JP6649034B2 - Door opening and closing device - Google Patents

Description

  The present invention relates to a door opening / closing device used for a vehicle.

  The vehicle is equipped with a smart entry system that electrically unlocks a door lock device when a user with an electronic key approaches a door. Further, Patent Document 1 discloses a door body control that can automatically open a door without touching a door handle in a situation where it is difficult for a user to touch a door handle, such as when holding a bag with both hands. An apparatus is disclosed.

  The door body control device authenticates the electronic key owned by the user when detecting that the user has approached the door by a distance measuring sensor arranged on the door. Then, the electronic key is authenticated, and the door is opened by detecting the movement (operation intention) set by the user.

Japanese Patent No. 5643129

  However, in the door body control device of Patent Document 1, the operation intention of the user may not be accurately determined by the distance measurement sensor. Patent Literature 1 does not disclose any measure for determining with high accuracy using a distance measuring sensor.

  An object of the present invention is to provide a door opening / closing device that can detect a user's operation intention stably and with high accuracy.

The present invention provides a door opening / closing drive unit capable of opening and closing a door with respect to a vehicle body, first and second detection units for detecting an object to be detected around the door, the first detection unit, and the second detection unit. Control means for controlling the opening / closing of the door opening / closing drive section based on the detection result of the means; and verification means for performing key authentication of an electronic key by wireless communication , wherein the first detection means can detect the object to be detected. And the second detection means has a second detection range capable of detecting the object to be detected, and a part of the first detection range and a part of the second detection range are determined. One operation section is set so as to overlap, and the entire area of the first detection range and the second detection range including the operation section is covered by the first detection means or the second detection means. By detecting the detected object, the key authentication is performed via the verification unit. Is set to approach to initiation region, the control means, by at least one of the detection result of the first detecting means and the second detecting means, detects the setting motion of the object to be detected by the operation compartment Only in such a case, a door opening / closing device that controls opening / closing of the door is provided.

  According to this door opening and closing device, by overlapping a part of the first detection range of the first detection means and a part of the second detection range of the second detection means, the width direction can be reduced without using any special device. Can be set to a specific operation section. Therefore, the user's operation intention can be detected stably and with high accuracy, and erroneous detection can be reliably prevented.

The total area of the first detection range and the second detection range including the operating compartment, through the pre-Symbol collating means for being set in the approach area to initiate key authentication, the user in the operation section Before detecting the operation intention, the key authentication can be performed by detecting that the user is approaching. Therefore, the user's operation intention can be quickly detected, and the convenience can be improved.

  The first detection unit and the second detection unit, each having a transmission unit that transmits a radio signal, and a reception unit that receives a reflection signal reflected by the radio signal hits the object to be detected, the The operation section has two or more operation detection areas, and the control unit determines which one of the two or more operation detection areas has the object to be detected based on the reflection signal received by the receiving unit. Has a judging unit for judging whether or not exists. Specifically, the operation detection area is set by a distance from the first detection unit and the second detection unit. According to this aspect, since a plurality of operation detection areas are set according to the distance, only the detected object moving from a certain direction can be detected as a normal operation intention. Therefore, it is possible to prevent a malfunction due to an animal or a foreign object entering from the side of the operation section or a third party who does not know the operation method approaching.

  As the operation detection area, a trigger area for starting predetermined control by detecting that the detected object has approached the vehicle body via the first detection means or the second detection means is set, Optical display means for performing an optical display so as to guide toward the trigger area, and detection of the presence of the detected object in the operation section by the first detection means or the second detection means Then, a display control unit for controlling the optical display means is provided. In addition, it is preferable that the display control unit drives the optical display unit when the valid electronic key is authenticated by the matching unit. According to this aspect, since the user can easily recognize the operation method and the timing, the operability of the user can be improved. Further, since the light display means is displayed when the user enters the operation section, it is possible to prevent the power of the battery from being wasted.

  The control unit includes: a first transmission / reception mode for driving both the transmission unit and the reception unit out of the first detection unit and the second detection unit; A transmission / reception mode switching unit that switches a transmission / reception function to a second transmission / reception mode in which only the unit is driven. In the second transmission / reception mode, the transmission / reception mode switching unit alternately switches transmission / reception functions of the first detection unit and the second detection unit, and the determination unit includes the reception unit and the reception unit of the first detection unit. The receiving unit of the second detection unit detects the reflection signal, thereby determining that the object is present in the operation section. Then, the control unit switches to the second transmission / reception mode by the transmission / reception mode switching unit when detecting the object to be detected in the trigger area.

  Here, when the detected object is located near the detection means, the reflected signal is input while the wireless signal is being output from the transmission unit. In this case, the radio signal and the reflected signal output from the transmitting unit interfere with each other and cannot be distinguished by the receiving unit, so that the distance to the object to be detected cannot be recognized or measured. Therefore, by switching to the second transmission / reception mode when detecting an object in the trigger area that is a short distance, the object can be reliably detected with high accuracy. Further, when detecting an object to be detected at a long distance, the object can be reliably detected with high accuracy by switching to the first transmission / reception mode.

As the operation detection area, a start area is set at a position distant from the trigger area with respect to the vehicle body, and the control unit controls the detected objects in the start area and the trigger area in a predetermined order. When detected, the door is controlled to open and close via the door opening and closing drive unit. Specifically, the control unit may be configured to, after the object moves from the start area to the trigger area with the door closed, to move the object from the trigger area to the start area. Upon detection, the door is controlled to open via the door opening / closing drive . In addition, the control means, in a state where the door is open, after the detected object moves from the start area to the trigger area, moves the detected object from the trigger area to the start area, When it is detected that the door has moved away in the start area, the door is controlled to be closed via the door opening / closing drive unit. According to this aspect, it is possible to reliably prevent malfunctions due to invasion of animals or foreign substances other than the user or approach of a third party who does not know the operation method.

  The first detection means and the second detection means are arranged such that a first detection center axis of the first detection means and a second detection center axis of the second detection means intersect. In other words, the respective detecting means are arranged so as to be inclined inward from each other. According to this aspect, a range close to the detection center axis can be set as the operation section, so that highly accurate detection can be realized.

  Alternatively, the first detection means and the second detection means are arranged such that a first detection center axis of the first detection means does not intersect with a second detection center axis of the second detection means. . In other words, the respective detecting means are arranged so as to be inclined outward from each other. According to this aspect, each of the detecting means can be easily arranged.

  In the door opening and closing device of the present invention, a part of the first detection range of the first detection means and a part of the second detection range of the second detection means are overlapped to set a specific operation section limited in the width direction. Therefore, the user's operation intention can be detected stably and with high accuracy, and erroneous detection can be reliably prevented.

The side view showing the state where the door opening and closing device of this embodiment was installed in the vehicle. FIG. 2 is a block diagram illustrating a configuration of a door opening / closing device. FIG. 2 is a cross-sectional view of the door opening and closing device according to the first embodiment. FIG. 2 is another sectional view of the door opening and closing device of the first embodiment. FIG. 3 is a plan view showing a detection area of the door opening / closing device. The chart which shows the method of judging whether an object to be detected is an obstacle. 5 is a flowchart illustrating control by a control unit. 7B is a flowchart showing a continuation of FIG. 7A. 7B is a flowchart showing the obstacle detection processing of FIG. 7A. The flowchart which shows the exclusion release processing of FIG. 7A. 7B is a flowchart showing the obstacle exclusion processing of FIG. 7A. The flowchart which shows the approach mode of FIG. 7B. The flowchart which shows the start mode of FIG. 7B. The flowchart which shows the trigger mode of FIG. 7B. The flowchart which shows the back mode of FIG. 7B. 7B is a flowchart illustrating a closed back first mode in FIG. 7B. 7B is a flowchart illustrating a closed back second mode in FIG. 7B. Sectional drawing of the door opening / closing apparatus of 2nd Embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

(1st Embodiment)
1 and 2 show a vehicle 1 in which a door opening / closing device 10 according to a first embodiment is arranged. The door opening / closing device 10 can automatically move the door 4 of the vehicle 1 with respect to the vehicle body 2 by performing a preset movement without using a user having a specific electronic key (not shown). Open control or close control. In this embodiment, the openable and closable door 4 is a back door, but another door may be openable and closable.

  As shown in FIG. 2, the vehicle 1 includes a host ECU 5 that controls electronic devices including the door opening / closing device 10. The host ECU 5 also has a function of a verification unit that performs key authentication between the electronic key and the vehicle 1 by wireless communication. When the user having the electronic key approaches the vehicle 1 within the set range, the host ECU 5 requests the electronic key to transmit an authentication code. The authentication code received from the electronic key is compared with the registered regular code, and if they match, a signal is output to the door opening / closing device 10 to permit the opening / closing control of the door 4. The function of the matching means may be provided by a controller 30 of the door opening / closing device 10 which will be described later.

(Details of door opening and closing device)
The door opening / closing device 10 is arranged at a lower center portion of the bumper 3 of the vehicle body 2. The door opening / closing device 10 includes a door opening / closing drive unit 12 that can open and close the door 4, a pair of distance measurement sensors 20A and 20B as detection means, an LED 28 as light display means, and a controller 30 as control means. Have. The door opening / closing drive unit 12 is arranged in the vehicle 1. The control board 24 on which the distance measuring sensors 20A and 20B and the LED 28 and the controller 30 are mounted is housed and arranged inside the casing 14.

  The door opening / closing drive unit 12 is a mechanism including a drive device (a motor, a gear mechanism, a damper, and the like) that can rotate the door 4 hingedly connected to the vehicle body 2 in an opening direction and a closing direction. The door opening / closing drive unit 12 is communicably connected to the controller 30. In the present embodiment, the door opening / closing drive unit 12 and the controller 30 are wiredly connected by a communication cable, but may be wirelessly connected by wireless communication of a predetermined frequency.

  As shown in FIGS. 3 and 4, the casing 14 is a box having an opening at one end, and includes a bezel 15 covering the opening side. The bezel 15 is provided with a fixing portion 16 for fixing to the bumper 3. The bezel 15 is provided with a substantially cylindrical sensor mounting portion 17 that is opened in the horizontal direction. The sensor mounting portions 17 and 17 are inclinedly opened on both outer sides so that their axes are gradually separated from each other. The bezel 15 is provided with a substantially cylindrical lens mounting portion 18 on which the lens 29 is disposed. The lens mounting portion 18 is provided so that the axis is inclined downward and outward (rearward).

  The distance measuring sensors 20A and 20B are detecting means for detecting an object to be detected around the door 4. These distance measuring sensors 20A, 20B are attached to sensor attachment portions 17, 17 of the bezel 15, respectively. The distance measurement sensors 20A and 20B are communicably connected to the control board 24 by lead wires. Referring to FIG. 2, a first distance measuring sensor (first detecting means) 20A includes a transmitting unit 21A for transmitting a radio signal of a predetermined frequency, and a reflected signal reflected by a radio signal (ultrasonic wave) hitting an object to be detected. (A reflected wave). The second distance measuring sensor (second detecting means) 20B includes the same transmitting unit 21B and receiving unit 22B. The distance measuring sensors 20A and 20B of the present embodiment use ultrasonic sensors. Further, the distance measuring sensors 20A and 20B may have a format in which the transmitting units 21A and 21B and the receiving units 22A and 22B are individually arranged, or a format in which the transmitting unit and the receiving unit are the same transmitting and receiving unit. Is also good. Note that the detection target that can be detected by the distance measurement sensors 20A and 20B is an object that can reflect a radio signal, and includes not only a user who drives a vehicle but also an obstacle such as a wall or luggage. In the present embodiment, the obstacles are movable luggage other than the user, which are placed around the vehicle, and immovable structures (walls, etc.) existing around the vehicle. Pillar), or other vehicles parked adjacently.

  The control board 24 is mounted on the casing 14 so as to extend in a direction perpendicular to the axis of the lens mounting section 18. On the control board 24, a connector 25 for communicatively connecting to the host ECU 5 and a connector 26 for electrically connecting to a constant voltage power supply are mounted. These connectors 25 and 26 are arranged so as to be exposed from the bottom of the casing 14 to the outside. Further, on the control board 24, a plurality of (three in this embodiment) LEDs 28 and a microcomputer (not shown) constituting the controller 30 are mounted on the lens mounting portion 18 side.

  The LED 28 is optical display means for performing an optical display (operation mark) on the ground so as to guide the user to a set position. The three LEDs 28 are mounted on the control board 24 so as to be located near the axis of the lens mounting portion 18. This allows the user to visually recognize the operation mark by illuminating the vehicle 1 like a spotlight, not only when the surroundings of the vehicle 1 are dark but also when the surroundings are bright. A lens 29 for condensing the light of the LED 28 and irradiating the ground G outside the vehicle body 2 is disposed in the lens mounting portion 18. The focal point F of the lens 29 is set so as to be located at the rear end of the vehicle 1.

  As shown in FIG. 2, the controller 30 is a control unit that controls the LED 28 based on the detection results of the distance measurement sensors 20A and 20B and controls the door opening / closing drive unit 12 to open and close the door 4. The controller 30 includes a storage unit 30a, a display control unit 30b, a transmission / reception mode switching unit 30c, a measurement unit 30d, and a determination unit 30e. In the present embodiment, one microcomputer is used as the controller 30, and all of the storage unit 30a, the display control unit 30b, the transmission / reception mode switching unit 30c, the measurement unit 30d, and the determination unit 30e are combined. You may provide individually as a control part.

  The storage unit 30a stores a program for controlling the door opening and closing device 10. The storage unit 30a stores setting data such as a threshold value T used in the program. The storage unit 30a stores detection data (detection results) DA1 to DAn and DB1 to DBn of the detection target detected by the distance measurement sensors 20A and 20B as distance information. The storage data (storage information) MA1 to MAn and MB1 to MBn can be stored for the set number of detections (for example, 10 times), and are deleted in order from the oldest data. The storage unit 30a stores obstacle data K1 to Kn determined as non-detection targets as storage information.

  The display control unit 30b switches the LED 28 between a lighting state, a blinking state, and a light-off state. By controlling the lighting state of the LED 28 as described above, the user is guided to move to the position set by the user, and the movement timing is notified. In addition, the means for notifying the movement timing may use sound output in combination.

  The transmission / reception mode switching unit 30c switches the transmission / reception mode of the first distance measurement sensor 20A and the second distance measurement sensor 20B. More specifically, of the first distance measuring sensor 20A and the second distance measuring sensor 20B, the first transmitting / receiving mode for simultaneously driving both the transmitting units 21A and 21B and the receiving units 22A and 22B, and one of the transmitting units 21A and 21B only The transmission / reception function is switched to the second transmission / reception mode in which only the receiving units 22A and 22B are driven and the other is driven. In the second transmission / reception mode, the transmission / reception functions of the first distance measurement sensor 20A and the second distance measurement sensor 20B are alternately switched. That is, a first state in which a radio signal is output from the transmission unit 21A of the first distance measurement sensor 20A and a reflection signal is received by the reception unit 22B of the second distance measurement sensor 20B, and the transmission unit 21B of the second distance measurement sensor 20B , And alternately switches between the second state in which the receiving section 22A of the first distance measuring sensor 20A receives the reflected signal.

  The measuring unit 30d measures the distance from the first distance measuring sensor 20A to the object based on the detection results DA1 to DAn of the first distance measuring sensor 20A, and detects the detection results DB1 to DB2 of the second distance measuring sensor 20B. The distance from the second distance measuring sensor 20B to the object is measured based on DBn. Here, the distance measuring sensors 20A and 20B measure the distance to the object from the time when the wireless signals are output from the transmitting units 21A and 21B to the time when the reflected signals are input into the receiving units 22A and 22B ( Judgment) can be. When the distance to the object is short, the time from transmission to reception is shorter than when the distance to the object is long. Therefore, by measuring the time corresponding to the distance, the distance from the distance measuring sensors 20A and 20B to the object can be measured.

  The determination unit 30e determines whether an object to be detected exists based on the detection results of the distance measurement sensors 20A and 20B (the measurement results of the measurement unit 30d) DA1 to DAn and DB1 to DBn. Further, based on the detection results DA1 to DAn and DB1 to DBn of the distance measuring sensors 20A and 20B and the stored information MA1 to MAn and MB1 to MBn in the storage unit 30a, the detected object is a detection target or a non-detection target. Determine if it is a thing.

  Here, the determination of whether the object is a detection object or a non-detection object will be described in detail. The determination unit 30e includes the current detection results DA1 to DAn and DB1 to DBn detected by the distance measurement sensors 20A and 20B, and the past (previous detection) storage information MA1 to MAn and MB1 to From the MBn, the amount of change in the distance of all measured objects is calculated. Then, it is determined whether the detected object is a detection target object or a non-detection target object based on whether or not the change amount of the distance is within a threshold value T1 (for example, 2 cm). The comparison between the detection results DA1 to DAn and DB1 to DBn and the stored information MA1 to MAn and MB1 to MBn is performed for each of the distance measurement sensors 20A and 20B. Further, the detection results DA1 to DAn and DB1 to DBn are compared one by one with all the stored information MA1 to MAn and MB1 to MBn, and if the data match, the detected object is a non-detection target. to decide.

  For example, as shown in FIG. 6, the first distance measuring sensor 20A receives three reflected signals, and outputs a first detection result DA1 (50 cm) and a second detection result DA2 (80 cm) via the measuring unit 30d. The third detection result DA3 (100 cm) is measured. Similarly, the second distance measuring sensor 20B receives the three reflected signals, and via the measuring unit 30d, the first detection result DB1 (55 cm), the second detection result DB2 (75 cm), and the third detection result ( 100 cm). The storage unit 30a stores first storage information MA1 (51 cm), second storage information MA2 (99 cm), and third storage information MA3 (115 cm), which are the results of the previous detection by the first distance measuring sensor 20A. ing. Similarly, the first storage information MB1 (54 cm), the second storage information MB2 (101 cm), and the third storage information MB3 (120 cm), which are the previous detection results of the second distance measuring sensor 20B, are stored.

  By comparing the first detection result DA1 of the first distance measuring sensor 20A with the storage information MA1 to MA3 of the storage unit 30a, the first detection result DA1 is within the threshold value T1 with respect to the storage information MA1, and the distance (position) It can be seen that there is no change in. Next, by comparing the second detection result DA2 with the stored information MA1 to MA3, the second detection result DA2 is outside the threshold value T1 for all the stored information MA1 to MA3, and the position has changed. I understand. Next, by comparing the third detection result DA3 with the stored information MA1 to MA3, it can be understood that the third detection result DA3 is within the threshold value T1 with respect to the stored information MA2, and there is no change in position.

  Similarly, by comparing the first detection result DB1 of the second distance measuring sensor 20B with the storage information MB1 to MB3 of the storage unit 30a, the first detection result DB1 is within the threshold value T1 with respect to the storage information MB1, It can be seen that there is no change in. Next, by comparing the second detection result DB2 with the storage information MB1 to MB3, the second detection result DB2 is outside the threshold T1 for all the storage information MB1 to MB3, and the position has changed. I understand. Next, by comparing the third detection result DB3 with the storage information MB1 to MB3, it is understood that the third detection result DB3 is within the threshold value T1 with respect to the storage information MB2, and there is no change in position.

  From these results, it can be determined that the detected objects of the detection results DA1 and DA3 that substantially coincide with the stored information MA1 and MA2 are non-detection targets such as obstacles. The detection result DA2 that does not match the stored information MA1 to MA3 is a detection target that is a movable object including the user, and can be determined to have moved from a position of 115 cm to a position of 80 cm. Similarly, the detected objects of the detection results DB1 and DB3 that substantially match the storage information MB1 and MB2 can be determined to be non-detection targets. In addition, the detection result DB2 that does not match the storage information MB1 to MB3 is a detection target and can be determined to have moved from the position of 120 cm to the position of 75 cm.

  As in the example shown in FIG. 6, the obstacle detection results DA1, DA3, DB1, and DB3 by the distance measurement sensors 20A and 20B have relevance. However, in the present embodiment, the detection results DA1 to DAn by the first distance measurement sensor 20A and the detection results DB1 to DBn by the second distance measurement sensor 20B are not associated with each other, and are independently detected objects. It is determined whether the object is a detection target. This is a position where either of the distance measurement sensors 20A and 20B can detect, an obstacle (non-detection target) exists in one detection range, and the user is located at the same distance position as the obstacle in the other detection range. This is because when the (detection target) exists, the user may be erroneously detected as an obstacle. That is, the detection results DA1 to DAn and DB1 to DBn of the user as the detection target by the distance measurement sensors 20A and 20B are determined by both the first distance measurement sensor 20A and the second distance measurement sensor 20B as described later. Are detected by one operation section 34 in which is detectable, so that they substantially match. However, the obstacle detection results DA1 to DAn and DB1 to DBn are detected by one of the first distance measuring sensor 20A and the second distance measuring sensor 20B unless stopped in the operation section 34 for some reason. This is because it is within the detection range.

  Next, setting of a detection range by the distance measurement sensors 20A and 20B and control by the controller 30 will be described with reference to FIG.

(Details of detection range)
As shown in FIG. 5, the transmission units 21A and 21B of the distance measurement sensors 20A and 20B transmit radio signals so as to spread radially. Referring to FIG. 3, the transmission units 21A and 21B are arranged so that the output centers C1 and C2 of the radio signals are output from the vehicle body 2 in the horizontal direction by being attached to the vehicle body 2 via the casing 14. The horizontal direction is a direction along the ground G where the vehicle is parked. Further, referring to FIG. 4, the transmission units 21A and 21B are arranged so as to be inclined so as to gradually separate toward both outsides so that the output centers C1 and C2 of the radio signals do not intersect. Thus, each of the distance measurement sensors 20A and 20B can detect both a long distance away from the vehicle body 2 and a short distance close to the vehicle body.

  The conical output range formed by the wireless signals output from the transmission units 21A and 21B is the detection range R1 and R2 of the distance measurement sensors 20A and 20B. The output center C1 of the wireless signal by the transmitting unit 21A is the first detection center axis of the first detection range R1 by the first distance measuring sensor 20A. The output center C2 of the wireless signal by the transmitting unit 21B is the second detection center axis of the second detection range R2 by the second distance measuring sensor 20B. The distance measuring sensor is arranged such that a part of the detection range R1 of the first distance measuring sensor 20A on the center side of the vehicle body 2 and a part of the detection range R2 of the second distance measuring sensor 20B on the center side of the vehicle body 2 overlap. 20A and 20B are arranged respectively. The portion where the detection ranges R1 and R2 overlap is a single operation section 34 in which both the first distance measuring sensor 20A and the second distance measuring sensor 20B can detect an object to be detected.

  The entire area of the pair of detection ranges R1 and R2 including the operation section 34 is an approach area 32 in which the first distance measuring sensor 20A or the second distance measuring sensor 20B detects an object to start key authentication. is there. In this approach area 32, in the first section 32a excluding the operation section 34 in the detection range R1, only the first distance measuring sensor 20A can detect the detection target. In the second section 32b excluding the operation section 34 in the detection range R2, only the second distance measuring sensor 20B can detect an object to be detected.

  The operation section 34 is divided into two or more operation detection areas by the distance from the distance measurement sensors 20A and 20B. Specifically, it includes a trigger area 35 that is a first operation detection area closest to the vehicle body 2 and a start area 36 that is a second operation detection area located farther from the body 2 than the trigger area 35. The start area 36 is further divided into a first portion 36a closer to the distance measuring sensors 20A and 20B and a second portion 36b farther from the distance measuring sensors 20A and 20B.

  The trigger area 35 is a portion that detects that a user, which is an object to be detected, approaches the vehicle body 2 via the distance measurement sensors 20A and 20B. Set to range.

  The start area 36 is a position that does not substantially collide with the user even when the door 4 is opened and closed, and is set, for example, in a range from a position 50 cm away from the vehicle body 2 to a position 120 cm away from the vehicle body 2. The first portion 36a is substantially the front half of the start area 36 and is set, for example, in a range from a position 50 cm away from the vehicle body 2 to a position 80 cm away from the vehicle body 2. In the first portion 36a, there is a possibility that the user may collide with the user when the door 4 is opened and closed depending on the height and posture of the user. The second portion 36b is substantially the rear half of the start area 36, and is set, for example, in a range from a position 80 cm away from the vehicle body 2 to a position 120 cm away from the vehicle body 2. The second portion 36b does not collide with the user even when the door 4 is opened and closed regardless of the height and the posture of the user.

  In the operation section 34, a first non-operation area 37 is set on the vehicle body 2 side of the trigger area 35. Referring to FIG. 3, the first non-operation area 37 is too close to the distance measurement sensors 20A and 20B, and the ground G side is outside the detection ranges R1 and R2. A second non-operation area 38 having a predetermined width is set between the trigger area 35 and the start area 36. The second non-operation area 38 is a space for clarifying which of the trigger area 35 and the start area 36 has an object to be detected.

  When only the first distance measuring sensor 20A receives the reflection signal, the determination unit 30e can determine that the detection target is present in the first section 32a. When only the second distance measuring sensor 20B receives the reflection signal, it can be determined that the detected object exists in the second section 32b. Further, when the first distance measuring sensor 20A and the second distance measuring sensor 20B both receive the reflection signal, it can be determined that the detected object exists in the operation section 34. Further, as described above, the measurement unit 30d can measure the distance to the object based on the time from transmission of the wireless signal to reception of the reflected signal. Therefore, the determination unit 30e can determine which area 35 to 38 of the operation section 34 the object to be detected is based on the distance measured by the measurement unit 30d.

  As described above, in the present embodiment, a special device is provided by overlapping a part of the first detection range R1 of the first distance measurement sensor 20A and a part of the second detection range R2 of the second distance measurement sensor 20B. A specific operation section limited in the width direction can be set without using it. Therefore, the user's operation intention can be detected stably and with high accuracy, and erroneous detection can be reliably prevented. Further, since the distance measurement sensors 20A and 20B are arranged so as to be inclined outward so that the detection center axes C1 and C2 do not intersect, they can be easily assembled to the casing 14.

  In addition, since the plurality of operation detection areas 35 and 36 are set according to the distance from the distance measurement sensors 20A and 20B, the detected object moving from a certain direction passing through the plurality of operation detection areas 35 and 36. Only (user) can be detected as a regular operation intention. Therefore, it is possible to prevent a malfunction due to an animal or a foreign object entering from the side of the operation section or a third party who does not know the operation method approaching.

  In addition, since the distance measuring sensors 20A and 20B detect an object to be detected by receiving a reflected signal of a wireless signal output in the horizontal direction, a member having a certain height that is close to the vehicle such as the ground and not close to the vehicle. It does not receive the reflected signal from. Moreover, since the distance measurement sensors 20A and 20B are arranged on the vehicle body 2, the reference (distance) for detecting the object to be detected is the same regardless of whether the door 4 is opened or closed. Therefore, erroneous detection by the detecting means can be reliably prevented, and the operation intention of the user can be detected quickly and accurately.

(Details of control by controller)
When detecting an object in the approach area 32 other than the trigger area 35, the controller 30 switches the transmission / reception function of the distance measurement sensors 20A and 20B to the first transmission / reception mode by the transmission / reception mode switching unit 30c. When detecting an object to be detected in the trigger area 35, the transmission / reception mode switching unit 30c switches the transmission / reception function of the distance measuring sensors 20A and 20B to the second transmission / reception mode. In other words, when the detection target is detected in the first transmission / reception mode, if the detection target exists in the trigger area 35, the reception units 22A and 22B output radio signals from the transmission units 21A and 21B to the reception units 22A and 22B. The reflected signals are input, and the receiving units 22A and 22B cannot distinguish between the radio signals output from the transmitting units 21A and 21B and the reflected signals due to interference. For this reason, the distance to the object is erroneously recognized or cannot be measured. Therefore, when an object to be detected in the trigger area 35 that is a short distance is detected, by switching to the second transmission / reception mode, it is possible to prevent the distance from being erroneously recognized or being unable to be measured. Further, when detecting an object outside the trigger area 35 which is a long distance, switching to the first transmission / reception mode allows the object to be detected with high accuracy and reliability.

  When the controller 30 detects that an object including a user and an obstacle is present in the approach area 32, the controller 30 starts authentication of the electronic key. When the electronic key is authenticated and the user enters the start area 36, the LED 28 is driven to blink via the display control unit 30b, and the operation mark is blinked and displayed on the ground by a spotlight. The person is guided to move toward the trigger area 35. The irradiation position I of the operation mark by the LED 28 is the first non-operation area 37. In this way, the setting is made so that the user can reliably enter the trigger area 35 by stepping on the operation mark with the foot. That is, the operation of the user to step on the operation mark displayed on the ground by the LED 28 is detected. However, the user's body (for example, the vicinity of the shin of the foot) at the time of stepping on the display is actually detected. Therefore, since the user's entry into the trigger area 35 is detected as the user's operation intention, the user's operation intention can be reliably detected without erroneous detection.

  When the user enters the trigger area 35 via the start area 36, the controller 30 turns on the LED 28 via the display control unit 30b to light up the operation mark with a spotlight on the ground, and opens the door 4. The user is prompted to perform an operation for starting control or closing control. That is, when the door 4 is controlled to be opened, the LED 28 is driven to blink and the user waits until the user retreats from the trigger area 35 to the start area 36 according to the operation mark blinking on the ground. When it is detected that the user has retreated to the start area 36, the door opening / closing drive unit 12 is controlled to open the door 4. When the door 4 is controlled to be closed, as in the case of the open control, the LED 28 is driven to blink, and the system waits until the user retreats to the first portion 36a of the start area 36 according to the operation mark blinking displayed on the ground. In the case of further closing control, even after the user retreats to the first portion 36a, the operation mark is flashed and displayed until the user further retreats to the second portion 36b, and the system stands by. When it is detected that the user has retreated to the second portion 36b, the door opening / closing drive section 12 is controlled to close the door 4.

  As described above, in the present embodiment, the LED 28 is driven to blink, and the operation mark is blinking displayed on the ground, so that the user can easily recognize the operation method and the timing. Performance can be improved. In addition, the LED 28 flashes when the electronic key is authenticated and the user enters the operation section, and the operation mark flashes with a spotlight on the ground. Even if the user enters the operation section, the LED 28 does not light or blink, so that it is possible to prevent the power of the battery from being wasted.

  In the case of an obstacle detection process, an obstacle removal removal and an obstacle removal process, and an approach mode described later, one of the two distance measurement sensors 20A and 20B, the detection results DA1 to DAn, The process proceeds to the next step only with DB1 to DBn. In the processes of the start mode and trigger mode, the back mode, the closed back mode 1 and the closed back mode 2, which are specific operations for controlling the opening and closing of the door 4, The process proceeds to the next step on condition that both detection results are detected as DA1 to DAn and DB1 to DBn. For example, when detecting an object to be detected in the trigger area 35, the distance measurement sensors 20A and 20B are operated in the second transmission / reception mode, and the following steps are performed based on both detection results DA1 to DAn and DB1 to DBn. It is determined whether or not to proceed.

  During these controls, the controller 30 determines whether the detection result detected as the detection target is the detection result of the user who is the detection target or the detection result of the obstacle which is the non-detection target. , Based on the stored information MA1 to MAn and MB1 to MBn in the storage unit 30a. Specifically, the controller 30 stores the distance information of the detected object determined by the determining unit 30e that the detection result has not changed in the detection result continuously for the set number of times as the obstacle information K1 to Kn in the storage unit 30a. Remember. Then, the obstacle information K1 to Kn are excluded from the detection results DA1 to DAn and DB1 to DBn by the distance measurement sensors 20A and 20B, and each control is executed based only on the detection result of another detection target. Further, since the detection of the detected object corresponding to the distance information stored in the storage unit 30a as the obstacle information K1 to Kn is continued, the detection results DA1 to DAn, which correspond to the non-detected obstacle information K1 to Kn, respectively. When DB1 to DBn are gone, the target obstacle information K1 to Kn is deleted from the storage unit 30a.

  As described above, in the present embodiment, based on the current detection results DA1 to DAn and DB1 to DBn and the past storage information MA1 to MAn and MB1 to MBn, the detection results DA1 to An obstacle in which DAn and DB1 to DBn do not change and a user in which the detection results DA1 to DAn and DB1 to DBn change can be recognized. Therefore, it is possible to prevent the controller 30 from erroneously operating to control the opening and closing of the door 4 due to the presence of the obstacle, and to accurately determine the movement of the user and control the opening and closing of the door 4 reliably. Further, the door 4 is opened and closed only when the detected object determined by the determination unit 30e to be the detection target detects a set movement, thereby preventing malfunctions caused by animals and obstacles other than the user. In addition, the user's operation intention can be detected stably and with high accuracy.

  Next, the control by the controller 30 will be specifically described according to the flowcharts of FIGS. 7A to 16. The opening / closing control of the door 4 is started when the vehicle 1 is parked and the engine is stopped.

(General flow)
As shown in FIG. 7A, when the engine of the vehicle 1 is stopped, the controller 30 initializes itself in step S1, and waits until the detection time by the distance measurement sensors 20A and 20B is reached in step S2. Here, the detection time is different between the case where the object to be detected is present within the approach area 32 and the case where the object is not present, and is set shorter when the object is present than when it is not. ing. For example, when the object to be detected does not exist, the detection is performed every 0.5 seconds, and when the object to be detected exists, the detection is performed every 0.05 seconds.

  When the time elapses with the built-in timer of the controller 30, in step S3, the transmission / reception mode switching unit 30c outputs a radio signal from both or one of the transmission units 21A and 21B according to the instruction. After that, in step S4, both or the other receiving units 22A and 22B of the distance measuring sensors 20A and 20B receive the reflected signals.

  Next, in step S5, the presence / absence of an obstacle in the detected object is determined, and an obstacle detection process of storing as obstacle information K1 to Kn is executed. Next, in step S6, a specific obstacle information K1 to Kn is excluded from the stored obstacle information K1 to Kn, and an exclusion release process is performed to include (return) the object in the detection target. Next, in step S7, an obstacle exclusion process is performed in which the detection results DA1 to DAn and DB1 to DBn that match the obstacle information K1 to Kn are excluded and the determination target is only the data of the detection target. Thereafter, the controller 30 executes control according to each situation, as shown in FIG. 7B.

  That is, in step S8, it is determined whether the approach mode is set. If the approach mode is set, the process proceeds to step S9, executes the approach mode, and returns to step S2 in FIG. 7A. If the approach mode has not been set, the process proceeds to step S10.

  In step S10, it is determined whether or not the start mode has been set. If the start mode has been set, the process proceeds to step S11, executes the start mode, and returns to step S2 in FIG. 7A. If the start mode has not been set, the process proceeds to step S12.

  In step S12, it is determined whether the trigger mode has been set. If the trigger mode is set, the process proceeds to step S13, executes the trigger mode, and returns to step S2 in FIG. 7A. If the trigger mode has not been set, the process proceeds to step S14.

  In step S14, it is determined whether the back mode is set. When the back mode is set, the process proceeds to step S15, executes the back mode, and returns to step S2 in FIG. 7A. If the back mode has not been set, the process proceeds to step S16.

  In step S16, it is determined whether or not the closed back first mode has been set. Then, when the closed back first mode is set, the process proceeds to step S17, executes the closed back first mode, and returns to step S2 in FIG. 7A. If the first mode has not been set, the process proceeds to step S18.

  In step S18, it is determined whether or not the closed back second mode has been set. If the closed back second mode is set, the process proceeds to step S19, executes the closed back second mode, and returns to step S2 in FIG. 7A. If the second mode has not been set, the process proceeds to step S20.

  Step S20 is executed when an obstacle including the user enters the approach area 32 when an obstacle in the approach area 32 is not determined or when each mode is not set. That is, when it is determined that all the objects that can be detected by the distance measurement sensors 20A and 20B are obstacles, the approach area is not set in any of the modes from step S8 to step S19. The process proceeds to step S21 by detecting an object other than the obstacle in the area 32. Then, the mode is set to the approach mode, and the process returns to step S2 in FIG. 7A.

(Obstacle detection processing)
As shown in FIG. 8, in the obstacle detection processing in step S5, the controller 30 individually converts the detection result D (DA1 to DAn, DB1 to DBn) into all the stored information M (MA1 to MAn, MB1 to MBn). After the comparison, the specific detection result D is stored as the obstacle information K.

  Specifically, first, in step S5-1, it is calculated whether or not the absolute value of the numerical value obtained by subtracting the previously detected storage information M from the detection result D is lower than a threshold T1 (for example, 2 cm). If it is lower than the threshold value T1, that is, if the detected object is not moving, the process proceeds to step S5-2, and 1 is added to the counter Na, which is the number of times that the object is determined to be an obstacle.

  Next, in step S5-3, it is detected whether or not the counter Na has exceeded four times. If the counter Na is greater than 4, the process proceeds to step S5-4, and if the counter Na is 4 or less, the process proceeds to step S5-6. In step S5-4, the storage information M (detection result D) that has fallen below the threshold T1 by the set number of times or more is stored in the storage unit 30a as the obstacle information K, and the process proceeds to step S5-6.

  On the other hand, if the absolute value of the numerical value obtained by subtracting the storage information M from the detection result D is equal to or larger than the threshold value T1 in step S5-1, the counter Na of the target detection result D is cleared (= 0) in step S5-5. Proceed to step S5-6.

  When all the comparisons between the current detection result D (DA1 to DAn, DB1 to DBn) and the previously detected storage information M (MA1 to MAn, MB1 to MBn) are completed in this way, in step S5-6, the detection result D Is updated and stored in the storage unit 30a as storage information M, and the process returns (returning to the general flow in FIGS. 7A and 7B).

  As described above, when the determining unit 30e continuously detects that the difference between the detection result (distance) D of the detection target and the recording information (distance information) M is smaller than the set threshold value T1 for a predetermined number of times, Is determined to be a non-detection target. Therefore, it is possible to reliably determine whether the detected object is the detection target or the non-detection target, and to prevent the detection target from being erroneously determined as the non-detection target.

(Exclusion release processing)
As shown in FIG. 9, in the exclusion release processing in step S6, the controller 30 individually compares the obstacle information K (K1 to Kn) with all the detection results D (DA1 to DAn, DB1 to DBn). Then, the presence / absence of a detection result D that matches the obstacle information K is detected, and if there is no detection result D that matches the obstacle information K, the target obstacle information K is excluded and returned to the detection target.

  Specifically, first, in step S6-1, it is calculated whether the absolute value of the numerical value obtained by subtracting the detection result D from the obstacle information K is lower than a threshold value T2 (for example, 2 cm). If it is equal to or greater than the threshold value T2, that is, if the detection result D of the detected object and the stored obstacle information K are not substantially the same, the process proceeds to step S6-2. If the detection result D and the obstacle information K are substantially the same, the process skips steps S6-2 to S6-4 and returns.

  If there is no detection result D that matches the obstacle information K, 1 is added to the counter Nb, which is the number of times that it is determined that there is no obstacle, in step S6-2. Thereafter, in step S6-3, it is detected whether or not the counter Nb has exceeded two times. If the counter Nb is greater than 2, the process proceeds to step S6-4. If the counter Nb is 2 or less, the process skips step S6-4 and returns. In step S6-4, the obstacle information K determined as having no obstacle is deleted from the storage unit 30a, and the exclusion from the detection result D of the detected object is canceled, and the process returns.

  As described above, when there is no obstacle information K to be excluded in the measurement result D of the detection target, the user temporarily stops for some reason to set the target detection target as the detection target. At this time, even if it is determined that the object is a non-detection target, it is released by restarting the movement. Therefore, erroneous recognition of a non-detection target can be prevented.

(Obstacle exclusion processing)
As shown in FIG. 10, in the obstacle exclusion process in step S7, the controller 30 individually compares the obstacle information (K1 to Kn) with all the detection results D (DA1 to DAn, DB1 to DBn), The detection result D substantially matching the object information K is excluded.

  Specifically, first, in step S7-1, it is calculated whether the absolute value of the numerical value obtained by subtracting the detection result D from the obstacle information K is lower than a threshold value T3 (for example, 2 cm). If it is lower than the threshold T3, the process proceeds to step S7-2, where the target detection result D is excluded (= 0), and the process returns. If it is equal to or greater than the threshold T3, the process skips step S7-2 and returns.

  As described above, the detection result D of the detected object continuously determined to be the non-detection target object is excluded, and the detection target object is determined based on the detection results D of the other detection objects. The speed can be improved, and the movement of the legitimate object to be detected can be detected with high accuracy.

(Approach mode)
As shown in FIG. 11, in the approach mode of step S9, when an object other than an obstacle (including a user) enters the approach area 32, the controller 30 starts authentication of the electronic key.

  That is, in step S9-1, it is determined whether or not an object to be detected other than an obstacle has entered the approach area 32. If the detected object has not entered the approach area 32, the process proceeds to step S9-2, where the approach mode is cleared, and the number of times that the detected object is determined to have entered the approach area 32 is determined. It clears 1 to a certain counter Nc and returns. If the detection target has entered the approach area 32, the process proceeds to step S9-3.

  After adding 1 to the counter Nc in step S9-3, it is detected in step S9-4 whether the counter Nc is greater than 2. If the value of the counter Nc is greater than 2, the process proceeds to step S9-5. If the value of the counter Nc is 2 or less, the process skips steps S9-5 and 6 and returns.

  In step S9-5, a smart entry authentication request signal is output to the host ECU 5. As a result, the host ECU 5 requests the electronic key to transmit the authentication code, and compares the received authentication code with the registered regular code. Next, in step S9-6, the approach mode is cleared, the counter Nc is cleared, the mode is set to the start mode, and the routine returns.

  As described above, before detecting the user's operation intention in the operation section 34, the detection of an object to be detected in the approach area 32 detects that the user is approaching, and performs key authentication. Therefore, the user's operation intention can be quickly detected, and the convenience can be improved.

(Start mode)
As shown in FIG. 12, in the start mode in step S11, the controller 30 gives the user an opening / closing operation (operation) when the authorized electronic key is authenticated and when the user is located in the start area 36. Prompt.

  That is, in step S11-1, whether or not smart entry authentication has been normally performed is confirmed by reception from the host ECU 5. If the authentication is successful, the process proceeds to step S11-2. If the authentication is not successful, the process proceeds to step S11-5.

  In step S11-2, whether the door 4 is open or closed is read based on a signal from the door opening / closing drive unit 12. Next, in step S11-3, it is determined whether the detected object is located in the start area 36 (for example, P1 in FIG. 5). When the detected object is present in the start area 36, the process proceeds to step S11-4. When the detected object is not present in the start area 36, the process proceeds to step S11-8.

  In step S11-4, the LED 28 is turned on and off via the display control unit 30b, the distance measuring sensors 20A and 20B are changed to the second transmission / reception mode via the transmission / reception mode switching unit 30c, and the start mode is cleared. Also, the counter Nd, which is the number of times the smart entry authentication does not match, is cleared, the counter Ne, which is the number of times that no object is detected in the start area 36, is set to the trigger mode, and the routine returns.

  If the smart entry authentication does not match in step S11-1, one is added to the counter Nd in step S11-5, and in step S11-6, it is detected whether the counter Nd is greater than three. I do. If the value of the counter Nd is greater than 3, the process proceeds to step S11-7, where the start mode is cleared, the counters Nd and Ne are cleared, and the process returns. If the counter Nd is 3 or less, the process skips step S11-7 and returns.

  If the object to be detected cannot be detected in the start area 36 in step S11-3, 1 is added to the counter Ne in step S11-8, and in step S11-9, the counter Ne becomes larger than 20 in step S11-9. Is detected. If the value of the counter Ne is greater than 20, the process proceeds to step S11-10, where the start mode is cleared, the counters Nd and Ne are cleared, and the process returns. If the value of the counter Ne is equal to or less than 20, the process skips step S11-10 and returns.

(Trigger mode)
As shown in FIG. 13, in the trigger mode of step S13, when the user is located in the trigger area 35, the controller 30 prompts the user to perform an operation for starting the opening control or the closing control of the door 4.

  That is, in step S13-1, it is detected whether or not the detected object has entered the trigger area 35 (for example, P2 in FIG. 5). If the detected object has entered the trigger area 35, the process proceeds to step S13-2, where the LED 28 is turned on to clear the trigger mode. In addition, the counter Nf, which is the number of times that the detected object is not detected in the trigger area 35, is cleared, the back mode is set, the distance measuring sensors 20A and 20B are changed to the first transmission / reception mode, and the process returns.

  If it is not possible to detect the entry of the object into the trigger area 35 in step S13-1, in step S13-3, 1 is added to the counter Nf. Detects whether the number has increased. If the value of the counter Nf is greater than 20, the process proceeds to step S13-5, in which the LED 28 is turned off, the trigger mode is cleared, the counter Nf is cleared, and the distance measurement sensors 20A and 20B are set to the first transmission / reception mode. Change and return. If the counter Nf is 20 or less, the process skips step S13-5 and returns.

(Back mode)
As shown in FIG. 14, in the back mode in step S15, the controller 30 causes the user to move away from the vehicle 1 and urges the user to perform an operation to start opening or closing the door 4, and in a case of door opening control. , The opening control of the door 4 is performed.

  That is, after blinking the LED 28 in step S15-1, it is determined in step S15-2 whether the door 4 is to be opened or closed based on the current open / closed state of the door 4. If the door 4 is to be closed, the process proceeds to step S15-3, where the back mode is cleared, the mode is set to the closed back first mode, and the process returns. If the door 4 is to be opened, the process proceeds to step S15-4.

  In step S15-4, it is detected whether or not the detected object has retreated to the start area 36 (for example, P3 in FIG. 5). If the detected object has retreated in the start area 36, the process proceeds to step S15-5. If the detected object has not retreated in the start area 36, the process proceeds to step S15-6.

  In step S15-5, an open signal of the door 4 is output, the door 4 is driven to open via the door open / close drive unit 12, and the LED 28 is turned off. In addition, the back mode is cleared, the counter Ng, which is the number of times that the object is not detected in the start area 36, is cleared, and the process returns. Thereby, the door 4 of the vehicle 1 is opened to the vehicle body 2.

  After adding 1 to the counter Ng in step S15-6, it is detected in step S15-7 whether the counter Ng has become larger than 20. If the counter Ng is larger than 20, the process proceeds to step S15-8, the LED 28 is turned off, the back mode is cleared, the counter Ng is cleared, and the process returns. If the counter Ng is 20 or less, the process skips step S15-8 and returns.

(Closed back first mode)
As shown in FIG. 15, in the first closed back mode, the controller 30 checks whether or not the user has left the vehicle 1.

  That is, in step S17-1, it is detected whether or not the detected object has retreated to the first portion 36a (for example, P3 in FIG. 5) of the start area 36. When the detected object is retreating to the first portion 36a, the process proceeds to step S17-2 to clear the closed back first mode. In addition, the counter Nh, which is the number of times that the detected object has not been detected in the first portion 36a, is cleared, the closed-back second mode is set, and the process returns.

  If the detected object has not retreated to the first portion 36a in step S17-1, 1 is added to the counter Nh in step S17-3, and in step S17-4, the counter Nh is reset from 20. Detects whether the number has increased. If the value of the counter Nh is greater than 20, the process proceeds to step S17-5, where the LED 28 is turned off, the first closed back mode is cleared, the counter Nh is cleared, and the process returns. If the value of the counter Nh is 20 or less, the process skips step S17-5 and returns.

(Closed back second mode)
As shown in FIG. 16, in the closed-back second mode, the controller 30 checks whether or not the user has left the vehicle 1 to a safe position, and performs the closing drive of the door 4.

  That is, in step S19-1, it is detected whether or not the detected object has retreated to the second portion 36b of the start area 36 (for example, P4 in FIG. 5). If the detected object is retreating to the second portion 36b, the process proceeds to step S19-2, in which a closing signal of the door 4 is output to drive the door 4 to close through the door opening / closing drive unit 12, and the LED 28 Turn off the light. Further, the closed back second mode is cleared, and the counter Ni, which is the number of times the object to be detected has not been detected in the second portion 36b, is cleared and the routine returns. Thereby, the door 4 of the vehicle 1 is closed with respect to the vehicle body 2.

  If the detected object has not retreated to the second portion 36b in step S19-1, then in step S19-3, 1 is added to the counter Ni. Detects whether the number has increased. If the value of the counter Ni is larger than 20, the process proceeds to step S19-5, the LED 28 is turned off, the closed-back second mode is cleared, the counter Ni is cleared, and the process returns. If the counter Ni is equal to or less than 20, the process skips step S19-5 and returns.

  As shown in FIG. 5, the door opening / closing device 10 configured as described above can reliably detect the movement of the user, which is a specific detection target, from a plurality of detection targets including the obstacles O1 and O2. The door 4 is controlled to open or close by detecting a specific movement set by the user, so that malfunction can be reliably prevented and the convenience of the user can be greatly improved.

(2nd Embodiment)
FIG. 17 shows a door opening / closing device 10 according to the second embodiment. The door opening / closing device 10 controls the first distance measurement sensor 20A and the second measurement sensor 20A so that the first detection center axis C1 of the first detection range R1 intersects with the second detection center axis C2 of the second detection range R2. The difference from the first embodiment is that the distance sensor 20B is arranged. Specifically, the distance measuring sensors 20A and 20B are arranged so as to be inclined inwardly from each other. Then, similarly to the first embodiment, measurement is performed such that a part of the first detection range R1 of the first distance measurement sensor 20A and a part of the second detection range R2 of the second distance measurement sensor 20B overlap. Distance sensors 20A and 20B are arranged respectively.

  The door opening / closing device 10 of the second embodiment as described above can obtain the same operations and effects as those of the first embodiment. In addition, since a range close to the centers C1 and C2 of the detection ranges R1 and R2 of the distance measurement sensors 20A and 20B can be set in the operation section 34, detection accuracy by the distance measurement sensors 20A and 20B can be improved.

  Note that the door opening and closing device 10 of the present invention overlaps a part of the first detection range R1 of the first distance measurement sensor 20A with a part of the second detection range R2 of the second distance measurement sensor 20B, and performs detection. The configuration is characterized in that the door 4 is opened and closed when the set movement of the object is detected, and other configurations are not limited to the configuration of the above-described embodiment, and various changes are possible.

  For example, the first and second (two) distance measuring sensors 20A and 20B are arranged as detecting means, but three or more distance measuring sensors may be arranged. Further, the operation section 34 is divided into two operation detection areas 35 and 36, but may be divided into three or more.

  In addition, the determination unit 30e compares the difference between the detection result D and the storage information M with the threshold T1, and determines that the object is a non-detection target object when it is determined that they are substantially the same for a set number of times. However, it may be determined that the object is a non-detection target by continuously detecting for a set time. Similarly, the difference between the detection result D and the obstacle information K may be compared with the threshold T2, and may be excluded from the obstacle information K by determining that they are not substantially the same for a set time. The thresholds T1 to T3 for determining whether or not they are substantially the same may be different numerical values.

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Body 3 Bumper 4 Door 5 Host ECU
DESCRIPTION OF SYMBOLS 10 Door opening / closing apparatus 12 Door opening / closing drive part 14 Casing 15 Bezel 16 Fixed part 17 Sensor mounting part 18 Lens mounting part 20A, 20B Distance measuring sensor (detection means)
21A, 21B Transmitter 22A, 22B Receiver 24 Control board 25 Connector 26 Connector 28 LED (optical display means)
29 lens 30 controller (control means)
30a storage unit 30b display control unit 30c transmission / reception mode switching unit 30d measurement unit 30e determination unit 32 approach area 32a first section 32b second section 34 operation section 35 trigger area 36 start area 36a first part 36b second part 37 first non Operation area 38 Second non-operation area G Ground O1, O2 Obstacle R1, R2 Detection range C1, C2 Output center (detection center axis)

Claims (12)

A door opening / closing drive unit that can open and close the door with respect to the vehicle body,
First detection means and second detection means for detecting an object to be detected around the door;
Control means for controlling the opening and closing of the door opening and closing drive unit based on the detection results of the first detection means and the second detection means ;
Verification means for performing key authentication of the electronic key by wireless communication ,
The first detection means has a first detection range in which the object can be detected, and the second detection means has a second detection range in which the object can be detected. One operation section is set by overlapping a part with a part of the second detection range ,
The entire area of the first detection range and the second detection range including the operation section is detected by the first detection unit or the second detection unit to detect the object, and is thereby transmitted through the comparison unit. Is set in the approach area to start key authentication by
The control means controls the opening and closing of the door only when a set movement of the detected object is detected in the operation section based on a detection result of at least one of the first detection means and the second detection means. Door opening and closing device. The first detection unit and the second detection unit, respectively, has a transmission unit that transmits a wireless signal, and a reception unit that receives a reflected signal that is reflected by the wireless signal hitting the object to be detected,
The operation section has two or more operation detection areas,
The control unit, further comprising: a determination unit configured to determine which operation detection area of the two or more operation detection areas has the object based on the reflection signal received by the reception unit. Item 2. The door opening / closing device according to Item 1 . The door opening / closing device according to claim 2 , wherein the operation detection area is set by a distance from the first detection unit and the second detection unit. As the operation detection area, a trigger area for starting predetermined control by detecting that the detected object has approached the vehicle body via the first detection means or the second detection means is set,
Optical display means for performing an optical display so as to guide toward the trigger area,
A display control unit that controls the light display unit when the first detection unit or the second detection unit detects that the detected object is present in the operation section. The door opening / closing device according to claim 2 . The control unit includes: a first transmission / reception mode for driving both the transmission unit and the reception unit out of the first detection unit and the second detection unit; The door opening / closing device according to claim 4 , further comprising a transmission / reception mode switching unit that switches a transmission / reception function to a second transmission / reception mode in which only the unit is driven. In the second transmission / reception mode, the transmission / reception mode switching unit alternately switches transmission / reception functions of the first detection unit and the second detection unit,
The determination unit is configured such that the reception unit of the first detection unit and the reception unit of the second detection unit detect the reflection signal, respectively, so that the detection object is present in the operation section. The door opening / closing device according to claim 5, which judges. 7. The door opening / closing device according to claim 5 , wherein the control unit switches to the second transmission / reception mode by the transmission / reception mode switching unit when detecting the detection target in the trigger area. As the operation detection area, a start area is set at a position away from the trigger area with respect to the vehicle body,
8. The control device according to claim 3, wherein the control unit controls opening and closing of the door via the door opening and closing drive unit when the detection target is detected in the start area and the trigger area in a predetermined order. 9 . The door opening / closing device according to claim 1. When the control means detects that the object has moved from the trigger area to the start area after the object has moved from the start area to the trigger area with the door closed, The door opening / closing device according to claim 8 , wherein the opening / closing of the door is controlled via the door opening / closing drive unit. The control means is configured such that, after the object moves from the start area to the trigger area with the door open, the object moves from the trigger area to the start area, and further includes the start area. The door opening / closing device according to claim 8 or 9 , wherein when detecting movement in a direction away from the inside, the door is closed and controlled via the door opening / closing drive unit. The first detection unit and the second detection unit are arranged such that a first detection center axis of the first detection unit and a second detection center axis of the second detection unit intersect. Item 11. The door opening / closing device according to any one of Items 1 to 10 . The said 1st detection means and the said 2nd detection means are arrange | positioned so that the 1st detection center axis of the said 1st detection means and the 2nd detection center axis of the said 2nd detection means may not cross. Item 11. The door opening / closing device according to any one of Items 1 to 10 .

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