JP4161898B2 - Vehicle door opening and closing device - Google Patents

Description

  The present invention relates to a vehicle door opening and closing device that automatically opens and closes a vehicle door.

Conventionally, as an apparatus for automatically opening and closing a door of a vehicle, for example, there is an apparatus disclosed in Patent Document 1. In this conventional apparatus, a pressure sensor for detecting a force applied to a door handle provided on a vehicle door is provided. When the passenger opens or closes the door of the vehicle, if the pressure sensor detects a strong force, that is, if the passenger tries to open or close the door with a strong force, the conventional device opens and closes the door at a high opening / closing speed. To do. On the other hand, when the above-described sensor detects a weak force, that is, when a passenger tries to open and close the door with a weak force, the conventional device opens and closes the door at a gentle opening and closing speed.
Japanese Patent Laid-Open No. 5-112128

  However, in the conventional device, it is difficult for the passenger to grasp the relationship between the force applied to the door handle and the opening / closing speed of the door. In other words, it is difficult for the passenger to grasp how much force is applied to the door handle to obtain the desired opening / closing speed. In addition, it is difficult for a woman, an elderly person, a sick person, and the like to apply a strong force to the door handle, and it may be difficult to open and close the door at a desired opening / closing speed by a conventional device.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide a vehicle door opening / closing device that can reliably open and close a vehicle door according to an opening / closing speed / opening / closing angle desired by a passenger. To do.

In order to achieve the above object, a vehicle door opening and closing device according to claim 1 is provided.
A door opening and closing device for a vehicle provided with a driving device for opening and closing a door of a vehicle, wherein the operation speed of a door opening and closing handle provided on the door of the vehicle is detected and the detected operation speed is high Is provided with a determining means for determining the opening / closing speed of the door so that the opening / closing speed is higher than that when the operation speed is low, and the driving device performs the door opening / closing drive at the opening / closing speed determined by the determining means It is characterized by.

  Thus, in the vehicle door opening / closing apparatus of the present invention, when the door opening / closing handle provided on the vehicle door is operated, the determining means detects the operation speed of the handle. When the detected operation speed is high, the determining means determines the door opening / closing speed so that the opening / closing speed is higher than when the operation speed is low. The driving device performs door opening / closing drive at the opening / closing speed determined by the determining means. There is a correlation between the operation speed when the passenger operates the door opening / closing handle and the door opening / closing speed desired by the passenger. That is, when it is desired to quickly open and close the door, the passenger tends to quickly operate the door opening / closing handle. Further, when it is desired to gently open and close the door, the passenger tends to operate the door opening / closing handle gently. By determining the door opening / closing speed according to the operation speed of the door opening / closing handle, the vehicle door opening / closing apparatus can reliably perform the door opening / closing drive at the opening / closing speed desired by the passenger. In addition, the vehicle door opening and closing device can be easily used by women, elderly people, and the sick.

  Preferably, the determining means determines the predetermined minimum opening / closing speed as the door opening / closing speed when the detected operation speed is lower than the predetermined operation speed. Thus, even a person who can operate the door operation handle only at a moderate operation speed, such as an elderly person or a sick person, can open and close the door at a predetermined minimum opening / closing speed.

  Preferably, the determining means determines the predetermined maximum opening / closing speed as the door opening / closing speed when the operating speed detected by the detecting means is greater than the predetermined operating speed. Thus, even when the passenger accidentally operates the door opening / closing handle at a large operation speed, the door is not opened / closed at an opening / closing speed larger than a predetermined maximum opening / closing speed, which is preferable.

  According to a fourth aspect of the present invention, the determining means determines the opening / closing amount of the door so that the opening / closing amount is larger when the detected operation speed is higher than when the operation speed is low. It is desirable that the device performs door opening / closing drive according to the opening / closing amount determined by the determining means. This is because the operation speed when the passenger operates the door opening / closing handle tends to correlate with the door opening / closing amount desired by the passenger. That is, the passenger tends to quickly operate the door opening / closing handle when the door is to be opened / closed widely, and the passenger tends to operate the door opening / closing handle gently when the door is to be opened / closed small.

  According to a fifth aspect of the present invention, the determining means also detects an operation amount of the door opening / closing handle. When the detected operation amount is large, the opening / closing amount is smaller than when the operation amount is small. The opening / closing amount of the door is determined so as to increase, and the driving device may perform the door opening / closing drive according to the opening / closing amount determined by the determining means. This is because, in addition to the operation speed described above, the operation amount when the passenger operates the door opening / closing handle also has a correlation with the door opening / closing amount desired by the passenger. That is, when the door opening / closing amount is desired to be increased, the passenger tends to operate the door opening / closing handle largely, and when the door is desired to be opened / closed small, the passenger tends to operate the door opening / closing handle small. .

  FIG. 1 is a block diagram showing an overall configuration of a vehicle door opening and closing device according to an embodiment of the present invention. The vehicle door opening / closing device 1 according to the present embodiment detects an operation speed of a door handle provided on the door 2 of the vehicle and opens / closes the door 2 at a driving speed corresponding to the operation speed.

  As shown in FIG. 1, the door 2 has a door handle A21 and a door handle B22 which are well-known. FIG. 2 is a view of the door 2 as seen from the vehicle interior side (front side) and vehicle interior side (back side), and the door handle A21 is provided outside the vehicle compartment of the door 2 (FIG. 2 (a)). B22 is provided on the vehicle interior side of the door 2 (FIG. 2B). As shown in FIG. 3, these two door handles are mechanical handles composed of a lever 31 and a lever rotation shaft 32, and operate the lever 31 forward or backward with the lever rotation shaft 32 as a center. Thus, the door 2 is opened and closed. In the following, operating the lever 31 of each door handle is described as operating each door handle.

  The door sensor A4 is a sensor including, for example, two Hall elements. When the door handle A21 is operated, the door sensor A4 outputs two pulse signals having a frequency corresponding to the operation speed. These two pulse signals continue to be output while the door handle A21 is being operated, and the frequency of each pulse signal is the same, but the phase difference between them is the direction of operation of the door handle A21 (front and back directions). The pulse signal varies depending on the direction. The operation speed and operation direction of the door handle A21 may be output as an analog voltage signal using a potentiometer or the like.

  The door sensor B5 is a sensor including, for example, two Hall elements. When the door handle B22 is operated, the door sensor B5 outputs two pulse signals having a frequency corresponding to the operation speed. These two pulse signals continue to be output while the door handle B22 is being operated, and the frequency thereof is the same, but the phase difference is a pulse signal that varies depending on the operation direction of the door handle B22.

  The opening angle detection sensor 6 includes, for example, a potentiometer and an A / D converter, detects the opening angle of the door 2 (see FIG. 4), and outputs an opening angle signal. The opening angle of the door 2 may be detected from the rotation speed of the gear by attaching a gear that rotates in conjunction with opening and closing of the door to a support shaft of the door 2 (not shown).

  The opener 7 includes a small motor and a plurality of gears, through which the support shaft of the door 2 and the motor are connected. Then, as is well known, the motor is driven according to the control signal to open and close the door 2.

  The memory 8 is a non-volatile storage element typified by a flash memory. The operation speed of the door handle A21 and the door handle B22, the drive speed of the door 2 corresponding to the operation speed, and the door corresponding to the operation speed. The target opening angle of 2 (hereinafter referred to as the target opening angle) is stored as a database. The drive speed and the target opening angle stored in the database are set so as to increase as the aforementioned operation speed increases (see FIGS. 5 and 6).

  However, when the aforementioned operation speed is lower than the minimum operation speed Ha, the drive speed of the door 2 is set to Vmin, and the target opening angle of the door 2 is set to Amin. This is because even a person who can operate the door handle only slowly, such as an elderly person or a sick person, can set a certain driving speed and target opening angle. When the operation speed is higher than the maximum operation speed Hb, the drive speed of the door 2 is set to Vmax, and the target opening angle of the door 2 is set to Amax. This is to prevent an extremely large driving speed and a target opening angle from being set when the passenger accidentally retracts the door handle extremely large. Note that the aforementioned database may be stored in a CD-ROM or DVD-ROM.

  The ECU 9 is composed of a known computer, and sets (determines) the driving direction and driving speed of the door 2 and the target opening angle of the door 2 from the two pulse signals output from the door sensor A4 or the door sensor B5. A control signal is output to 7 to open / close the door 2.

  Specifically, the ECU 9 determines that the door handle A21 or the door handle B22 is operated toward the outside of the passenger compartment from the phase difference between the two pulse signals acquired from the door sensor A4 or the door sensor B5, that is, the door is opened. If it is determined that the door 2 is operated to open, the door 2 driving direction is set as the door opening direction. When it is determined that the door handle A21 or the door handle B22 has been operated to close the door, that is, the door, the drive direction of the door 2 is set as the door closing direction. Further, the ECU 9 calculates the operation speed of the door handle A21 and the door handle B22 from the frequency of the two pulse signals described above, and stores the drive speed and the target opening angle corresponding to the calculated operation speed in the memory 8. Search and retrieve from the database. When the drive direction of the door 2 is set as the door closing direction, the ECU 9 searches only the drive speed corresponding to the calculated operation speed from the aforementioned database, and does not search for the target opening angle. And set. Then, based on the opening angle signal output from the opening angle detection sensor 6, the door 2 is driven to the target opening angle searched above by the driving speed searched above toward the driving direction set above. Then, a control signal is output to the opener 7.

  FIG. 7 is a flowchart relating to processing in which the door opening and closing device for a vehicle according to the present embodiment performs opening and closing driving of the door 2. The process of this flowchart is executed each time two pulse signals are output from the door sensor A3 or the door sensor B4.

  In step 701, the ECU 9 receives two pulse signals output from the door sensor A3 or the door sensor B4.

  In step 702, it is determined from the phase difference between the two pulse signals acquired in step 701 whether the door handle A21 or the door handle B22 has been operated on the vehicle interior side or vehicle interior side. When the door handle A21 is operated to the outside of the passenger compartment, the drive direction of the door 2 is set as the door opening direction, and the process proceeds to step 703. When the door handle B22 is operated to the vehicle interior side, the driving direction of the door 2 is set as the door closing direction, and the process proceeds to Step 708.

  In step 703, the operation speed of the door handle A21 or the door handle B22 is calculated from the frequencies of the two pulse signals acquired in step 701. In step 704, the driving speed and the target opening angle corresponding to the operation speed calculated in step 703 are searched from the database stored in the memory 8. This is because the operation speed of the door handle tends to correlate with both the door drive speed and the opening / closing angle desired by the passenger.

  In step 705, a control signal for opening the door 2 by a predetermined amount at the driving speed searched in step 704 is transmitted to the opener 7. As a result, the opener 7 opens the door 2 by a predetermined amount at the aforementioned driving speed.

  In step 706, an opening angle signal is acquired from the opening angle detection sensor 6. In step 707, it is determined whether or not the opening angle indicated by the opening angle signal acquired in step 706 matches the target opening angle searched in step 704, that is, whether or not the door 2 has been opened to the target opening angle. To do. If they match, the process ends. If they do not match, the process returns to step 705, and the above process is repeated until the opening angle indicated by the opening angle signal acquired in step 706 matches the target opening angle searched in step 704.

  On the other hand, in step 708, the operation speed of the door handle A21 or the door handle B22 is calculated from the frequencies of the two pulse signals acquired in step 701. In step 709, the drive speed corresponding to the operation speed calculated in step 708 is retrieved from the database stored in the memory 8, and the target opening angle is set to zero.

  In step 710, a control signal for closing the door 2 by a predetermined amount at the drive speed searched in step 709 is transmitted to the opener 7. As a result, the opener 7 closes the door 2 by a predetermined amount at the drive speed described above.

  In step 711, an opening angle signal is acquired from the opening angle detection sensor 6. In step 712, it is determined whether or not the opening angle indicated by the opening angle signal acquired in step 711 is zero, that is, whether or not the door 2 is completely closed. If the opening angle indicated by the opening angle signal is zero, the process is terminated. If the opening angle indicated by the opening angle signal is not zero, the process returns to step 710 and the above processing is repeated until the opening angle indicated by the opening angle signal becomes zero.

  As described above, in the vehicle door opening and closing apparatus according to the present embodiment, the operation speeds of the door handle A21 and the door handle B22 are calculated, and when the calculated operation speed is large, the operation speed is smaller than when the operation speed is small. Thus, the drive speed of the door 2 and the target opening angle are set large, and the door 2 is opened and closed. The operating speed when the passenger operates the door handle correlates with the driving speed and opening angle of the door desired by the passenger.If you want to open and close the door quickly, or if you want to open the door greatly, Passengers tend to operate the door handle quickly. Further, when it is desired to open and close the door gently, or when it is desired to open the door slightly, the passenger tends to operate the door handle gently. By setting the door drive speed and the target opening angle based on the operation speed of the door handle, the vehicle door opening / closing apparatus reliably performs the door opening / closing drive according to the driving speed and opening angle desired by the passenger. be able to. In addition, the vehicle door opening and closing device can be easily used by women, elderly people, and the sick.

  Next, a modification of this embodiment will be described. In this modification, the pull-in amounts of the door handle A21 and the door handle B22 are calculated from the two pulse signals output from the door sensor A3 and the door sensor B4, and the drive speed and the target opening angle of the door 2 are set from the calculated pull-in amounts. This is different from the previous embodiment.

  The memory 8 of the present modified example is replaced with a database that stores the operation speed of the door handle A21 and the door handle B22, the drive speed of the door 2 and the target opening angle corresponding to the operation speed in the above-described embodiment, It has a database that stores the amount of retracting the door handle A21 and the door handle B22 in front of or behind (hereinafter referred to as the retracted amount), the driving speed of the door 2 and the target opening angle corresponding to the retracted amount. The driving speed and the target opening angle of the door 2 stored in the database are set so as to increase as the pull-in amount increases (see FIGS. 8 and 9).

  However, when the above-mentioned pull-in amount is smaller than the minimum pull-in amount Ca, the drive speed of the door 2 is set to Vmin, and the target opening angle of the door 2 is set to Amin. This is to enable a certain degree of driving speed and target opening angle to be set even by an elderly person or a disabled person who can retract the door handle only a little. Further, when the aforementioned pull-in amount is larger than the maximum operation amount Cb, the drive speed of the door 2 is set to Vmax, and the target opening angle of the door 2 is set to Amax. This is to prevent an extremely large driving speed and a target opening angle from being set when the passenger accidentally retracts the door handle extremely large.

  The ECU 9 of this modification counts the number of pulses included in the two pulse signals acquired from the door sensor A4 and the door sensor B5, and determines the amount of the door handle A21 and the door handle B22 to be drawn according to the counted number of pulses. calculate. Then, the drive speed and the target opening angle corresponding to the calculated pull-in amount are retrieved from the database stored in the memory 8 and acquired, and the door 2 is opened and closed according to the acquired driving speed and the target opening angle.

  Other configurations and operations are the same as those in the above-described embodiment, and thus description thereof is omitted.

  FIG. 10 is a flowchart relating to a process in which the vehicle door opening / closing apparatus according to the present modification performs the opening / closing drive of the door 2. The processing of this flowchart is instead of the step of calculating the operation speed of the door handle A21 or the door handle B22 from the frequency of the two pulse signals output from the door sensor A4 or the door sensor B5 in the processing of the flowchart of FIG. A step of counting the number of pulses included in the two pulse signals output from the door sensor A4 or the door sensor B5 and calculating the retracting amount of the door handle A21 or the door handle B22 is provided. Further, in place of the step of searching the database stored in the memory 8 for the driving speed and the target opening angle corresponding to the calculated operation speed, the driving speed and the target opening angle corresponding to the calculated pull-in amount are stored in the memory 8. A step of retrieving from the stored database is provided. In other words, the processes other than steps 103, 104, 108, and 109 are the same as those in the flowchart of FIG.

  In step 103, the ECU 9 counts the number of pulses included in the two pulse signals acquired in step 101, and calculates the retract amount of the door handle A21 or the door handle B22. In step 104, the driving speed and the target opening angle corresponding to the pull-in amount calculated in step 103 are searched from the database stored in the memory 8.

  In step 108, the number of pulses included in the two pulse signals acquired in step 101 is counted, and the pull-in amount of the door handle A21 or the door handle B22 is calculated. In step 109, the drive speed corresponding to the pull-in amount calculated in step 108 is retrieved from the database stored in the memory 8, and the target opening angle is set to zero.

  As described above, in the vehicle door opening and closing apparatus according to the present modification, the pull-in amounts of the door handle A21 and the door handle B22 are calculated, and when the calculated pull-in amount is large, compared to the case where the pull-in amount is small. Thus, the drive speed of the door 2 and the target opening angle are set to be large, and the door 2 is opened and closed. The amount by which the passenger pulls the door handle correlates with the door drive speed and opening angle desired by the passenger, and if the passenger wants to open and close the door quickly or opens the door greatly, the passenger must There is a tendency to pull the handle greatly. Further, when it is desired to open and close the door gently, or when it is desired to open the door slightly, the passenger tends to pull the door handle small. By setting the door drive speed and the target opening angle based on the retracted amount of the door handle, the vehicle door opening / closing device reliably performs the door opening / closing drive according to the driving speed and opening angle desired by the passenger. be able to. In addition, the vehicle door opening and closing device can be easily used by women, elderly people, and the sick.

  In the embodiment and the modification described above, the door 2 is driven to open and close according to the driving speed set from the operation speed or the pull-in amount of the door handle A21 and the door handle B22. That is, the door 2 was driven at a constant speed according to the driving speed described above. However, the driving speed of the door 2 may be gradually reduced according to the difference between the opening angle of the door 2 and the set target opening angle. Thereby, when stopping the door 2 at the position of the target opening angle, the door can be surely stopped without vibrating. Further, when the door 2 is closed, it can be closed without making a loud noise.

  In the above-described embodiment and modification, the driving speed and the target opening angle of the door 2 are set based on either the operation speed or the pull-in amount of the door handle A21 and the door handle B22. However, by combining the above-described embodiment and the modified example, the drive speed of the door 2 may be set from the above-described operation speed, and the target opening angle of the door 2 may be set from the above-mentioned pull-in amount. Further, the drive speed of the door 2 may be set from the above-described pull-in amount, and the target opening angle of the door 2 may be set from the above-described operation speed. Thereby, according to the structure and characteristic of the door handle provided in the door 2, the drive speed and the target opening angle of the door 2 can be set flexibly.

  Furthermore, in the above-described embodiment and modification, both the driving speed and the target opening angle of the door 2 are set based on either the operation speed or the pull-in amount of the door handle A21 and the door handle B22. However, only one of the drive speed of the door 2 or the target opening angle may be set. Thus, the passenger can determine and operate the parameter that has not been set. Further, since the configuration of the apparatus is simplified, it is preferable from the viewpoint of design and cost.

1 is a block diagram illustrating an overall configuration of a vehicle door opening / closing device according to an embodiment of the present invention. It is the figure which looked at the door from the vehicle interior side (front side) and vehicle interior side (back side) in the vehicle door opening and closing device of this embodiment. It is a figure which shows the structure of the door handle A and the door handle B in the vehicle door opening / closing apparatus of this embodiment. In the vehicle door opening and closing device of this embodiment, it is a figure which shows the relationship of a vehicle, a door, and the opening angle (angle which a vehicle and a door make | form) of a door. In the vehicle door opening and closing apparatus of this embodiment, it is a graph which shows the relationship between the operation speed of the door handle A and the door handle B, and the drive speed of the door corresponding to the said operation speed. In the vehicle door opening and closing device of this embodiment, it is a graph which shows the relationship between the operation speed of the door handle A and the door handle B, and the target opening angle of the door corresponding to the said operation speed. It is a flowchart regarding the process which the vehicle door opening / closing apparatus of this embodiment performs opening / closing drive of a door. In the vehicle door opening and closing device of this modification, it is a graph which shows the relationship between the retracting amount of the door handle A and the door handle B, and the drive speed of the door corresponding to the said retracting amount. In the vehicle door opening and closing device of this modification, it is a graph which shows the relationship between the retracted amount of the door handle A and the door handle B, and the target opening angle of the door corresponding to the said retracted amount. It is a flowchart regarding the process which the door opening / closing apparatus for vehicles of this modification performs the opening / closing drive of a door.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Vehicle door opening and closing device 2 ... Door 21 ... Door handle A
22 ... Door handle B
31 ... Lever 32 ... Lever rotation axis 4 ... Door sensor A
5 ... Door sensor B
6 ... Opening / closing angle sensor 7 ... Opener 8 ... Memory 9 ... ECU

Claims (5)

A vehicle door opening and closing device provided with a drive device for opening and closing a vehicle door,
The operation speed of the door opening / closing handle provided on the door of the vehicle is detected, and when the detected operation speed is high, the opening / closing speed of the door is increased so that the opening / closing speed is higher than when the operation speed is low. A determination means for determining the opening and closing speed is provided,
The vehicle door opening / closing device, wherein the driving device performs opening / closing driving of the door at an opening / closing speed determined by the determining means. 2. The vehicle door opening / closing apparatus according to claim 1, wherein the determining unit determines a predetermined minimum opening / closing speed as the door opening / closing speed when the detected operation speed is lower than the predetermined operation speed. 3. The vehicle according to claim 1, wherein the determining means determines a predetermined maximum opening / closing speed as an opening / closing speed of the door when the detected operation speed is higher than a predetermined operation speed. Door opener. The determining means determines the opening / closing amount of the door so that the opening / closing amount is larger when the detected operation speed is large than when the operation speed is small,
The vehicle door opening / closing device according to any one of claims 1 to 3, wherein the driving device performs opening / closing driving of the door according to an opening / closing amount determined by the determining means. The determination means also detects an operation amount of the door opening / closing handle, and when the detected operation amount is large, the door opening / closing amount is increased so that the opening / closing amount is larger than when the operation amount is small. Determine the opening and closing amount,
4. The vehicle door opening / closing device according to claim 1, wherein the driving device performs opening / closing driving of the door according to an opening / closing amount determined by the determining means. .

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