JP6520382B2 - Door opening / closing control device and door opening / closing control method - Google Patents

Description

  The present invention relates to a door opening and closing control device and a door opening and closing control method for controlling the opening and closing of a door provided in a vehicle body.

  For example, in a vehicle such as a bus, a door on which a person can get on / off is provided on the side of the vehicle or the like. In particular, in a one-man bus operated only by the driver, the door is configured to be opened and closed by operating the open / close switch provided around the driver's seat or the like by the driver or the like.

  Such a door is configured not to open during traveling for the sake of safety. However, for example, when the vehicle decelerates from the traveling state and then stops, an operation to open the door during deceleration is performed in advance, and by opening the door at the same time as stopping, there is a demand for the vehicle to operate smoothly. It is made from the driver etc.

  In order to satisfy such a request, for example, in Patent Document 1, the change lever signal is P (parking) or N (neutral), the parking brake signal is on, or the brake pedal signal is on. There is disclosed a technology in which the door can be opened and closed when the vehicle speed is less than 3 km / h.

Japanese Patent Application Laid-Open No. 2002-188362

  By the way, as a general driving operation of a vehicle, there is an operation of stepping on a brake pedal from a traveling state, decelerating and stopping. Under the present circumstances, in order to ease the shock accompanying a stop, after weakening a brake once just before a stop, operation of pressing on a brake pedal again and stopping completely may be performed.

  Here, for example, in the technology disclosed in Patent Document 1, the vehicle speed satisfies the condition (less than 3 km / h) when both the opening and closing operation of the door and the operation for weakening the brake are performed just before stopping. However, the condition that the door can be opened and closed can not be satisfied. This is because the change lever is not in P or N but in a drivable gear because the vehicle is decelerating from the traveling state, the parking brake is released, and the brake pedal signal is also turned off. Therefore, in the technology disclosed in Patent Document 1, even if the driver performs the door opening operation just before stopping, the condition is not satisfied and the door can not be opened and closed, and the door opening operation that should have been performed is performed. It may happen that it is canceled.

  The object of the present invention is to operate the vehicle smoothly without canceling the reception of the door opening / closing operation made just before the stop, even if the brake is turned off just before the stop to avoid such a situation. It is providing the door opening / closing control apparatus and the door opening / closing control method which can be made to be.

  The door opening and closing control device according to the present invention includes an opening and closing operation receiving unit that receives a door opening and closing operation for opening and closing a door of a vehicle, a vehicle speed sensor that detects a current vehicle speed of the vehicle, and a brake operation detection unit that detects a brake operation. When the vehicle speed detected by the vehicle speed sensor exceeds the first speed, transition to the door open / close prohibited state where the door opening / closing operation for the opening / closing operation receiving unit is not received, and the vehicle speed is smaller than the first speed In the first process of transitioning to the door opening / closing operation receiving state for receiving the door opening / closing operation, and when the door opening / closing operation receiving state is transitioned in the first process, the door opening / closing operation is When the vehicle speed is smaller than the second speed smaller than the first speed and the brake operation detection unit detects a brake operation, the door operation is performed according to the door opening / closing operation. Having a control unit for executing a second processing for opening and closing the Kitobira, and the.

  The door opening / closing control method according to the present invention may include a first determination step of determining whether a vehicle speed, which is the speed of the vehicle, exceeds a first speed, and the vehicle speed may exceed the first speed. Transitioning to a door open / close prohibited state not accepting a door open / close operation for opening / closing the door of the vehicle, and transitioning to a door open / close operation acceptance state accepting a door open / close operation when the vehicle speed is smaller than the first speed When the door opening / closing operation is performed in the transition step, when the door opening / closing operation is performed, the vehicle speed is smaller than a second speed smaller than the first speed, and the brake operation detection unit And an opening / closing step of opening / closing the door according to the door opening / closing operation when an operation is detected.

  According to the present invention, even if there is an operation to turn off the brake just before stopping, the reception of the door opening / closing operation made just before stopping can not be canceled and the vehicle can be operated smoothly.

A diagram showing an example of the configuration of a door opening / closing control device Flowchart for explaining the process of determining the reception state of the door opening / closing operation After changing to the door opening / closing operation acceptance state, a flowchart for explaining processing for accepting the door opening / closing operation and opening / closing the door according to the door opening / closing operation

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing an example of the configuration of the door opening / closing control device 100 according to the present embodiment. The door opening and closing control device 100 is provided, for example, on a bus or the like that can open and close the door by the operation of the driver.

  FIG. 1 is a view showing an example of the configuration of a door opening / closing control device 100 according to the present invention. As shown in FIG. 1, the door opening / closing control device 100 includes a door 1, a door opening / closing mechanism 2, a door opening / closing switch 3 (opening / closing operation reception unit), a vehicle speed sensor 4, a brake operation detection unit 5, and a control unit 6.

  The door 1 is a door for getting on and off personnel provided on a side surface or the like of a vehicle such as a bus. For the door 1, for example, various types of doors such as a sliding door type, a folding door type, a single opening type, and a swing out type can be adopted.

  The door opening and closing mechanism 2 opens and closes the door 1 by, for example, air pressure, oil pressure, a motor, or the like according to the control of the control unit 6. For example, in the case of the door opening / closing mechanism 2 using air pressure, specifically, when the control unit 6 requests the opening operation or closing operation of the door 1 according to the operation of the door opening / closing switch 3 described later, The door opening / closing mechanism 2 performs opening operation or closing operation of the door 1 by supplying or exhausting compressed air.

  The door opening / closing switch 3 is provided, for example, around the driver's seat of the vehicle, and is a switch for outputting an opening / closing instruction of the door 1 to the door opening / closing mechanism 2 according to the operation of the driver. The door open / close switch 3 is formed of, for example, a toggle switch, and can switch between the “open” side and the “close” side. When the door open / close switch 3 is operated to open or close, the control unit 6 detects this and controls the door open / close mechanism 2 to perform the open operation or close operation of the door 1 according to the operation. .

  The vehicle speed sensor 4 is a sensor that detects the speed of the vehicle. The vehicle speed sensor 4 is attached to, for example, an axle (shaft) connected to the wheel of the vehicle, and detects the vehicle speed by measuring the number of revolutions per hour of the wheel.

  The brake operation detection unit 5 detects a brake operation by a driver of the vehicle. In the present embodiment, the brake operation means, for example, that a driver does not step on a brake pedal (not shown), and more specifically, a pressure greater than a predetermined strength (for example, 70 kPa) is applied to the brake pedal. It means that.

  According to the condition of the vehicle, the control unit 6 determines whether or not to accept the opening / closing operation of the door 1 with respect to the door opening / closing switch 3 described above, and controls the above-described respective configurations based on the determination result. The door 1 is opened and closed. Hereinafter, the details of the door opening / closing operation acceptance determination process of determining whether the control unit 6 receives the opening / closing operation of the door 1 will be described.

  FIG. 2 and FIG. 3 are flowcharts for explaining the door open / close operation acceptance determination process in the door open / close control device 100 of the present embodiment. First, among the door opening / closing operation acceptance determination processing, processing for determining the reception state of the door opening / closing operation will be described with reference to FIG.

  In the door opening / closing operation acceptance determination process described below, the control unit 6 always causes the vehicle speed sensor 4 to detect the speed of the vehicle, that is, the vehicle speed.

  In step S1, the control unit 6 determines whether the vehicle speed is equal to or less than the first speed. In the door opening and closing control device 100 of the present embodiment, this first speed is, for example, 5 km / h. If it is determined that the vehicle speed is 5 km / h or less, the process proceeds to step S2, and if it is determined that the vehicle speed exceeds 5 km / h, the process proceeds to step S3.

  In the door opening / closing control device 100 according to the present embodiment, the first speed serving as the reference of this determination is the notification of the Ministry of Land, Infrastructure, Transport and Tourism of "details of security standard of road transport vehicle [2007.07.07] Appendix 106 (structural requirements for one-man-bass) ”. Specifically, 3.5.1.2.2. It is set to 5 km / h based on the item of Chapter “The opening and closing mechanism of the rear door does not operate when the speed exceeds 5 km / h”.

  When it is determined in step S1 that the vehicle speed is 5 km / h or less, in step S2, the control unit 6 transitions to the door open / close operation acceptance state. In the door opening / closing operation reception state, an operation for opening / closing the door 1 with respect to the door opening / closing switch 3 is received.

  On the other hand, when it is determined in step S1 that the vehicle speed exceeds 5 km / h, in step S3, the control unit 6 shifts to the door open / close prohibited state. In the door open / closed state, even if the door open / close operation is performed on the door open / close switch 3, the open / close operation itself is not received, and as a result, the door open / close is prohibited. When the control unit 6 transitions to the door open / closed state, the flow returns to step S1.

  In the above description of step S2, the control unit 6 is described as transitioning to the door opening / closing operation reception state, but if the door opening / closing operation reception state is originally performed, the state may be held. Also in step S3, when the control unit 6 is originally in the door open / close prohibited state, the state may be held.

  As described above, in the door opening / closing control device 100 according to the present embodiment, the control unit 6 always shifts to either the door opening / closing operation acceptance state or the door opening / closing prohibited state based on the determination result of the vehicle speed. And if it does not shift to the door opening / closing operation reception state, the door opening / closing operation to the opening / closing switch 3 is not received.

  Next, a process after transitioning to the door opening / closing operation reception state, that is, a process for receiving the door opening / closing operation and opening / closing the door 1 according to the door opening / closing operation will be described with reference to FIG.

  First, in step S4, the control unit 6 determines whether the door open / close switch 3 has been opened or closed. As a result of the determination, when it is determined that the opening and closing operation has been performed, the flow proceeds to step S5, and when the opening and closing operation is not performed, the present step S4 is repeated. In addition, although it was described that this step S4 is repeated when the opening and closing operation is not performed, if the vehicle speed exceeds 5 km / h during this repetition, the control unit 6 shifts to the door opening and closing prohibited state. That is, in that case, the flow returns to step S3 shown in FIG.

  In step S5, the control unit 6 receives the opening / closing operation of the door 1 performed in step S4. In addition, in this step S5, the control part 6 only receives opening-and-closing operation of the door 1, and does not necessarily open and close the door 1 actually. The control unit 6 actually outputs the door open / close instruction to the door open / close mechanism 2 in step S8 described later.

  Next, after the process of step S5, in step S6, the control unit 6 determines whether the vehicle speed is equal to or less than a second speed. Here, the second velocity is a value smaller than the first velocity described above. In the present embodiment, this second velocity is, for example, 2 km / h. When the vehicle speed is 2 km / h or less, the flow proceeds to step S7, and when the vehicle speed exceeds 2 km / h, the flow proceeds to step S9.

  In step S6, the second speed is a speed smaller than the first speed, 5 km / h, and is 2 km / h, which is a speed just before stopping. However, the second speed does not necessarily have to be 2 km / h, and is a speed immediately before stopping, and a speed that is expected to take about the same time as opening and closing of door 1 before stopping. The speed can be appropriately set to a speed smaller than 1 speed.

  When it is determined in step S6 that the vehicle speed is 2 km / h or less, in step S7, the control unit 6 determines whether the brake operation detection unit 5 detects a brake operation. If it is determined that the brake operation is detected, the flow proceeds to step S8, and if not, the flow proceeds to step S9.

  When it is determined in step S7 that the brake operation is detected, in step S8, the control unit 6 outputs an instruction to open / close the door 1 to the door opening / closing mechanism 2 according to the opening / closing operation performed in step S4.

  When it is determined in step S6 that the vehicle speed exceeds 2 km / h, and when it is determined that the brake operation is not detected in step S7, in step S9, the control unit 6 determines whether the vehicle speed exceeds 5 km / h It judges whether or not. If it is determined that the vehicle speed exceeds 5 km / h, the flow proceeds to step S10, and if not, returns to step S6.

  If it is determined in step S9 that the vehicle speed has exceeded 5 km / h, in step S10, the control unit cancels the reception of the door opening / closing operation performed in step S4, and returns to step S3 shown in FIG.

  The door open / close operation acceptance determination process in the door open / close control device 100 according to the present embodiment has been described above. As described above, the door open / close operation acceptance determination process executed by the control unit 6 of the door open / close control device 100 receives the process of determining the door open / close operation acceptance state and the door open / close operation. The processing of opening and closing 1 is performed independently of each other.

  As described above, according to the door opening and closing control device 100 of the present embodiment, the control unit 6 does not receive the door opening and closing operation for the opening and closing switch when the vehicle speed exceeds 5 km / h (first speed). In the first process of transitioning to the door opening / closing operation receiving state when transitioning to the door opening / closing prohibited state and the vehicle speed is 5 km / h or less, the door opening / closing operation receiving state in the first process At the time of transition, when the door opening / closing operation is performed on the opening / closing switch, the vehicle speed is smaller than a predetermined 2 km / h (second speed) smaller than 5 km / h, and the brake operation detection unit In this case, a second process of causing the door opening and closing mechanism to open and close the door in accordance with the performed door opening and closing operation is performed.

  With such a configuration, according to the door opening and closing control device 100 of the present embodiment, the brakes are temporarily weakened or turned off just before stopping to completely depress the brake pedal again. Even if the operation of stopping and the door opening / closing operation just before stopping are performed, the vehicle opening / closing operation is not performed but the vehicle opening / closing operation is not performed while the vehicle opening speed is 5 km / h to 2 km / h. Is 2 km / h or less and the door 1 is opened or closed according to the door open / close operation received when the brake operation is performed. Therefore, in the door opening / closing control device 100 according to the present embodiment, even if the brake operation is off between 5 km / h and 2 km / h, the door opening / closing operation performed at the same timing is accepted. Can. And when decelerating more, the door 1 can be opened and closed according to the door opening and closing operation.

  For this reason, in the door opening / closing control device 100 according to the present embodiment, when the vehicle speed exceeds the first speed, the door opening / closing operation itself is not received, thereby enhancing the safety. When the vehicle speed is between 5 km / h and 2 km / h, the door opening / closing operation is only accepted even if the brake operation is off, the vehicle speed becomes 2 km / h or less, and the brake operation is performed. In order to actually start the opening and closing of the door 1 when the vehicle stops, the opening and closing of the door 1 can be completed. Thereby, the convenience at the time of operation of a vehicle improves.

  The present invention is suitable for a door opening and closing control device that controls the opening and closing of a door provided in a vehicle body.

100 door open / close control device 1 door 2 door open / close mechanism 3 door open / close switch 4 vehicle speed sensor 5 brake operation detection unit 6 control unit

Claims (3)

An opening / closing operation receiving unit that receives a door opening / closing operation for opening / closing a vehicle door;
A vehicle speed sensor that detects the current vehicle speed of the vehicle;
A brake operation detection unit that detects a brake operation;
When the vehicle speed detected by the vehicle speed sensor exceeds the first speed, transition to the door open / close prohibited state where the door opening / closing operation for the opening / closing operation receiving unit is not received, and the vehicle speed is smaller than the first speed The first process of transitioning to the door opening / closing operation receiving state for receiving the door opening / closing operation and the door opening / closing operation is performed on the opening / closing operation receiving unit when transitioning to the door opening / closing operation reception state in the first process If the vehicle speed is smaller than a second speed lower than the first speed and the brake operation detection unit detects a brake operation, the second door is opened or closed according to the door open / close operation. And a control unit that executes
Door opening and closing control device having. When the vehicle speed is between the first speed and the second speed in the second process, the control unit holds the door opening / closing operation that has been received without executing it, and then the vehicle speed is increased Canceling the received door opening / closing operation when the first speed is exceeded,
The door opening / closing control device according to claim 1. A first determination step of determining whether the vehicle speed, which is the speed of the vehicle, exceeds a first speed;
When the vehicle speed exceeds the first speed, transition to a door open / close prohibited state in which the door opening / closing operation for opening / closing the door of the vehicle is not received is made, and when the vehicle speed is smaller than the first speed A transition step of transitioning to a door opening / closing operation acceptance state for accepting the opening / closing operation;
When the door open / close operation acceptance state is entered in the transition step, when the door open / close operation is performed, the vehicle speed is smaller than the second speed smaller than the first speed, and the brake operation detection unit performs the brake operation An opening / closing step of opening / closing the door in response to the door opening / closing operation when
Door opening and closing control method.

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