JP5168775B2 - Opening and closing control device for opening and closing body - Google Patents

Description

  The present invention relates to an opening / closing control device for an opening / closing body that detects an obstacle and prevents the opening / closing body from touching the obstacle when the opening / closing body is driven to open.

A vehicle that opens and closes a back door with a switch in the vicinity of a driver is known. The driver opens the back door while looking at the rear of the vehicle, but the back of the vehicle has low visibility from the driver's seat, so the back door may hit an obstacle existing behind the vehicle. Therefore, Patent Document 1 discloses a technology in which a sensor is built in a bumper of a back door of a vehicle and an obstacle behind the vehicle is detected so that the back door does not collide with the obstacle.
JP 2004-230993 A

  In the technique disclosed in Patent Document 1, when the back door is driven to the opening side and the sensor detects that there is an obstacle behind, the back door is closed. The open / close angle of the open back door is not considered. Therefore, if the obstacle behind is a wall or a long vertical pole and the surface is smooth like a mirror surface, the sensor receives the reflected wave only if the ultrasonic wave is incident on the obstacle vertically. However, the distance from the sensor to the obstacle measured by this sensor is short. Therefore, even when the sensor detects an obstacle and stops driving on the opening side of the back door, the door edge (door end) of the back door may hit the obstacle depending on the opening / closing angle of the back door. Therefore, it is necessary to take countermeasures.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide an opening / closing control device for an opening / closing body that prevents the opening / closing body from hitting an obstacle and is easy to use.

In order to solve the above problems, an opening / closing control device for an opening / closing body according to the first aspect of the present invention comprises:
Drive means for driving an opening / closing body that is driven to open and project from the rear of the vehicle;
Detection means provided on the opening and closing body for detecting an obstacle present in at least one direction of the vehicle;
Based on the opening angle of the detection result and the closing member before Symbol detection means, and determination means for determining the position of the obstacle,
Find the diameter with both ends of the opening and closing body and the position of the detection means as the both ends, find a semicircle centered on the center of the diameter on the vehicle rear side, and on the arc of the semicircle and in the semicircle, Control means for restricting and controlling the opening drive of the opening / closing body when there is an obstacle determined by the determination means;
It is comprised from these.

In order to solve the above problem, an opening / closing control device for an opening / closing body according to a second aspect of the present invention provides:
Drive means for driving an opening / closing body that is driven to open and project from the rear of the vehicle;
Detection means provided on the opening and closing body for detecting an obstacle present in at least one direction of the vehicle;
Discrimination means for discriminating the position of an obstacle based on the detection result of the detection means and the opening / closing angle of the opening / closing body ;
A margin is set at an end of the opening / closing body, and a diameter with the end of the opening / closing body separated from the end on the open side by the margin and the position of the detection means is obtained, and the center of the diameter is centered. A control means for restricting and controlling the opening drive of the opening and closing body when the obstacle determined by the determination means is present on the semicircular arc and in the semicircle. ,
It is comprised from these.

For example, the detection range in which the detection means detects an obstacle is on the semicircular arc and the semicircle on the vehicle rear side with the margin end and the detection means at both ends of the diameter.
It is characterized by that.

Further, for example, when there is an obstacle on the arc of the semicircle and within the semicircle , the control means stops or closes the opening drive of the opening / closing body.

  ADVANTAGE OF THE INVENTION According to this invention, the opening / closing control apparatus of the opening / closing body which discriminate | determined the position of an obstruction and controls the drive of an opening / closing body, and prevented the opening / closing body hitting an obstruction can be provided.

  Hereinafter, an opening / closing control device for an opening / closing body according to an embodiment of the present invention will be described with reference to the drawings.

  As shown in FIG. 1, the opening / closing control device 1 for an opening / closing body includes, for example, an obstacle sensor 100, an actuator 200, an ECU (Electronic Controller Unit) 300, and a start switch 400.

  The obstacle sensor 100 includes, for example, an ultrasonic transmitter 102, an ultrasonic receiver 104, an A / D converter 106, a communication unit 108, and a bus 110. The ultrasonic transmitter 102 generates ultrasonic waves. When the obstacle reflects the ultrasonic wave generated by the ultrasonic transmitter 102, the ultrasonic receiver receives the ultrasonic wave and outputs a signal corresponding to the position and distance to the obstacle. The A / D converter 106 converts the signal output from the ultrasonic receiver 104 into a digital signal. Communication unit 108 is connected to ECU 300 and transmits and receives signals to and from ECU 300.

The actuator 200 includes, for example, a drive motor 202, a motor driver 204, an arm 206 that connects the drive motor 202 and the back door, an angle output device 208, a communication unit 210, and a bus 212.
The drive motor 202 controls the rotation speed and rotation angle of the drive motor 202 in accordance with a command from the ECU 300. The arm 206 opens and closes the back door according to the operation of the drive motor 202. The angle output unit 208 outputs an angle formed by the current back door position and the back door in the initial state (back door in the closed state). Communication unit 210 is connected to ECU 300 and transmits / receives a signal to / from ECU 300.

The ECU 300 includes a communication unit 302, a CPU 304 (Central Processing Unit), a RAM (Random Access Memory) 306, a ROM (Read Only Memory) 308, a timer unit 310, and a bus 312.
The communication unit 302 is connected to other devices via communication, and transmits and receives signals.
The CPU 304 performs processing for calculating the position of the obstacle as viewed from the door panel of the back door from the output of the obstacle sensor 100 and the output of the angle output device 208 of the actuator 200. Further, when the CPU 304 receives the “open” signal from the activation switch 400, the CPU 304 causes the motor driver 204 of the actuator 200 to drive the drive motor 202 to open the back door, and upon receiving the “close” signal, causes the motor driver 204 to The drive motor 202 is driven to close the back door.
The RAM 306 provides a work area for the calculation of the CPU 304.
The ROM 308 stores the calculation program of the CPU 304, and also stores the obstacle sensor 100, the initial position of the door edge of the back door (coordinates when the back door is closed), and a margin described later.
The timer unit 310 measures the current time.
The bus 312 transmits data between each unit in the ECU 300.

  The start switch 400 is a switch that outputs a signal for instructing the CPU 304 to open and close the back door.

  Subsequently, an obstacle detection method when the obstacle sensor 100 of the opening / closing body opening / closing control apparatus 1 is installed at the rear portion of the back door 500 will be described with reference to FIGS. 2 and 3.

  FIG. 2 is a diagram illustrating a relationship between the position of the obstacle 600 and the position of the back door 500 in a state where the obstacle sensor 100 is installed at the rear portion of the back door 500 and the back door 500 is closed. FIG. 3 is a diagram illustrating a relationship between the position of the obstacle 600 and the position of the back door 500 in a state where the obstacle sensor 100 is installed at the rear portion of the back door 500 and the back door 500 is opened.

  As shown in FIGS. 2 and 3, a margin 510 is set in the distance between the obstacle sensor 100 and the door edge of the back door 500 in order to enhance the safety that the back door 500 does not collide with the obstacle 600. That is, it is determined whether or not the obstacle 600 collides, assuming that there is a virtual back door 500 having a long distance between the obstacle sensor 100 and the door edge of the back door 500 by the margin 510.

  When the obstacle 600 is like a wall surface or a long vertical pole, the surface is smooth like a mirror surface, and the ultrasonic wave is reflected without being scattered on the surface of the obstacle 600, the obstacle sensor 100 is Only when the generated ultrasonic wave is perpendicularly incident on the obstacle 600, there is a reflected wave that vertically reflects from the obstacle 600, and the obstacle sensor 100 can receive the reflected wave. Other reflected waves cannot be received by the obstacle sensor 100. Immediately before the back door 500 collides with the obstacle 600, as shown in FIGS. 2 and 3, the length of the reflected wave reflected vertically is set as one side length, and the obstacle sensor 100 and the back door 500 are connected. A right-angled triangle with the distance from the door edge (including the margin 510) as the hypotenuse is formed. Therefore, in order to prevent the door edge of the back door 500 from hitting the obstacle 600, the CPU 304 determines whether or not the obstacle 600 exists at a position where the above-described right triangle is formed, and the right triangle described above. When it is determined that the obstacle 600 exists at a position where the back door 500 can be detected, a signal for stopping the driving of the back door 500 must be transmitted.

  The remaining vertices of the right triangle whose hypotenuse is the distance between the obstacle sensor 100 and the door edge (including the margin 510) of the back door 500 is the current position of the obstacle sensor as shown in FIGS. And the present position (including margin 510) of the door edge of the back door 500 exists on the circumference of the semicircle HC on the vehicle rear side with both ends of the diameter. If the obstacle 600 is present on this circumference, a right triangle having the position of the obstacle 600 as a vertex and the distance between the obstacle sensor 100 and the door edge (including the margin 510) of the back door 500 as the length of the hypotenuse. Because it can.

  In order to ensure that the reflected wave reflected vertically from the obstacle 600 is captured, the detection range of the obstacle sensor 100 includes the position of the door edge (including the margin 510) of the back door 500 and the position of the obstacle sensor 100. It is necessary to include a semicircle HC on the rear side of the vehicle with both ends of the diameter. When the obstacle 600 exists on the arc of a semicircle HC having the position of the door edge of the back door 500 and the position of the obstacle sensor 100 as both ends of the diameter, the angle corresponding to this diameter is a right angle. This is because if the range including the circle HC is set as the detection range of the obstacle sensor 100, a reflected wave reflected vertically from the obstacle 600 can be captured.

  2 and 3, the obstacle sensor 100 is attached to the back door 500 so as to form an angle of 45 degrees with respect to the vertical direction of the road surface when the back door 500 is closed. . Here, the angle of 45 degrees with respect to the vertical direction of the road surface means that the axis perpendicular to the ultrasonic radiation surface of the ultrasonic transmitter 102 of the obstacle sensor 100 has an angle of 45 degrees with respect to the vertical direction of the road surface. Say what you do.

  The obstacle sensor 100 is attached to the back door 500 so as to form an angle of 40 ° to 50 ° with respect to the vertical direction of the road surface, and the attachment position of the obstacle sensor 100 is 40 to 50 cm from the door edge of the back door 500. The margin 510 is preferably 5 to 15 cm from the door edge of the back door 500. Also, the obstacle sensor 100 may be attached so that ultrasonic waves are emitted at an angle along the back door 500.

  Next, a method for opening the back door 500 of the vehicle will be described based on the flowchart of FIG.

  The user operates the start switch 400 and transmits a signal to the ECU 300 to open the back door 500. The CPU 304 of the ECU 300 receives this signal and transmits a back door opening signal to the motor driver 204 of the actuator 200 (step S1). The motor driver 204 receives this signal, controls the drive motor 202 and the arm 206, and opens the back door 500 at a standard opening speed.

  Subsequently, the obstacle sensor 100 generates an ultrasonic wave for the obstacle 600 and receives the reflected wave. If the obstacle 600 is like a wall surface or a long pole and the surface is smooth like a mirror surface, the reflected waves that can be received are limited to those reflected perpendicularly to the obstacle 600. Further, as described above, the detection range of the obstacle sensor 100 needs to include a semicircle HC on the rear side of the vehicle in which the position of the door edge of the back door 500 and the position of the obstacle sensor 100 are both ends of the diameter.

  The CPU 304 calls the calculation program and the initial position of the obstacle sensor 100 from the ROM 308, and performs calculation for obtaining the position of the obstacle 600 from the obstacle sensor 100 and the detection signal of the angle output device 208 (step S2). Subsequently, the calculation program, the initial position of the obstacle sensor 100, the initial position of the door edge of the back door 500, and the setting value of the margin 510 are called from the ROM 308, and the detection signal of the angle output device 208 is used to detect the obstacle sensor 100. The current position and the current position of the door edge of the back door 500 (including the margin 510) are calculated (step S3).

  Subsequently, the CPU 304 determines the inside of the semicircle HC on the rear side of the vehicle having the current position of the obstacle sensor obtained in step S3 and the current position of the door edge of the back door 500 (including the margin 510) at both ends of the diameter and It is determined whether or not the position of the obstacle 600 obtained in step S2 is on the circumference (step S4).

  When it is determined that the obstacle is inside or around the semicircle HC (step S4; Yes), the CPU 304 transmits a close signal of the back door 500 to the motor driver 204 (step S5). The motor driver 204 receives this signal, controls the drive motor 202 and the arm 206, performs control to close the back door 500, and the process ends.

  On the other hand, when the CPU 304 determines that the position of the obstacle 600 is not inside the semicircle HC and not on the circumference (step S4; No), the CPU 304 leaves the back door 500 as it is to the motor driver 204. Instruct to keep opening at the speed of (or nothing). Thereafter, the process returns to step S2.

  As described above, the opening / closing body opening / closing control apparatus 1 according to the present invention calculates the position of the door edge of the back door 500 and the current position of the obstacle 600 from the output signals of the obstacle sensor 100 and the angle output device 208. Then, based on the calculation result, the back door 500 is closed. Thereby, even if the obstacle 600 exists in the vicinity of the back door 500, the possibility that the obstacle 600 collides with the back door 500 is reduced. In particular, even if the obstacle 600 is a wall surface or a long vertical pole and the surface is smooth such as a mirror surface, the collision of the back door 500 can be prevented in advance, and the usability of the back door 500 is improved. Will improve.

  Further, in the door opening process step of the back door 500, a margin 510 is provided in the back door 500, and the position of the obstacle 600 is determined based on the virtual back door 500 that is longer than the actual back door 500 by the margin 510. It is carried out. As a result, the back door 500 can be prevented from hitting the obstacle 600, and the safety when the opening / closing body is opened is increased.

  The present invention is not limited to the above-described embodiment, and various modifications and applications are possible.

  In step S5, the control is closed to close the back door 500, and the process is terminated. However, the control is not limited to this. For example, control for stopping the back door 500 may be performed. Moreover, you may perform control which lowers the opening speed of the back door 500, and continues opening drive.

  In the above-described embodiment, the margin 510 is provided on the back door 500 and the position of the obstacle 600 is determined. However, the margin 510 may not be set. That is, as illustrated in FIGS. 5 and 6, a semicircle HC on the rear side of the vehicle is drawn with the obstacle sensor 100 and the true end of the back door 500 as both ends of the diameter. Then, it is determined whether or not the obstacle 600 obtained in step S2 is located inside and on the circumference of the semicircle HC. If so, the opening / closing speed of the back door 500 is reduced or stopped. In this case, it is not necessary to register the setting value of the margin 510 in the ROM 308.

  When an obstacle sensor is separately provided in front of the back door 500, that is, in a direction opposite to the obstacle sensor 100, and the obstacle sensor detects an obstacle within a predetermined distance when the back door 500 is closed. The CPU 304 may instruct the motor driver 204 to reduce the speed of closing the back door 500 or to stop the back door 500. By doing in this way, for example, the possibility that a user or an obstacle is caught between the vehicle body 510 and the back door 500 can be reduced.

  The possibility that the back door 500 may hit the obstacle 600 is increased particularly when the user opens the back door 500 while the vehicle is moved backward. Therefore, only when the vehicle is moving backward, the opening / closing control device 1 for the opening / closing body of the present invention may be made usable. For example, this can be realized by allowing the CPU 304 to receive a signal from the obstacle sensor 100 when the CPU 304 is notified that the gear is in the back gear.

A notification unit may be provided to notify the user of the state of the back door 500 such as opening operation, stopping, or closing operation. This is because the CPU 304 transmits a signal indicating the change in the operation of the back door 500 to the notification means in addition to the motor driver 204, and the notification means notifies the user of the difference in the operation of the back door 500 according to the content of the signal. This can be achieved.
For example, a warning sound transmitter may be provided as a notification means, and the content of the current operation of the back door 500 may be notified to the user with a warning sound generated by the warning sound transmitter. Further, a hazard lamp may be used as a notification means, and the content of the current operation of the back door 500 may be notified to the user by changing the blinking state of the hazard lamp.

It is a block diagram of the control apparatus of an opening-closing body. It is a figure at the time of seeing a vehicle and an obstacle from the side of a vehicle in case a back door is closed. It is a figure at the time of seeing a vehicle and an obstacle from the side of a vehicle in case a back door is open. It is a flowchart of opening of a back door. It is a figure at the time of seeing a vehicle and an obstacle from the side of a vehicle in the state where a back door is closed when a margin is not provided at an end of a back door. It is a figure at the time of seeing the vehicle and an obstruction from the side of a vehicle in the state where the back door is open when no margin is provided at the end of the back door.

Explanation of symbols

100 Obstacle sensor (detection means)
102 Ultrasonic Transmitter 104 Ultrasonic Receiver 106 A / D Converter 108 Communication Unit 110 Bus 200 Actuator (Drive Unit)
202 Drive motor 204 Motor driver 206 Arm 208 Angle output unit 210 Communication unit 212 Bus 300 ECU (discriminating means, control means)
302 Communication unit 304 CPU
306 RAM
308 ROM
310 Timekeeping Unit 312 Bus 400 Start Switch 500 Back Door 510 Car Body 600 Obstacle

Claims (4)

Drive means for driving an opening / closing body that is driven to open and project from the rear of the vehicle;
Detection means provided on the opening and closing body for detecting an obstacle present in at least one direction of the vehicle;
Based on the opening angle of the detection result and the closing member before Symbol detection means, and determination means for determining the position of the obstacle,
Find the diameter with both ends of the opening and closing body and the position of the detection means as the both ends, find a semicircle centered on the center of the diameter on the vehicle rear side, and on the arc of the semicircle and in the semicircle, Control means for restricting and controlling the opening drive of the opening / closing body when there is an obstacle determined by the determination means;
An opening / closing control device for an opening / closing body, comprising: Drive means for driving an opening / closing body that is driven to open and project from the rear of the vehicle;
Detection means provided on the opening and closing body for detecting an obstacle present in at least one direction of the vehicle;
Discrimination means for discriminating the position of an obstacle based on the detection result of the detection means and the opening / closing angle of the opening / closing body ;
A margin is set at an end of the opening / closing body, and a diameter with the end of the opening / closing body separated from the end on the open side by the margin and the position of the detection means is obtained, and the center of the diameter is centered. A control means for restricting and controlling the opening drive of the opening and closing body when the obstacle determined by the determination means is present on the semicircular arc and in the semicircle. ,
An opening / closing control device for an opening / closing body, comprising: The detection range in which the detection means detects the obstacle is on the arc of the semicircle on the rear side of the vehicle with the end of the margin and the detection means as both ends of the diameter and in the semicircle.
The opening / closing control device for an opening / closing body according to claim 2.   3. The opening / closing control of the opening / closing body according to claim 1, wherein the control means stops or closes the opening drive of the opening / closing body when there is an obstacle on the semicircle and in the semicircle. apparatus.

Images