JP5381233B2 - Vehicle door opening control device - Google Patents

Description

  The present invention relates to a vehicle door opening degree control device that controls the opening degree of a vehicle door so that the vehicle door does not contact an obstacle.

  Conventionally, for example, as disclosed in Patent Document 1, an ultrasonic sensor unit is provided on a door mirror to prevent a collision between the door and an obstacle.

  Furthermore, as in Patent Document 2, an automatic opening / closing device for a vehicle is also known in which a door inner contact sensor is provided on the inner side of the door to prevent the vehicle from being caught inside the door.

JP 2007-176293 A JP 2005-171573 A

  Here, in the apparatus described in Patent Document 1, since the ultrasonic sensor unit is provided on the door mirror, there is a limit to the area where an obstacle can be detected.

  Moreover, even if a door inner contact sensor is provided on the inner side of the door as in Patent Document 2, a new special sensor is required, and this is the first time an obstacle is noticed after being caught. There is a problem that it cannot be detected until it is actually sandwiched, and it cannot be said that there is sufficient obstacle detection performance.

  The present invention has been made in view of the above-described points, and a single sensor can detect an obstacle that may come into contact with the vehicle door with respect to the inside and the outside of the vehicle door. It aims at providing the vehicle door opening degree control apparatus which becomes possible.

  Descriptions of patent documents listed as prior art can be introduced or incorporated by reference as explanations of technical elements described in this specification.

In order to achieve the above object, the present invention employs the following technical means. That is, in the first aspect of the invention, the laser sensor (11) attached to the upper portion of the vehicle door (30), and the laser light transmitted from the laser sensor (11) through the window glass (31) of the vehicle door (30). A first detection area (40) to be scanned and a second detection area (41) adjacent to the first detection area (40) scanned by the laser light from the laser sensor (11) and having the vehicle door (30) as a boundary . ), And a control means (3) for calculating the measurement distance from the reflection of the laser light and determining the presence or absence of an obstacle.

According to this invention, the laser sensor (11) is provided on the upper portion of the vehicle door (30), and the laser light is transmitted through the window glass (31), so that the single sensor transmits the window glass (31). Obstacles between the first detection area (40) scanned by the laser beam and the second detection area (41) adjacent to the first detection area (40) with the vehicle door (30) as a boundary can be grasped. .

In the invention described in claim 2, the laser sensor (11) is to have a single housing (27), tiltably mounted to the upper car two doors (30), the laser sensor (11) By tilting in two directions, the laser beam is irradiated toward the inside and outside of the window glass (31).

  According to the present invention, the laser beam can be tilted using a single laser sensor (11), so that obstacles inside and outside the window glass (31) can be detected, and the vehicle door (30) can be detected. Collisions with obstacles can be prevented when opening and closing.

  In the third aspect of the present invention, the laser beam can be scanned within a predetermined full scanning angle range, and the detection areas (40 and 41) move as the vehicle door (30) opens and closes. It is characterized by doing.

  According to this invention, even if the scanning range of the laser beam is linear, the laser sensor (11) itself moves with the vehicle door (30) while irradiating the laser beam. In accordance with the closing operation, the obstacle can be detected in the three-dimensional space while moving the detection area (40 and 41) slightly ahead.

  The invention according to claim 4 is characterized in that the laser sensor (11) is attached to the inside of the window glass (31) in the frame above the vehicle door (30).

  According to the present invention, the frame on the upper part of the vehicle door (30) can be firmly attached so as not to interfere with the window glass (31). In addition, the laser sensor (11) can be protected from rainwater.

  In the invention according to claim 5, the laser light from the laser sensor (11) has a predetermined inclination angle (+ φ1 and − in the door closing direction and the door opening direction of the vehicle door (30) with the vehicle window glass (31) as a boundary. φ2), and is characterized by irradiating laser light.

  According to the present invention, obstacles can be detected in the detection areas (40 and 41) ahead of a predetermined amount of movement of the vehicle door (30), and collision between the obstacle and the vehicle door (30) can be prevented.

  In the invention according to claim 6, the laser sensor (11) includes a mirror (21) that scans the laser beam, a motor (20) that drives the mirror (21), and a casing (27) of the laser sensor (11). ) Is provided with a drive mechanism (14, 20b, 20c).

  According to the present invention, the motor (20) that scans the laser light and the drive mechanism that tilts the housing (27) are provided. Therefore, the detection area (40) outside the vehicle door (30) and the inside of the vehicle door (30) Two scanning ranges with the detection area (41) can be set.

  In the invention according to claim 7, the laser beam output through the window glass (31) of the vehicle door (30) is set to have a larger laser beam output than the laser beam that scans the second detection area (41). It is characterized by being.

  According to the present invention, it is possible to detect an obstacle in consideration of the attenuation of the laser light transmitted through the window glass (31).

  In the invention according to claim 8, the control means (3) compares the measured distance obtained from the reflection of the laser beam and the preset distance stored in advance at the scanning angle (θn) of the reflected laser beam. In this way, the presence or absence of an obstacle is determined.

  According to the present invention, an obstacle can be detected in a detection area (40 and 41) in an appropriate range based on a preset distance stored in advance.

  In the invention according to claim 9, the distance from the laser sensor (11) to the window glass (31) is held as data for each scanning angle (θ), and the measured distance ( When X) is substantially equal to the distance (Xg) to the window glass (31), it is determined that there is no obstacle.

  According to the present invention, even if the window glass (31) has dirt that reflects the laser beam, the obstacle can be detected without misidentifying the dirt as an obstacle.

  In the invention according to claim 10, different values of the preset distance (L) stored in advance are read depending on whether the window glass (31) is opened or the window glass (31) is closed. The measurement distance (X) obtained from the reflection of the laser light is compared with the control means (3).

  According to the present invention, an obstacle can be detected in consideration of refraction of laser light by the window glass (31).

  In addition, the code | symbol in the parenthesis as described in a claim and said each means is an example which shows a corresponding relationship with the specific means as described in embodiment mentioned later.

1 is a block diagram illustrating an overall configuration of a vehicle door opening degree control device according to a first embodiment of the present invention. It is a principal part perspective view which shows the attachment position of the laser sensor inside the vehicle door seen from the driver's seat side in the said embodiment. It is a typical block diagram of the laser sensor attached to the flame | frame of the window glass upper part in the said embodiment. It is explanatory drawing which illustrates typically the full scanning angle of the laser sensor which looked at the side surface of the vehicle in the said embodiment from the outer side. It is explanatory drawing which illustrates typically the relationship between the attachment position of the laser sensor which looked at the plane of the vehicle in the said embodiment from upper direction, and a detection area. It is explanatory drawing which shows the relationship of the length of the measurement distance until the laser beam irradiated with each scanning angle from the laser sensor in the said embodiment reflects on an obstruction etc., and the setting distance preset for every said scanning angle. is there. 7 is a table for explaining a rule for determining the presence or absence of an obstacle by comparing a set distance for each scanning angle in FIG. 6 with a distance until reflection by the obstacle or the like. It is a flowchart which shows the main routine of the vehicle door opening degree control process in the said embodiment. It is a flowchart which shows the detail of the obstruction detection process in the said main routine in the said embodiment. It is a typical block diagram of the laser sensor attached to the flame | frame of the window glass upper part in 2nd Embodiment of this invention.

(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing the overall configuration of the vehicle door opening degree control device according to the present embodiment.

  As shown in FIG. 1, the vehicle door opening degree control device mainly opens the vehicle door including an ECU 1 that executes various control processes, various switches 6 to 8 and sensors 9 to 11, and an electric swing door. The door comprises a door opening / closing motor 12 and a latch release motor 13 for closing the door, and an inward / outward motor 14 for switching the laser sensor 11 inward or outward.

  That is, in the first embodiment, the vehicle door is automatically opened and closed using the two types of motors 12 and 13 by the user's switch operation. The size of the laser sensor 11 is approximately 2 to 3 cm square.

  In addition, although the structure for opening and closing one vehicle door automatically is shown in FIG. 1, the vehicle door opening degree control apparatus by this 1st Embodiment is like the vehicle door of a driver's seat, for example, The present invention can be applied only to any vehicle door of the vehicle, can be applied to the vehicle doors of the driver's seat and the passenger seat, or can be applied to all vehicle doors of the vehicle.

  When the vehicle door opening degree control device according to the present embodiment is applied to a plurality of vehicle doors, the configuration shown in FIG. 1 is provided for the plurality of vehicle doors.

  The various switches 6 to 8 in FIG. 1 are provided in the passenger compartment and operated by the user. Among them, the open switch (open SW, the same applies hereinafter) 8 is operated to open the vehicle door. Is done.

  The closing switch 7 is operated to close the opened vehicle door, and the stop switch 6 is operated to stop the opening or closing of the vehicle door. If these switches 6-8 are operated, each operation signal will be output to ECU1.

  The laser sensor 11 is, for example, a window glass on a vehicle door (which is a window. In the present invention, a window glass is not limited to glass, but a window made of synthetic resin is also included in the window glass). The iron plate is attached to the vehicle interior side as shown in FIG.

  FIG. 2 is a perspective view of the main part showing the mounting position of the laser sensor 11 inside the vehicle door 30 as viewed from the driver's seat side. FIG. 3 is a schematic configuration diagram of the laser sensor 11 attached to the frame 32 above the window glass.

  As shown in FIG. 3, a light emitting element (LD) 22 that emits laser light is provided. Then, scanning mechanisms 21, 20, 24, and 25 are provided that change the irradiation direction of the laser light emitted from the light emitting element 22 within a predetermined plane and scan the plane with the laser light.

  Further, the light receiving element (PD) 23 that receives the laser light reflected by the obstacle, and a control circuit (not shown) that calculates the distance to the obstacle from the elapsed time from the irradiation of the laser light to the light reception. When the laser sensor 11 detects an obstacle, the laser sensor 11 outputs the distance to the obstacle to the ECU 1 in FIG.

  The scanning mechanism in the laser sensor 11 includes, for example, a mirror 21 that reflects laser light, a mirror motor 20 that rotates the mirror 21, a first lens 24, and a second lens 25, as shown in FIG.

  The mirror 21 has a substantially columnar shape, and a reflection surface of the laser beam generated by the light emitting element 22 is formed on one end surface thereof, and the laser beam reflected by the obstacle is reflected on the other end surface toward the light receiving element 23. A reflective surface is formed.

  By rotating the mirror 21 around the rotation shaft 20a penetrating both reflection surfaces by the motor 20, a plurality of laser beams can be emitted so as to scan a plane centering on the rotation shaft 20a.

  The first lens 24 is a lens designed so that the laser beam has a beam shape or a predetermined divergence angle. The second lens 25 is a lens for condensing received light. The scanning surface and scanning range of the laser sensor 11 will be described in detail later.

  The scanning mechanism shown in FIG. 2 is an example, and other known configurations may be adopted. For example, a mirror and a drive part of the mirror are also called MEMS (Micro Electro Mechanical Systems; MEMS). Mechanical element parts, sensors, actuators, and electronic circuits are placed on a single silicon substrate, glass substrate, organic material, or the like. It may be formed on a semiconductor substrate by a technique (which refers to an integrated device). A polygon mirror may be used as the mirror.

  The laser sensor 11 is housed in a synthetic resin casing 27, and the casing 27 is pivotally supported on pivots 28 and 29. The pivots 28 and 29 are fitted into the mounting holes of the frame 32 above the window glass 31 of the vehicle door 30 as described above. Therefore, the pivots 28 and 29 are integrated with the frame 32 above the window glass 31 of the vehicle door 30, and the casing 27 can swing around the pivots 28 and 29.

  An inward / outward motor 14 having a motor housing integrated with the housing is provided inside the housing 27. When the pivots 28 and 29 integral with the motor output shaft rotate relative to the motor housing, the pivots 28 and 29 themselves are integral with the mounting hole of the frame 32 on the window glass 31 of the vehicle door 30. Therefore, the housing 27 of the laser sensor 11 swings inward and outward in this mounting hole.

  Thus, since the inward and outward motors 14 need only be rotated in the forward or reverse direction by a slight angle, an ultrasonic motor is used.

  The vehicle speed sensor 10 in FIG. 1 generates a speed signal corresponding to the traveling speed of the vehicle. The opening sensor 9 detects the opening of the vehicle door 30 when the vehicle door 30 is opened, and generates a detection signal. Signals from the vehicle speed sensor 10 and the opening degree sensor 9 are also input to the ECU 1 via the input interface (I / F) 2.

  The ECU 1 includes an input interface (I / F) 2 that receives the operation signals of the switches 6 to 8 and the signals from the sensors 9 to 11, and a CPU 3 that constitutes a control unit that performs various arithmetic processes according to a predetermined program. It consists of a non-volatile memory 4 for storing programs and obstacle detection range data, which will be described later, and a motor driver 5 that outputs drive signals for driving the door opening / closing motor 12, the latch release motor 13, and the inward / outward motor 14. ing.

  Here, operations of the door opening / closing motor 12 and the latch release motor 13 when the vehicle door 30 is automatically opened and closed will be described.

  The latch release motor 13 is installed inside the vehicle door 30 and acts on a latch mechanism (not shown) that holds the vehicle door 30 in the closed position to release the latch mechanism. Thereby, a vehicle door will be in the state which can be opened.

  The door opening / closing motor 12 is also installed inside the vehicle door 30. The door opening / closing motor 12 opens or closes the vehicle door 30 to a set opening (or maximum opening) by driving a door opening / closing mechanism (not shown).

  However, when the stop switch 6 is operated during the opening of the vehicle door 30 or an obstacle that may come into contact with the vehicle door 30 is detected, the opening is less than the set opening. In addition, the opening or closing of the vehicle door 30 by the door opening / closing motor 12 is stopped. In this case, the opening degree of the vehicle door 30 is maintained at the opening degree when the door opening / closing motor 12 is stopped.

  Next, a scanning surface and a scanning range by the laser light emitted from the laser sensor 11 will be described based on the above-described FIG. 2, FIG. 4, and FIG. FIG. 4 is an explanatory diagram schematically illustrating the entire scanning angle θs of the laser sensor 11 when the side surface of the vehicle is viewed from the outside. FIG. 5 is an explanatory diagram schematically illustrating the relationship between the mounting position of the laser sensor 11 and the first and second detection areas 40 and 41 when the plane of the vehicle is viewed from above.

  As shown in FIGS. 2 and 4, the laser sensor 11 attached to the corner of the frame 32 above the window glass 31 of the vehicle door 30 so as to be tiltable toward the vehicle interior side is a surface 31 a of the window glass 31 of the vehicle door 30. (FIG. 2), a plane (laser) shifted by a predetermined inclination angle + φ1 and −φ2 (in this first embodiment, φ1 = φ2 = 5 degrees) in the direction in which the vehicle door 30 is closed and opened. The casing 27 (FIG. 3) of the laser sensor 11 tilts inward and outward so as to scan the scanning surface of the sensor 11 and emits laser light.

  When laser light is emitted from the laser sensor 11 at a predetermined inclination angle −φ2, the laser light passes through the window glass 31 and scans the scanning surface outside the vehicle door 30 linearly. Further, when laser light is emitted from the laser sensor 11 at a predetermined inclination angle + φ1, the laser light scans the scanning surface inside the vehicle door 30 linearly.

  Further, as shown in FIG. 4, the total scanning angle θs (total scanning angle) extends over 120 degrees from the front of the lower end surface of the vehicle door 30 to the upper end surface of the vehicle door. FIG. 4 schematically shows the scan angle, and the laser beam itself can fly out of the sensing range indicated by the arrow to detect an obstacle.

  Here, as shown in FIG. 2, the vehicle door 30 is rotatably supported in an arc shape around support shafts 33 and 34 with respect to the vehicle body side surface of the vehicle. Therefore, when the vehicle door 30 is opened, the rotating peripheral end of the vehicle door 30 moves along the two-dot chain line 36 as shown in FIG. That is, the alternate long and two short dashes line 36 indicates the locus of the rotation peripheral end of the vehicle door 30.

  Accordingly, when the vehicle door 30 moves along the trajectory 36 of the rotation peripheral end portion of the vehicle door 30, the laser sensor 11 also moves while scanning (scanning), and the vehicle door 30 opens and moves outward. The laser sensor 11 passes through the window glass and tilts toward the outside of the vehicle door 30 by a predetermined tilt angle −φ2 and extends over the entire scan angle θs (also referred to as the total scan angle, θs = 120 degrees) in FIG. Laser light is scanned.

  The obstacle detection range is determined by the obstacle detection range data in the memory 4 of FIG. 1 so that the obstacle detection range of the laser sensor 11 is substantially within the detection areas 40 and 41 indicated by the two-dot chain line in FIG. Is set.

  In addition, as described above, as shown in FIG. 5, the vehicle door 30 is configured so that a plane shifted by a predetermined inclination angle + φ1 or −φ2 with respect to the window glass surface of the vehicle door 30 is used as the scanning surface of the laser sensor 11. While the door is being opened or closed, an obstacle can always be detected at a position preceding the vehicle door by a predetermined inclination angle + φ1 or −φ2.

  Therefore, by scanning with the laser beam at the scanning surface and the entire scanning angle (θs = 120 degrees) described above, the vehicle door is substantially entirely outside and inside the vehicle door 30 by the single laser sensor 11. It is possible to detect an obstacle that may come in contact with 30.

  Here, when the laser sensor 11 scans the entire scanning angle 120 degrees shown in FIG. 4 with laser light, the laser light has no possibility of coming into contact with the vehicle body part other than the vehicle door 30, the ground, or the vehicle door 30. In some cases, the reflected light is reflected by an obstacle and the reflected light is received by the laser sensor 11.

  Even if such an obstacle existing outside the movable range of the vehicle door 30 is detected, it is not necessary to limit the opening degree of the vehicle door 30.

  In this regard, in the first embodiment, when an obstacle is detected by the laser sensor 11, it is accurately determined whether the obstacle is present within the movable range of the vehicle door 30 or outside the movable range. Therefore, the obstacle detection range data is stored in advance in the nonvolatile memory 4 (FIG. 1).

  The obstacle detection range data is distance data from the installation position of the laser sensor 11 to the end of the vehicle door 30 at each scanning angle θn (n is an integer) of the laser light as shown in FIGS. (Set distance L).

  FIG. 6 shows the relationship between the measurement distance X until the laser beam irradiated from the laser sensor 11 at each scanning angle is reflected by an obstacle, etc., and the set distance L set in advance for each scanning angle. It is explanatory drawing which shows.

  FIG. 7 is a table for explaining a rule for determining the presence / absence of an obstacle by comparing the set distance L for each scanning angle θ in FIG. 6 with the measurement distance X until reflection by the obstacle or the like. It is.

  The CPU 3 of the ECU 1 in FIG. 1 instructs the scanning angle θ at which the laser light is emitted to the laser sensor 11. When the laser beam is emitted at the instructed scanning angle θ, when the reflected light from the obstacle is received, the measurement distance X to the obstacle is calculated and output to the ECU 1.

  The ECU 1 extracts the set distance L from the stored obstacle detection range data to the end of the corresponding vehicle door 30 based on the scanning angle θ of the laser light emitted from the laser sensor 11. Then, the measurement distance X to the obstacle actually detected by the laser sensor 11 is compared with the extracted set distance L in the CPU 3.

  According to this comparison, if the actual measurement distance X is shorter than the set distance L (X ≦ L), the obstacle basically exists within the movable range of the vehicle door 30 and may contact the vehicle door 30. It can be judged.

  On the other hand, if the actual measurement distance X is longer than the set distance L (X> L), the obstacle exists outside the movable range of the vehicle door 30 and has any effect when the vehicle door 30 is opened or closed. It can be judged that it is not a thing.

  An example of determining whether or not an obstacle exists in the movable range outside the vehicle door 30 using the obstacle detection range data described above is shown in FIGS. 6 and 7, for example, the measurement distances X1 to X3 to the obstacle are calculated at the scanning angles θ1 to θ3, and the measurement distances X1 to X3 and the respective scanning angles θ1 to θ3 are stored. The example which compared setting distance L1-L3 is shown.

  At this time, the set distances L1 to L3 are distances from the installation position of the laser sensor 11 to the end of the vehicle door 30 at the scanning angles θ1 to θ3 of the respective laser beams, as shown in FIG.

  In the example of FIGS. 6 and 7, the measurement distances X1 and X3 to the obstacle detected at the scanning angles θ1 and θ3 are compared with the set distances L1 and L3. As a result, the measurement distances X1 and X3 to the obstacle are set. It is determined that the distance is longer than the distances L1 and L3.

  As a result, at the scanning angles θ1 and θ3, it is determined that there is no obstacle that may come into contact with the vehicle door 30, as shown in FIG. On the other hand, the measured distance X2 to the obstacle detected at the scanning angle θ2 is determined to be substantially shorter than the set distance L2 as a result of comparison with the set distance L2 (X2 ≦ L2). ).

  For this reason, as shown in FIG. 7, it is determined that there is an obstacle that may come into contact with the vehicle door 30 at the scanning angle θ2.

  When the window glass 31 is considerably dirty, the distance X4 from the laser sensor 11 to the window glass dirt at the angle θ in FIGS. 6 and 7 is compared with the set distance L4. Is determined to be shorter than the set distance L4. However, in this case, it is determined that the window glass 31 is dirty, assuming that X4 is substantially equal to the distance Xg from the laser sensor 11 to the window glass 31.

  Next, the vehicle door opening degree control process executed in the ECU 1 will be described with reference to the flowcharts of FIGS. The flowchart of FIG. 8 shows the main routine of the vehicle door opening degree control process, and the flowchart of FIG. 9 shows the details of the obstacle detection process in the main routine.

  In step S100 of the flowchart of FIG. 8, it is determined whether or not the open switch 8 of FIG. 1 is turned on by the vehicle occupant. If it is determined that the open switch 8 is turned on, the process proceeds to step S101. If the vehicle speed is not 0 km / hour, the process returns to step S100.

  Next, when a vehicle speed is 0 km / hour, it progresses to step S105 and the opening degree of the window glass 31 is detected. That is, it is determined from the signal from the power window device whether the window glass 31 is fully opened, fully closed, or partially opened. When the window glass 31 is fully opened, the flag Fo is set and the window glass 31 is fully closed. At this time, the flag Fc is set. Further, when it is opened halfway, the flag Foc is set.

  Next, the process proceeds to step S110a, and the direction of the laser sensor 11 is set to the outside of the door. That is, the inward / outward motor 14 in FIG. 3 is rotated forward to scan a plane (scanning surface of the laser sensor 11) shifted by a predetermined inclination angle −φ2 in the direction in which the vehicle door 30 in FIG. 2 is opened. The housing 27 of the laser sensor 11 of FIG. 3 is tilted outward to prepare for emitting laser light.

  In step S111a, the obstacle detection range data is read in order to set the detection area 40 of FIG. The obstacle detection range data for setting the detection area 40 is stored in advance in the memory 4 of FIG. 1 according to the size of the vehicle door 30 and the outer shape of the vehicle door 30 (including the window glass 31). 7, the information partially shown in the table of FIG. 7 and the information of the laser output, the set distance L (L1 to Ln) and each angle θ with respect to the angle θ (θ1 to θn) of FIG. The distance Xg to the window glass 31 and the laser output are read.

  The set distance L (L1 to Ln) and the laser output with respect to the angle θ (θ1 to θn) are fully closed when the window glass is fully opened (when the flag Fo is set) in step S105 of FIG. In step S111a, a different value is read at the time of (when the flag Fc is set).

  This is because the refraction of the laser light at the window glass 31 is taken into consideration. When the window glass 31 is fully opened, the distance from the laser sensor 11 to the window glass 31 is not read. When the window glass 31 is opened halfway (when the flag Foc is set), the set distance L (L1 to Ln) with respect to the angle θ (θ1 to θn) of FIG. The distance Xg from the laser sensor 11 to the window glass 31 and the magnitude of the laser output for each angle θ are read.

  Next, in step S130a of FIG. 8, an outer obstacle detection process is performed. Specifically, this processing is performed at each step shown in FIG. In FIG. 9, in step S210, the scanning angle θn is set to a value (0 °) corresponding to the start position of the scanning range.

  In step S220, it is determined whether or not the scanning angle θn has reached an upper limit angle corresponding to the end position of the scanning range of the laser beam. If it is determined in step S220 that the upper limit angle has been reached, the scanning angle θn is reset to a value (0 °) corresponding to the start position of the laser beam scanning range in step S230.

  In step S240, the laser sensor 11 is instructed to emit laser light at the set scanning angle θn at the magnitude of the laser output read in step S111a. When the laser sensor 11 receives the reflected light with respect to the emitted laser light, the laser sensor 11 calculates the distance to the obstacle based on the difference between the light receiving and emitting times of the laser light in step S240.

  In step S240, when the reflected light of the laser beam is not received within the specified time, the distance Xn determined to be longer than the set distance Ln is output.

  In step S250, the magnitude relationship between the measurement distance Xn to the obstacle and the set distance Ln is determined. In the determination process of step S250, if it is determined that the measurement distance Xn to the obstacle is greater than the set distance Ln (Xn> Ln), the obstacle is not present within the movable range of the vehicle door 30 (no obstacle). Since it can be considered, it progresses to the process of step S260.

  In step S260, the scanning angle θn is updated by increasing the scanning angle θn by a predetermined step angle θx.

  Then, returning to the process of step S220, the laser beam is emitted from the laser sensor 11 at the updated scanning angle θn or the reset scanning angle θn.

  On the other hand, in step S250, it is determined that the measurement distance Xn to the obstacle is equal to or less than the set distance Ln (Xn ≦ Ln), and in step S270, the scanning angle θn is less than 120 degrees and the window glass 31 is reached. When the distance Xg is not equal to the measurement distance Xn, that is, when Xg ≠ Xn, it is determined that “there is an obstacle” and the process proceeds to step S170 in FIG.

  In step S170, the door opening / closing motor 12 of FIG. 1 is stopped to stop the opening of the vehicle door 30 and the opening degree of the vehicle door 30 is maintained.

  In step S250, it is determined that the measurement distance Xn to the obstacle is smaller than the set distance Ln (Xn ≦ Ln), and in step S270, the scanning angle θn is 120 degrees, or the distance to the window glass 31. When Xg is equal to the measurement distance Xn (when θn = 120 degrees or Xg = Xn), it is determined that there is no obstacle, and the process proceeds to step S135a in FIG.

  That is, the process proceeds to step S270, and if it is determined that there is an obstacle that may come into contact with the vehicle door 30, the stopping operation of the vehicle door 30 is performed in step S170. If it is determined that “no obstacle”, the process proceeds to step S135a.

  In step S135a, it is determined whether the user has performed a door stop operation or not. And when a user's door stop operation is performed, it progresses to step S170 and the stop operation of the vehicle door 30 is performed. When the user's door stop operation is not performed, the process proceeds to step S137a and the door opening operation is performed.

  At this time, a drive signal is output from the motor driver 5 of FIG. 1 to the door opening / closing motor 12 and the latch release motor 13 to start opening the vehicle door 30. Next, in step S140a, it is determined whether the vehicle door 30 has fully opened or has reached the stop setting position.

  That is, in this step S140a, it is determined whether or not the opening degree of the vehicle door 30 has reached a set (maximum) opening degree when the vehicle door 30 is automatically opened or a preset stop setting position in FIG. The determination is made based on the detection signal of the opening sensor 9.

  If it is determined in the determination process of step S140a that the opening degree of the vehicle door 30 has reached the fully open position or a preset stop setting position, the process proceeds to step S170, and a door stop operation is performed. .

  In step S140a, if the door has not fully opened or reached the stop setting position, the process returns to step S130a and the outer obstacle detection process is repeated.

  As described above, when the vehicle speed is not 0 km / hour in step S101, the process returns to step S100. That is, if the vehicle speed does not become zero, the process does not proceed to step 105 and the subsequent steps.

  As described above, by repeatedly executing the processing from step S130a to step S140a, the detection of the outer obstacle with respect to the outside of the vehicle door 30 is continuously executed while the vehicle door 30 is opened.

  If the closed switch 7 in FIG. 1 is turned on in step S100 in FIG. 8, the processes in steps S110b, S111b, S130b, S135b, S137b, S140b, and S170 are performed in the same manner as described above, and the inside of the vehicle door 30 is Detection of inner obstacles for is performed.

  This will be described below. In step S100 of the flowchart of FIG. 8, it is determined whether or not the closed switch 7 of FIG. 1 is turned on by the vehicle occupant. If it is determined that the close switch 7 is turned on, the process proceeds to step S110b, and the direction of the laser sensor 11 is set to the inside of the door.

  That is, the inward / outward motor 14 in FIG. 3 is reversely rotated so as to scan a plane (scanning surface of the laser sensor 11) shifted by a predetermined inclination angle + φ1 in the direction in which the vehicle door 30 in FIG. 2 is closed. The housing 27 of the laser sensor 11 is tilted inward to prepare for emitting laser light.

  In step S111b, the obstacle detection range data is read in order to set the detection area 41 in FIG. The obstacle detection range data for setting the detection area 41 is stored in advance in the memory 4 of FIG. 1 according to the size of the vehicle door 30 and the outer shape of the vehicle door 30 (including the window glass 31). The information is the same as the information partially shown in the table of FIG. 7 and the laser output information. Unlike FIG. 7, the dirt on the window glass 31 is irrelevant. Further, the refraction of the window glass 31 is not related.

  Next, an inner obstacle detection process is performed in step S130b of FIG. Specifically, this process is performed in steps similar to the steps described in FIG. In FIG. 9, in step S210, the scanning angle θn is set to a value (0 °) corresponding to the start position of the scanning range.

  In step S220, it is determined whether or not the scanning angle θn has reached an upper limit angle of 120 degrees corresponding to the end position of the laser beam scanning range. If it is determined in step S220 that the upper limit angle of 120 degrees has been reached, the scanning angle θn is reset to a value (0 °) corresponding to the start position of the laser beam scanning range in step S230. To do.

  In step S240, the laser sensor 11 is instructed to emit laser light at the set scanning angle θn with the magnitude of the laser output read in step S111b.

  When the laser sensor 11 receives the reflected light with respect to the emitted laser light, the laser sensor 11 calculates the distance to the obstacle based on the difference between the light receiving and emitting times of the laser light in step S240. In step S240, when the reflected light of the laser beam is not received within the specified time, the distance Xn determined to be longer than the set distance Ln is output.

  In step S250, the magnitude relationship between the distance Xn to the obstacle and the set distance Ln is determined. In the determination process of step S250, if it is determined that the distance Xn to the obstacle is larger than the set distance Ln (Xn> Ln), the obstacle can be regarded as not existing in the movable range of the vehicle door 30 (no obstacle). Thus, the process proceeds to step S260.

  In step S260, the scanning angle θn is updated by increasing the scanning angle θn by a predetermined step angle θx.

  Then, the process returns to step S220, and laser light is emitted from the laser sensor 11 at step S240 at the updated scanning angle θn or the reset scanning angle θn.

  If it is determined in step S250 that the measurement distance Xn to the obstacle is equal to or less than the set distance Ln (Xn ≦ Ln) and the scanning angle θn is less than 120 degrees in step S270, “There is an obstacle”. The determination is made, and the process proceeds to step S170 in FIG.

  In step S170, the door opening / closing motor 12 of FIG. 1 is stopped to stop the closing of the vehicle door 30, and the opening degree of the vehicle door 30 is maintained.

  In step S250, when it is determined that the measured distance Xn to the obstacle is substantially smaller than the set distance Ln (Xn ≦ Ln) and the scanning angle θn is 120 degrees in step S270, the “obstacle” No ”is determined, and the process proceeds to step S135b in FIG.

  Thus, the process proceeds to step S270, and if it is determined that there is an obstacle that may come into contact with the vehicle door 30, the stopping operation of the vehicle door 30 is performed in step S170. If it is determined that there is no obstacle, the process proceeds to step S135b in FIG.

  In step S135b, it is determined whether the user has performed a door stop operation or not. And when a user's door stop operation is performed, it progresses to step S170 and the stop operation of the vehicle door 30 is performed.

  If the user's door stop operation is not performed, the process proceeds to step S137b, and the door closing operation is performed. At this time, a drive signal is output from the motor driver 5 of FIG. 1 to the door opening / closing motor 12 to start closing of the vehicle door 30.

  Next, in step S140b, it is determined whether or not the vehicle door 31 has reached the fully closed or stop set position. That is, in this step S140b, it is determined whether or not the opening degree of the vehicle door 30 has reached the set (minimum) opening degree for automatically closing the vehicle door 30 or the preset stop setting position. Determination is made based on the detection signal of the degree sensor 11.

  If it is determined in step S140b that the opening degree of the vehicle door 30 is fully closed, the process proceeds to step S170, and a door stop operation is performed. If the door is not fully closed in step S140b, the process returns to step S130b and the inner obstacle detection process is repeated.

  Thus, by repeatedly executing the processing from step S130b to step S140b, the detection of the inner obstacle with respect to the inside of the vehicle door 30 is continuously executed while the vehicle door 30 is closed.

  According to the first embodiment, the laser beam from the laser sensor 11 is two-dimensionally scanned, and further, an object that becomes an obstacle is detected using the property that the laser beam passes through the window glass 31, and the object is detected. By calculating the distance, it is possible to establish the outer obstacle detection and the prevention of the vehicle door from being caught.

  Further, the single laser sensor 11 can detect an obstacle on the outside of the vehicle door 30 formed of a swing door and an internal pinch detection. Further, when the window glass 31 is open, the window glass portion Even if there is an object in the window, it can be detected, so that it can also serve as a function of preventing the window glass 31 from being caught.

(Second Embodiment)
Next, a second embodiment of the present invention will be described. In the following embodiments, the same components as those in the first embodiment described above are denoted by the same reference numerals, description thereof will be omitted, and different configurations and features will be described. FIG. 10 is a schematic configuration diagram of a laser sensor attached to the frame above the window glass in the second embodiment of the present invention.

  In the first embodiment, the laser sensor 11 switches the inclination of the synthetic resin casing 27 by the inward / outward motor 14 in FIG. 3, but the mirror 21 constituting the scanning mechanism as shown in FIG. The motor 20 that rotates the motor 20 is rotated forward or backward, and the torque of the motor is relatively measured between the housing 27 to which the motor 20 is fixed and the pivots 28 and 29 via bevel gear-shaped electromagnetic couplings 20b and 20c. It may be rotated by a predetermined rotation angle.

  That is, the forward rotation of the motor 20 causes the laser sensor 11 to incline outwardly as shown by the angle −φ2 of the housing 27 with the pivots 28 and 29 as pivot axes.

  On the other hand, the reverse rotation of the motor 20 causes the laser sensor 11 to tilt inward as shown by the angle + φ1 in FIG. Such a torque transmission mechanism can also be configured using a bevel gear and a sliding clutch.

(Other embodiments)
The present invention is not limited to the above-described embodiments, and can be modified or expanded as follows. For example, in the first embodiment described above, when it is determined that “there is an obstacle” in step S130a of FIG. 8, the process immediately proceeds to step S170, but is determined as “there is an obstacle” in the determination process of step S130a. In this case, the door stop operation may not be performed immediately in step S170, and the process may proceed to step S170a indicated by a broken line.

  In step S170a, even after the obstacle is detected, the door opening / closing motor 12 (FIG. 1) continues to be driven, and the door opening / closing motor 12 performs a predetermined swing from the opening degree of the vehicle door 30 when the obstacle is detected. The opening degree of the vehicle door 30 is increased by an angle less than the angle.

  As a result, the vehicle door 30 can be opened as much as possible within a range in which the vehicle door 30 does not come into contact with an obstacle, so that the convenience of the vehicle occupant can be improved.

  However, when an obstacle is detected when the vehicle door 30 is substantially closed immediately after the vehicle door 30 is opened, the vehicle door 30 is simply latched by the latch release motor 13 (FIG. 1). It is preferable not to increase the opening degree of the vehicle door 30 beyond the mechanism release (the vehicle door 30 is in a half-door state).

  This is because when the vehicle door 30 is substantially closed, that is, when an obstacle is detected immediately after the laser sensor 11 starts detecting the obstacle, the vehicle door 30 and the obstacle are accurately detected. This is because an accurate measurement distance cannot be obtained. However, if the vehicle door 30 does not open at all, it may be mistaken for a failure of the vehicle door 30, so it is preferable to release the latch mechanism by the latch release motor 13.

  Moreover, in the said 1st Embodiment, although the value of the setting distance L recorded beforehand was changed with the case where the window glass 31 is open | released, and the case where it is closed, this is set as the value of the same setting distance L. Also good.

  Further, the output of the laser beam that scans the outside of the window glass 31 and the output of the laser beam that scans the inside of the window Dallas 31 may be the same. Furthermore, the laser sensor 11 may be attached to the outside of the window glass 31 and detect an obstacle in the detection area 41 inside the vehicle door 30 via the window glass 31.

1 ECU
6 Stop switch 7 Close switch 8 Open switch 9 Opening sensor 10 Vehicle speed sensor 11 Laser sensor 12 Door open / close motor 13 Latch release motor 14 Inward and outward motors 14, 20b, 20c Drive mechanism 20 Mirror drive motor 27 Laser sensor housing Body 28 and 29 Axis 30 Vehicle door 31 Window glass 32 Frame of vehicle door + φ1 and −φ2 Predetermined inclination angle θs Full scanning angles θ1, θ2, θ3, θ4, θ, θn Scanning angles L1, L2, L3, L4, L, Ln Set distance Xg Distance from laser sensor to window glass X1, X2, X3, X4, X, Xn Measurement distance to obstacle

Claims (10)

A laser sensor (11) mounted on the top of the vehicle door (30);
A first detection area (40) scanned by laser light transmitted from the laser sensor (11) through the window glass (31) of the vehicle door (30);
A second detection area (41) that is scanned by a laser beam from the laser sensor (11) and is adjacent to the first detection area (40) with the vehicle door (30) as a boundary ; and from the reflection of the laser beam A vehicle door opening degree control device comprising control means (3) for calculating a measurement distance and determining the presence or absence of an obstacle. The laser sensor (11) has a single housing (27), is provided so as to be tiltable with respect to the upper portion of the vehicle door (30), and tilts the laser sensor (11) in two directions. The vehicle door opening control device according to claim 1, wherein the laser beam is irradiated toward the inside and outside of the window glass (31).   The laser beam can be scanned within a predetermined full scanning angle range, and the detection areas (40 and 41) move as the vehicle door (30) is opened and closed. The vehicle door opening degree control device according to claim 1 or 2.   4. The vehicle door according to claim 1, wherein the laser sensor (11) is attached to the inside of the window glass (31) in a frame at the top of the vehicle door (30). Opening control device.   The laser light from the laser sensor (11) is at a predetermined inclination angle (+ φ1 and −φ2) in the door closing direction and the door opening direction of the vehicle door (30) with the vehicle window glass (31) as a boundary. The vehicle door opening degree control device according to any one of claims 1 to 4, wherein   The laser sensor (11) includes a mirror (21) that scans a laser beam, a motor (20) that drives the mirror (21), and a drive mechanism that tilts the casing (27) of the laser sensor (11). (14, 20b, 20c) The vehicle door opening degree control apparatus of Claim 2 characterized by the above-mentioned.   The laser beam transmitted through the window glass (31) of the vehicle door (30) is set to have a larger laser beam output than the laser beam that scans the second detection area (41). The vehicle door opening degree control device according to any one of claims 1 to 6.   The control means (3) compares the measurement distance obtained from the reflection of the laser beam with the preset distance stored in advance at the scanning angle (θn) of the reflected laser beam, thereby The vehicle door opening degree control device according to any one of claims 1 to 7, wherein presence or absence is determined.   The distance (Xg) from the laser sensor (11) to the window glass (31) is held as data for each scanning angle (θ), and the measured distance (X ) Is substantially equal to the distance (Xg) to the window glass (31), the vehicle door opening degree control device according to claim 8, wherein it is determined that there is no obstacle.   The preset distance (L) stored in advance is read different values depending on whether the window glass (31) is opened or the window glass (31) is closed. 10. The vehicle door opening degree control device according to claim 8, wherein the measured distance (X) obtained from reflection is compared with the control means (3).

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