JP7002301B2 - Door pinch detection device and door opening / closing device - Google Patents

Description

The present invention relates to a door pinch detection device and a door opening / closing device for doors that open / close the entrance / exit of a vehicle.

A door pinch detection device has been proposed that detects a door pinch in which an object is pinched by a door that opens and closes an entrance / exit of a vehicle (see, for example, Patent Document 1).
In the door pinch detection device described in Patent Document 1, a pressure switch is provided to deform an elastic member attached to the door end of the door. Then, the door pinch is detected based on the result of the pressure switch.

Japanese Unexamined Patent Publication No. 2016-159847

By the way, in the above-mentioned door pinch detection device, if a pressure change due to vibration during traveling of a vehicle is detected by the pressure switch, the door pinch detection accuracy may decrease.
The present invention has been made in view of such circumstances, and an object of the present invention is to provide a door pinch detection device and a door opening / closing device capable of improving the detection accuracy of a door pinch.

The door pinch detection device that solves the above problems is a door pinch detection device that detects whether or not the double-door door that opens and closes the entrance / exit of the vehicle is in the door pinch state, and is attached to the door end of one of the doors. The acquisition unit that acquires the output signal of the first detection sensor that detects the deformation of the elastic member and the output signal of the second detection sensor that detects the deformation of the elastic member attached to the door end of the other door, and the above. A calculated value, which is the difference between the output signal of the first detection sensor and the output signal of the second detection sensor, acquired by the acquisition unit is calculated, and it is determined based on the calculated value whether or not the door is pinched. A determination unit is provided.

The door opening / closing device for solving the above problems includes a door control device for controlling a double door that opens / closes the entrance / exit of the vehicle, and the door control device deforms an elastic member attached to the door end of one of the doors. An acquisition unit that acquires the output signal of the first detection sensor to be detected and the output signal of the second detection sensor that detects the deformation of the elastic member attached to the door end of the other door, and the acquisition unit acquired by the acquisition unit. A determination unit that calculates a calculated value that is the difference between the output signal of the first detection sensor and the output signal of the second detection sensor and determines whether or not the door is pinched based on the calculated value. Be prepared.

When the vehicle is running, the output signal of the detection sensor contains components associated with the vibration of the vehicle. Then, the inventors have found that the output signals of the respective detection sensors of the double doors have the same positive and negative when the vibration of the vehicle is detected, and the positive and negative are opposite when the door pinch is detected. rice field. According to the above configuration, since the component due to the vibration of the vehicle included in each output signal is canceled, the calculated value which is the difference between the output signals of each detection sensor becomes small. On the other hand, since the components associated with the door pinching included in each output signal are added together, the above calculated value becomes large. Therefore, by determining the door pinch based on this calculated value, it is possible to suppress erroneous detection of the door pinch due to the vibration of the vehicle. As a result, the detection accuracy of the door pinch can be improved.

It is preferable that the determination unit determines the door pinch detection device by comparing the calculated value with the determination value and uses the determination value different depending on the traveling state of the vehicle.
The vibration of the vehicle may differ depending on the running condition of the vehicle. Therefore, according to the above configuration, the detection accuracy of the door pinch can be further improved.

The door pinch detection device includes the first detection sensor and the second detection sensor, and the first detection sensor and the second detection sensor detect the pressure in the hollow portion formed inside the elastic member. It is preferable that the pressure sensor is used.

According to the present invention, the accuracy of detecting a door pinch can be improved.

The block diagram which shows the schematic structure of one Embodiment of the door opening / closing device which comprises a door pinch detection device. The graph which shows an example of the detection signal acquired by the door pinch detection device of the same embodiment. The graph which shows an example of the detection signal acquired by the door pinch detection device of the same embodiment. (A) and (b) are graphs showing an example of a detection signal acquired by the door pinch detection device of the same embodiment. The flowchart which shows the door pinch detection processing by the door pinch detection device of the same embodiment. The figure which shows the modification of the door control device provided with the door pinch detection device. The flowchart which shows the modification of the door pinch detection processing by the door pinch detection device.

(First Embodiment)
Hereinafter, the first embodiment of the door pinch detection device will be described with reference to FIGS. 1 to 4. The door pinch detection device is provided for each door that opens and closes the entrance / exit of a vehicle such as a train, and is a device that detects a door pinch in which an object or the like is caught in the door.

As shown in FIG. 1, the vehicle door 30 is a double door including a first door 31 on the left side in the figure and a second door 32 on the right side in the figure. The door 30 is opened and closed by the operation of the pneumatic cylinder. The door 30 is driven and controlled by the door control device 2. The door control device 2 opens and closes the door 30 by controlling the pneumatic cylinder. The drive device for the door 30 is not limited to the pneumatic cylinder, and an electric motor or the like may also be a drive device.

The door 30 is provided with a door pinching detection device 1 that detects that an object or the like is pinched by the door 30. The door pinch detection device 1 is electrically connected to the door control device 2 and communicates signals with each other. Further, the door control device 2 is electrically connected to a vehicle control panel 4 installed in a driver's cab or the like that controls the vehicle, and communicates signals with each other. The device including the door control device 2 and the door pinch detection device 1 is referred to as a door opening / closing device 3.

The door control device 2 includes a door opening / closing unit 21 that controls the opening / closing of the door 30, and a door decompression unit 22 that controls decompression when the door is fully closed. The door opening / closing unit 21 controls the drive of the pneumatic cylinder by the air pressure of a compressor (not shown) to move the door 30 between the fully open state and the fully closed state. The door decompression unit 22 weakens the drive of the pneumatic cylinder in the closing direction of the fully closed door 30 only for a predetermined period after the fully closed state. As a result, when a passenger's object or the like is pinched between the first door 31 and the second door 32, the pinched object can be pulled out and the door pinch can be eliminated. The configuration of the door decompression unit 22 may be omitted.

The vehicle control panel 4 includes an open / close command unit 41 that issues an open / close command to the door 30 to the door control device 2, a detection permission unit 42 that permits detection of the door pinch, and a door pinch notification unit 43 that notifies the door pinch. .. The open / close command unit 41 is operated by a crew member such as a driver or a conductor, and outputs an open command or a close command to the door control device 2. In the door control device 2, when the open command is input, the door opening / closing unit 21 moves the door 30 to the open state, and when the closing command is input, the door opening / closing unit 21 moves the door 30 to the closed state. The detection permission unit 42 is operated by the crew to set whether or not to detect the door pinch. The detection permission unit 42 outputs a detection command when the door pinch detection is performed, and does not output a detection command when the door pinch detection is not performed. When the door pinch detection device 1 detects the door pinch, the door pinch notification unit 43 lights a lamp provided on the vehicle control panel 4 or displays information on the door pinch.

A first elastic member 51 made of an elastic material such as rubber is attached to the door end of the first door 31. The first elastic member 51 is a tubular member having a space 51A inside. The first elastic member 51 is deformed when an object is caught in the door 30, and the volume of the space 51A also changes. A second elastic member 52 made of an elastic material such as rubber is attached to the door end of the second door 32. The second elastic member 52 is a tubular member having a space 52A inside. The second elastic member 52 is deformed when an object is caught in the door 30, and the volume of the space 52A also changes.

The first door 31 is provided with a first detection sensor 53 that detects deformation of the first elastic member 51. The first detection sensor 53 is a pressure sensor that detects the pressure in the space 51A of the first elastic member 51. The first detection sensor 53 outputs the fluctuating pressure with respect to the reference pressure as an output signal, with the pressure in the state where the door 30 is closed as the reference pressure. The first detection sensor 53 is attached to the upper part of the first door 31, and is connected to the upper end of the space 51A of the first elastic member 51 via the tube 53A. The first detection sensor 53 may be a part of the configuration of the door pinch detection device 1. Further, the first detection sensor 53 and the first elastic member 51 may be part of the configuration of the door pinch detection device 1.

The second door 32 is provided with a second detection sensor 54 that detects the deformation of the second elastic member 52. The second detection sensor 54 is a pressure sensor that detects the pressure in the space 52A of the second elastic member 52. The second detection sensor 54 outputs the fluctuating pressure with respect to the reference pressure as an output signal, with the pressure in the state where the door 30 is closed as the reference pressure. The second detection sensor 54 is attached to the upper part of the second door 32 and is connected to the upper end portion of the space 52A of the second elastic member 52 via the tube 54A. The second detection sensor 54 may be a part of the configuration of the door pinch detection device 1. Further, the second detection sensor 54 and the second elastic member 52 may be part of the configuration of the door pinch detection device 1.

The door 30 is provided with a door closing switch 23 for detecting that the door 30 has been closed. The door closing switch 23 is attached to the second door 32 so as to come into contact with the contact portion 60 attached to the main body of the vehicle when the second door 32 reaches a predetermined position by closing the door 30. The door closing switch 23 that comes into contact with the contact portion 60 outputs a door closing signal indicating that the door 30 is closed to the door control device 2. The door closing signal is output to the vehicle control panel 4 via the door control device 2. The door closing switch 23 may be attached to the first door 31.

The door pinch detection device 1 includes an acquisition unit 11 that acquires output signals from the first detection sensor 53 and the second detection sensor 54, and a determination unit 12 that determines the door pinch.
The acquisition unit 11 includes a filter 11A. Since the frequency component of the vibration of the vehicle is often high in the filter 11A, a low-pass filter is effective. The filter 11A removes a signal having a frequency of, for example, 6 Hz or higher. The acquisition unit 11 acquires the first output signal output from the first detection sensor 53, passes the first output signal through the filter 11A, and determines the first detection signal in which the frequency component of the vibration of the vehicle is reduced. Output to 12. The acquisition unit 11 acquires the second output signal output from the second detection sensor 54, passes the second output signal through the filter 11A, and determines the second detection signal in which the frequency component of the vibration of the vehicle is reduced. Output to 12.

The determination unit 12 calculates a calculated value obtained by the acquisition unit 11 which is the difference between the first detection signal and the second detection signal, and based on this calculated value, the determination unit 12 is in a state of being pinched when the vehicle is traveling. Determine if it exists. The determination unit 12 determines whether or not the door is pinched by comparing the calculated value with the determination value, and determines that the door is pinched when the calculated value is larger than the determination value.

Here, with reference to FIGS. 2 and 3, the reduction of the component due to the vibration of the vehicle by calculating the calculated value will be described. It is assumed that the first door 31 that outputs the first output signal D1 is located on the rear side in the traveling direction of the vehicle, and the second door 32 that outputs the second output signal D2 is located on the front side in the traveling direction of the vehicle.

FIG. 2 shows a first output signal D1, a second output signal D2, and a calculated value D3 (= D1-D2) when a door pinch occurs while the vehicle is running. When a door is pinched while the vehicle is running, the door tip of the first door 31, which is the rear door in the traveling direction of the vehicle, is pulled and the first output signal becomes a positive value, and the door on the front side in the traveling direction of the vehicle becomes a positive value. The door end of a certain second door 32 is opened, and the second output signal becomes a negative value. The calculated value D3 is larger than the output signal because the components associated with the door pinching included in each output signal are added together.

FIG. 3 shows a first output signal D1, a second output signal D2, and a calculated value D3 (= D1-D2) when there is traveling vibration during vehicle traveling. When there is running vibration during vehicle running, the first elastic member 51 and the second elastic member 52 are deformed in the same manner, and the first output signal D1 and the second output signal D2 are output as substantially the same value. .. The calculated value D3 is a small value because the components associated with the vibration of the vehicle included in each output signal are canceled out, and the influence of the running vibration of the vehicle can be reduced. If the judgment is made using the calculated value, the influence of the running vibration of the vehicle can be reduced. Therefore, the door pinching can be performed without switching the judgment between when the vehicle is running and when the vehicle is stopped. You will be able to detect it.

Here, the reduction of the frequency component of the vibration of the vehicle by the filter 11A will be described with reference to FIGS. 4 (a) and 4 (b).
FIG. 4A shows the output signals output from the detection sensors 53 and 54. On the left side of FIG. 4A, the output signal X1 when the door is pinched while the vehicle is stopped is shown, which is a low frequency signal. On the right side of FIG. 4A, the output signal X2 when there is traveling vibration during vehicle traveling is shown, which is a high-frequency signal. Since the amplitude of the output signal X2 including the traveling vibration is the first amplitude W1, the determination value for determining the door pinch must be the first determination value T1 larger than the first amplitude W1. With the first determination value T1, the mountain M1 on the left side in the door pinch cannot be detected, and it cannot be detected unless the value is larger than the mountain M1 on the left side like the mountain M2 on the right side in the door pinch. Therefore, by passing the output signals output from the detection sensors 53 and 54 through the filter 11A, the detection signal shown in FIG. 4B can be obtained.

FIG. 4B shows a detection signal in which the output signal is passed through the filter 11A. On the left side of FIG. 4B, the detection signal Y1 when the door is pinched while the vehicle is stopped is shown. On the right side of FIG. 4B, the detection signal Y2 when there is running vibration during running of the vehicle is shown. Since the amplitude of the detection signal Y2 including the traveling vibration is the second amplitude W2 smaller than the first amplitude W1, the determination value for determining the door pinch is the second determination value T2 smaller than the first determination value T1. be able to. With the second determination value T2, it is possible to detect the mountain M1 on the left side, which is smaller than the mountain M2 on the right side in the door pinch.

The determination unit 12 compares the calculated value and the determination value, which are the differences between the first detection signal and the second detection signal, in which the first output signal and the second output signal are passed through the filter 11A in the acquisition unit 11. Judges the door pinch.

Next, the door pinch detection process by the door pinch detection device 1 will be described with reference to FIG.
First, the door pinch detection device 1 determines whether or not there is a door closing command (step S11). That is, when the door pinch detection device 1 receives an input of a door closing command output from the vehicle control panel 4 via the door control device 2, the door 30 closes and starts detecting whether or not there is a door pinch. .. When there is no door closing command (step S11: NO), the door pinching detection device 1 waits until the door closing command is issued.

On the other hand, when there is a door closing command (step S11: YES), the door pinch detection device 1 acquires the first detection signal and the second detection signal (step S12). That is, when the first output signal is input from the first detection sensor 53, the acquisition unit 11 passes the first output signal through the filter 11A and acquires it as the first detection signal in which the frequency component of the vibration of the vehicle is reduced. .. Further, when the second output signal is input from the second detection sensor 54, the acquisition unit 11 passes the second output signal through the filter 11A and acquires it as a second detection signal in which the frequency component of the vibration of the vehicle is reduced. .. Then, the acquisition unit 11 outputs the first detection signal and the second detection signal to the determination unit 12.

Subsequently, the door pinch detection device 1 calculates a calculated value which is a difference between the detection signals (step S13). That is, the determination unit 12 can reduce the component of the output signal due to the vibration of the vehicle by calculating the calculated value which is the difference between the first detection signal and the second detection signal.

Subsequently, the door pinch detection device 1 determines whether or not the calculated value is larger than the determination value (step S14). That is, when the determination unit 12 determines that the calculated value is smaller than the determination value (step S14: NO), the determination unit 12 determines whether or not there is an end condition (step S18). If the end condition is not satisfied (step S18: NO), the determination unit 12 proceeds to step S12 and continues the determination. If the end condition is satisfied (step S18: YES), the determination unit 12 proceeds to step S17. Here, the end condition is a condition in which it is not necessary to detect a door pinch such that a predetermined time has passed since the vehicle started traveling, the rear end of the vehicle has passed the home end, the vehicle speed has exceeded the predetermined speed, and the like.

On the other hand, when the determination unit 12 determines that the detection signal is larger than the determination value (step S14: YES), it determines that there is a door pinch (step S15). That is, the determination unit 12 sets the pressure fluctuation due to the door pinching to a relatively large value with respect to the vibration of the vehicle, reduces the influence of the vibration of the vehicle by the filtering process, and determines the door based on the calculated value. It becomes possible to perform pinch detection.

Here, in other words, the processing of steps S12 to S14 and step S18 is that the determination unit 12 continuously acquires the detection signal and determines whether a calculated value larger than the determination value exists or until the end condition is satisfied. To continue.

Subsequently, the door pinch detection device 1 outputs the door pinch when it is determined that there is a door pinch (step S16). When the determination unit 12 determines that there is a door pinch, it outputs that there is a door pinch to the door control device 2, and outputs the door pinch to the vehicle control panel 4 via the door control device 2.

Subsequently, the door pinch detection device 1 stops the acquisition of the detection signal when the end condition is satisfied by the determination unit 12 (step S17), and ends the door pinch detection process. That is, the acquisition unit 11 may prevent the filter 11A from passing through the filter 11A even if the output signal is input, or may stop the input of the output signal itself. Further, the acquisition unit 11 may stop the output of the output signal from the first detection sensor 53 and the second detection sensor 54, or stop the pressure detection by the first detection sensor 53 and the second detection sensor 54. You may.

In the above-mentioned door pinch detection device 1, by using the first detection sensor 53 and the second detection sensor 54, the first elastic member 51 and the second elastic member are different from the one in which the door pinch is determined by the detection switch of the prior art. By taking the difference by using the pressure fluctuation due to the deformation of 52, the component due to the vibration of the vehicle can be reduced.

As described above, according to the present embodiment, the following effects can be obtained.
(1) Since the components included in each output signal due to the vibration of the vehicle are canceled, the calculated value which is the difference between the output signals of the detection sensors 53 and 54 becomes small. On the other hand, since the components associated with the door pinching included in each output signal are added together, the above calculated value becomes large. Therefore, by determining the door pinch based on this calculated value, it is possible to suppress erroneous detection of the door pinch due to the vibration of the vehicle. As a result, it is possible to improve the detection accuracy of the door pinch when the vehicle is traveling.

(2) Door pinching can be easily determined by comparing the calculated value with the determination value.
(3) By making a determination on the detection signal that has passed through the filter 11A, it is possible to remove the signal of the frequency component caused by the vibration of the vehicle.

(Second embodiment)
Hereinafter, a second embodiment of the door pinch detection device will be described with reference to FIG. 7. The door pinch detection device of this embodiment is different from the first embodiment in that the determination is made in consideration of the traveling state of the vehicle. Hereinafter, the differences from the first embodiment will be mainly described.

The door pinch detection device 1 acquires running state information indicating the running state of the vehicle from the vehicle control panel 4 via the door control device 2. Here, the traveling state information is information indicating the state of the vehicle such as stop, traveling (power running), braking (brake), and vehicle speed.

The filter 11A of the acquisition unit 11 of the door pinch detection device 1 removes signals having different frequency components depending on the traveling state of the vehicle. As the vehicle speed of the filter 11A increases, the frequency of the output signal due to the traveling vibration increases, so that the lower limit of the frequency to be removed is increased. Further, the lower limit of the frequency to be removed by the filter 11A is increased when the vehicle speed is considered to increase from the state of the vehicle, and the lower limit of the frequency to be removed is decreased when the vehicle speed is considered to decrease from the state of the vehicle. Will be done.

The determination unit 12 of the door pinch detection device 1 uses different determination values depending on the traveling state of the vehicle. As the vehicle speed increases, the possibility of door pinching decreases, so the judgment value increases. Further, the determination value is increased when the vehicle speed is considered to increase from the state of the vehicle, and the determination value is decreased when the vehicle speed is considered to decrease from the state of the vehicle.

As shown in FIG. 7, the door pinch detection device 1 acquires the traveling state information when the door pinch detection device 1 has a door closing command (step S11: YES) (step S21). That is, the door pinch detection device 1 acquires running state information from the vehicle control panel 4 via the door control device 2.

Subsequently, the door pinch detection device 1 sets the filter 11A according to the traveling state (step S22). That is, the acquisition unit 11 changes the lower limit of the frequency removed by the filter 11A according to the traveling state. Further, the door pinch detection device 1 sets a determination value according to the traveling state (step S23). That is, the determination unit 12 changes the determination value according to the traveling state. The order of steps S22 and S23 may be reversed or may be simultaneous.

Subsequently, the door pinch detection device 1 acquires the first detection signal and the second detection signal (step S12). That is, when the first output signal is input from the first detection sensor 53, the acquisition unit 11 passes the first output signal through the filter 11A and acquires it as the first detection signal in which the frequency component of the vibration of the vehicle is reduced. .. Further, when the second output signal is input from the second detection sensor 54, the acquisition unit 11 passes the second output signal through the filter 11A and acquires it as a second detection signal in which the frequency component of the vibration of the vehicle is reduced. .. Then, the acquisition unit 11 outputs the first detection signal and the second detection signal to the determination unit 12.

Subsequently, the door pinch detection device 1 calculates a calculated value which is a difference between the detection signals (step S13). That is, the determination unit 12 can reduce the component of the output signal due to the vibration of the vehicle by calculating the calculated value which is the difference between the first detection signal and the second detection signal.

Subsequently, the door pinch detection device 1 compares the calculated value, which is the difference between the detection signals that have passed through the filter 11A set according to the traveling state, with the determination value set according to the traveling state. It is determined whether or not the door is pinched (step S14).
Hereinafter, the processes of steps S15 to S18 are advanced in the same manner as in the first embodiment, and the door pinch detection process is completed.

As described above, according to the present embodiment, the following effects can be obtained in addition to the effects (1) to (3) of the first embodiment.
(4) Since the frequency component of the vibration of the vehicle may differ depending on the running state of the vehicle, it is possible to further improve the detection accuracy of the door pinch by reducing the frequency component according to the running state of the vehicle.

(5) By using different determination values according to the traveling state of the vehicle, the detection accuracy of the door pinch can be further improved.
In addition, the above-mentioned embodiment can also be carried out in the following embodiment which changed this as appropriate.

-In each of the above embodiments, the first detection sensor 53 and the second detection sensor 54 are attached to the upper part of the door, but the attachment positions of the first detection sensor 53 and the second detection sensor 54 can be arbitrarily set.

-In the second embodiment, the filter 11A for removing different frequency components according to the running state of the vehicle is provided, and different determination values are used according to the running state of the vehicle. However, only one of the provision of the filter 11A for removing different frequency components according to the running state of the vehicle and the use of different determination values according to the running state of the vehicle may be used.

-In each of the above embodiments, the filter 11A of the acquisition unit 11 removes signals of frequency components other than the vibration of the vehicle in addition to the frequency component of the vibration of the vehicle. However, the filter 11A of the acquisition unit 11 may remove the signal having the frequency of only the frequency component of the vibration of the vehicle.

-In the configuration of each of the above embodiments, if the frequency component of the vibration of the vehicle can be reduced by calculating the calculated value which is the difference between the detection signals, the configuration of the filter 11A may be omitted.
-In each of the above embodiments, the filter 11A is provided in the acquisition unit 11, but the determination unit 12 may be provided with a filter for reducing the frequency component due to the vibration of the vehicle included in the output signal. The determination unit provided with the filter determines whether or not the vehicle is in the door-caught state when the vehicle is traveling, based on the calculated value filtered by the filter.

-In each of the above embodiments, a pressure sensor is used as the detection sensor, but a strain sensor or the like that directly measures the amount of deformation of the elastic members 51 and 52 may be used. That is, "detecting the deformation of the elastic member" means that the deformation of the elastic member is indirectly detected by detecting the change in the pressure in the hollow portion provided inside the elastic member. Also includes a form that directly detects.

-In each of the above embodiments, as shown in FIG. 6, the door control device 2 may have the function of the door pinch detection device 1.

1 ... Door pinch detection device, 2 ... Door control device, 3 ... Door opening / closing device, 4 ... Vehicle control panel, 11 ... Acquisition unit, 11A ... Filter, 12 ... Judgment unit, 21 ... Door opening / closing unit, 22 ... Door decompression unit , 23 ... door closing switch, 30 ... door, 31 ... first door, 32 ... second door, 41 ... open / close command unit, 42 ... detection permission unit, 43 ... door pinch notification unit, 51 ... first elastic member, 51A ... space, 52 ... second elastic member, 52A ... space, 53 ... first detection sensor, 53A ... tube, 54 ... second detection sensor, 54A ... tube, 60 ... contact portion.

Claims (4)

It is a door pinch detection device that detects whether or not the double door that opens and closes the entrance of the vehicle is in the door pinch state.
The output signal of the first detection sensor that detects the deformation of the elastic member attached to the door end of one door and the output signal of the second detection sensor that detects the deformation of the elastic member attached to the door end of the other door. And the acquisition department to acquire,
A calculated value, which is the difference between the output signal of the first detection sensor and the output signal of the second detection sensor, acquired by the acquisition unit is calculated, and whether or not the door is pinched is determined based on the calculated value. A door pinch detection device including a determination unit for determination. The door pinch detection device according to claim 1, wherein the determination unit makes a determination by comparing the calculated value with the determination value, and makes a determination using the determination value that differs depending on the traveling state of the vehicle. The first detection sensor and the second detection sensor are provided.
The door pinch detection device according to claim 1 or 2, wherein the first detection sensor and the second detection sensor are pressure sensors that detect pressure in a hollow portion formed inside the elastic member. Equipped with a door control device that controls double doors that open and close the entrance and exit of the vehicle.
The door control device is
The output signal of the first detection sensor that detects the deformation of the elastic member attached to the door end of one door and the output signal of the second detection sensor that detects the deformation of the elastic member attached to the door end of the other door. And the acquisition department to acquire,
A calculated value, which is the difference between the output signal of the first detection sensor and the output signal of the second detection sensor, acquired by the acquisition unit is calculated, and whether or not the door is pinched is determined based on the calculated value. A door opening / closing device including a determination unit for determination.

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