1 so as to prevent the door 1 from coming into contact with the object 6 by measuring the distance to the object 6 by the sensor group 3 has been described. , the door drive control device 4 may control the opening operation of the door 1 by detecting the presence or absence of the object 6 instead of measuring the distance.

In this case, for example, the control unit 4b measures the RSSI (Received Signal Strength Indicator) of the radio waves reflected by the object 6 and received by the sensor group 3, and if the measured RSSI is equal to or greater than a predetermined value, , it is determined that there is a possibility that the door 1 will come into contact with the object 6.

The control unit 4b that has determined in this way interrupts the opening operation of the door 1, or continues the opening operation of the door 1 by shifting from the normal mode to the folding mode. When shifting to the folding mode, for example, the RSSI is collated with a first predetermined value and a second predetermined value larger than the first predetermined value, thereby interrupting the opening operation of the door 1. It is determined whether or not the opening operation can be executed by shifting the door 1 to the folding mode. Then, according to the determination result, the control unit 4b continues the opening operation of the door 1 by shifting to the folding mode, or interrupts the opening operation of the door 1 without switching to the folding mode.

On the other hand, if the measured RSSI is less than the predetermined value, it is determined that there is no possibility that the door 1 will come into contact with the object 6 because the object 6 does not exist near the door 1 . Then, the control unit 4b determined in this way performs the opening operation of the door 1 in the normal mode without shifting to the folding mode.

In the present embodiment, it has been described that when the distance from the sensor group 3 to the object 6 becomes equal to or greater than the first distance D1 while the door 1 is operating in the folding mode, the mode is shifted to the normal mode. After operating in the folding mode, after the upper door 1a reaches the door open position in the folding mode, the angle of the lower door 1b is changed to the angle when the door 1 is in the closed position so that the door 1 opens. The drive unit 2 may be controlled.

In this case, after the middle-bend mode, the control unit 4b only needs to determine whether the sensor group 3 is less than the operation start distance D0, and simple control can be performed. Further, when the control unit 4b controls the driving unit 2 so that the door 1 is opened in a state in which the door 1 is bent so that the door does not come into contact with the object 6, the distance from the sensor group 3 to the object 6 is the first distance. When D1 or more, the angle of the lower door 1b with respect to the upper door 1a is set to the angle when the door 1 is in the closed position, or is lowered so as to approach the angle when the door 1 is in the closed position. The drive unit 2 may be controlled to open the door 1 while changing the angle of the side door. In this case, obstacles can be avoided more safely.

For example, it is understood that the following aspects also belong to the technical scope of the present disclosure.

(1) A door drive control device is a door drive control device that drives a door comprising an upper door and a lower door that is rotatably connected to the upper door, and is capable of moving an object existing around the door. an acquisition unit that acquires detection state information indicating the detection state of the object by a sensor that detects the object, and a drive that drives the door so that the angle of the lower door with respect to the upper door can be changed based on the detection state information. and a control unit that controls the unit.

(2) If the distance from the sensor to the object is equal to or greater than a first distance when the opening operation of the door is started, the control unit determines that the door closes with respect to the angle of the lower door with respect to the upper door. The drive is controlled to open the door while maintaining the angle at which it is in position.

(3) After starting the opening operation of the door, the control unit causes the door to come into contact with the object when the distance from the sensor to the object becomes less than a second distance shorter than the first distance. The drive is controlled to open the door after the door is bent to prevent the door from contacting the object, or while the door is bent to prevent the door from contacting the object.

(4) When the control unit controls the drive unit so that the door opens in a state where the door is bent so that the door does not come into contact with the object, the distance from the sensor to the object is the above-described distance. If the distance is two or more, the angle of the lower door relative to the upper door is set to the angle when the door is in the closed position, or is closer to the angle when the door is in the closed position. By changing the angle of the lower door, the drive is controlled to open the door.

(5) If the distance from the sensor to the object is less than a first distance when the door starts to open, the controller controls the door to be bent so that the door does not come into contact with the object. or controlling the driving unit to open the door while bending the door so that the door does not come into contact with the object.

(6) When the distance from the sensor to the object is less than a predetermined distance for starting the opening operation of the door, the control unit controls the driving unit to stop the opening operation of the door.

(7) The control unit stores information about the opening operation of the door, and when the door is closed, based on the information about the opening operation of the door, the door is opened in a direction opposite to that when the door is opened. performs an action corresponding to the opening action of the

(8) A door drive control system includes the above door drive control device, the sensor, and the drive unit.

It should be considered that the embodiments disclosed this time are illustrative in all respects and not restrictive. The scope of the present invention is indicated by the scope of the claims rather than the above description, and is intended to include all changes within the meaning and scope of the scope of the claims, such as equivalents.

The embodiments of the present invention have been described above. It should be noted that the above description is an illustration of preferred embodiments of the present invention, and the scope of the present invention is not limited thereto. In other words, the description of the configuration of the apparatus and the shape of each part is an example, and it is clear that various modifications and additions to these examples are possible within the scope of the present invention.

INDUSTRIAL APPLICABILITY The door drive control device and the door drive control system according to the present invention are useful as a device capable of changing the bending degree of the lower door according to the circumstances around the door.

1 door 1a upper door 1b lower door 2 drive unit 2a first drive unit 2b second drive unit 3 sensor group 3a detection state information 4 door drive control device 4a acquisition unit 4b control unit 4b1 opening operation command 5 operation device 5a operation signal 6 object 31 sensor 32 sensor 33 sensor 34 sensor 100 vehicle 101 vehicle body 200 door drive control system D0 operation start distance D1 first distance D2 second distance

Claims (8)

A door drive control device for driving a door comprising an upper door and a lower door rotatably connected to the upper door,
an acquisition unit that acquires detection state information indicating a detection state of the object by a sensor that detects the object existing around the door;
a control unit that controls a driving unit that drives the door so that the angle of the lower door with respect to the upper door can be changed based on the detection state information;
A door drive control device comprising: When the opening operation of the door is started, if the distance from the sensor to the object is equal to or greater than a first distance, the control unit determines that the door is in the closed position with respect to the angle of the lower door with respect to the upper door. 2. The door drive control device according to claim 1, wherein said drive unit is controlled so that said door opens while maintaining an opening angle. The control unit prevents the door from coming into contact with the object when the distance from the sensor to the object becomes less than a second distance shorter than the first distance after starting the opening operation of the door. 3. The door drive control device according to claim 2, wherein the drive unit is controlled to open the door after the door is bent or while the door is bent so that the door does not come into contact with the object. The control unit controls the drive unit to open the door in a state where the door is bent so that the door does not come into contact with the object, and the distance from the sensor to the object is the second distance or more. , the angle of the lower door relative to the upper door is adjusted to the angle at which the door is in the closed position, or closer to the angle at which the door is in the closed position. 4. The door drive control device according to claim 3, wherein the drive unit is controlled such that the door is opened by changing the angle of . If the distance from the sensor to the object is less than a first distance when the door starts to open, the controller controls, after the door is bent so that the door does not come into contact with the object, or 2. The door drive control device according to claim 1, wherein the drive unit is controlled to open the door while bending the door so that the door does not come into contact with the object. 2. The control unit controls the drive unit to stop the opening operation of the door when the distance from the sensor to the object is less than a predetermined distance for starting the opening operation of the door. 6. The door drive control device according to any one of 5. The control unit stores information about the opening operation of the door, and when the door is closed, based on the information about the opening operation of the door, the opening operation of the door is opposite to the opening operation of the door. 7. The door drive control device according to any one of claims 1 to 6, which performs an operation corresponding to . A door drive control device according to any one of claims 1 to 7;
the sensor;
the drive unit;
door drive control system.

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