KR20180130615A - Control method of automatic opening/closing apparatus of vehicle door - Google Patents

Abstract

The present invention relates to a method for controlling an automatic vehicle door opening/closing apparatus. The method for controlling an automatic vehicle door opening/closing apparatus according to one embodiment of the present invention includes: receiving a vehicle door opening/closing command signal; measuring an opening angle of a vehicle door in real time; determining the control direction of the vehicle door based on the type of the vehicle door opening/closing command signal; and controlling the vehicle door based on the determined control direction and a predetermined speed reference. According to the present invention, user convenience and safety can be improved by automatically opening and closing the vehicle door so that a user who is uncomfortable in behavior and is difficult to open and close the vehicle door alone does not need to manually open and close the vehicle door. In order to prevent the collision between the vehicle door and the obstacle when there is an obstacle in the vehicle door turning area, sensors are used to detect obstacles around the vehicle door and the opening/closing of the vehicle door is controlled so that the vehicle door can be safely opened/closed.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a control method for an automatic door opening /

The present invention relates to a vehicle door control method, and more particularly, to a control method of a vehicle door automatic opening / closing apparatus for automatically opening and closing a vehicle door, detecting an obstacle around the door, .

The vehicle door should be kept closed when the vehicle is traveling, and the opening state of the vehicle door should be maintained stably when the user is getting on and off or moving the goods up and down. The conventional vehicle door is provided with a door checker device of a mechanical structure inside the trim so that the vehicle door rotates relative to the vehicle body along a predetermined path and is kept open at a certain point of the opening / Is designed. Such a door checker device can cause the vehicle door to remain in a stopped state at the stopping point, but it is difficult to maintain a stopping state between the stopping point and the neighboring stopping point. Therefore, when the vehicle door is opened in a limited space including an obstacle such as a wall or another vehicle around the vehicle, the vehicle door moves without stopping at a desired point, so that the vehicle door may collide with surrounding obstacles when the vehicle door is opened or closed.

In addition, it is difficult to open and close the vehicle door alone due to inconvenience in the development and operation of the device which can smoothly open and close the vehicle door with a relatively small force. The user can open and close the vehicle door automatically so that the vehicle door can be opened / The development of a device that can be used is being developed.

As the technology develops, the vehicle door needs to be capable of opening and closing the vehicle door safely and conveniently by detecting the surrounding environment beyond the basic function of maintaining the closed state or maintaining the open state stably.

SUMMARY OF THE INVENTION The present invention has been conceived to solve the above-mentioned problems, and it is an object of the present invention to provide a vehicle door opening / closing apparatus for a vehicle which is incapable of opening and closing a vehicle door by itself, And to provide a control method of a vehicle door automatic opening / closing apparatus capable of ensuring safety.

Further, in order to prevent collision between the vehicle door and the obstacle when there is an obstacle in the vehicle door turning area in a state where the vehicle door is opened or closed, an obstacle around the vehicle door is sensed using a sensor and the opening / closing of the vehicle door is controlled, So that the opening and closing of the door can be performed.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention which are not mentioned can be understood by the following description and more clearly understood by the embodiments of the present invention. It will also be readily apparent that the objects and advantages of the invention may be realized and attained by means of the instrumentalities and combinations particularly pointed out in the appended claims.

According to an aspect of the present invention, there is provided a method for controlling a vehicle door, comprising: receiving a vehicle door open / close command signal; measuring an opening angle of the vehicle door in real time; And controlling the vehicle door based on the determined control direction and a predetermined speed reference.

According to the present invention, there is an effect that the convenience and safety of the user can be improved by fully opening and closing the vehicle door so that a user who is inconvenient in the behavior and is difficult to open and close the vehicle door alone can reduce the labor of manually opening and closing the vehicle door have.

In addition, in order to prevent collision between the vehicle door and the obstacle when there is an obstacle in the vehicle door turning area in the state of opening / closing the vehicle door, sensors are used to detect obstacles around the vehicle door and to control the opening and closing of the vehicle door, So that the opening and closing can be effected.

The above and other objects, features and advantages of the present invention will be more apparent from the following detailed description taken in conjunction with the accompanying drawings, in which: FIG.

1 is a block diagram of a vehicle door automatic opening and closing apparatus according to an embodiment of the present invention.
2 shows an example of a driving unit according to an embodiment of the present invention.
3 shows an example of an encoder for detecting the position and opening / closing speed of the vehicle door.
Figure 4 shows an example of the openable angle of the vehicle door when no obstacle is present.
5 is a view illustrating an open speed profile of a vehicle door according to an embodiment of the present invention.
6 illustrates a closure rate profile of a vehicle door in accordance with an embodiment of the present invention.
7 shows an example of distance measurement between an obstacle and a vehicle door through a distance sensor.
8 shows an example of the maximum opening angle of the vehicle door.
9 shows the maximum opening angle of the vehicle door calculated by the controller when an obstacle is present.
Figure 10 illustrates a modified speed reference in accordance with an embodiment of the present invention.
Fig. 11 shows an example in which an accident occurs when a vehicle door collides with an obstacle or an obstacle is stuck between the vehicle door and the vehicle body.

The above and other objects, features, and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings, which are not intended to limit the scope of the present invention. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail. Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to denote the same or similar elements.

1 is a block diagram of a vehicle door automatic opening and closing apparatus according to an embodiment of the present invention.

Referring to FIG. 1, a vehicle door automatic opening and closing apparatus according to an embodiment of the present invention includes a driving unit 30, a control unit 90, a sensor unit 10, a latch unit 80, and an alarm unit 100.

The driving unit 30 generates power to relatively rotate the vehicle door relative to the vehicle body, and transmits the generated power to the vehicle door.

2 shows an example of a driving unit according to an embodiment of the present invention.

2, a driving unit 30 according to an embodiment of the present invention includes a motor 33 generating power, a worm 35 rotating in conjunction with a rotation axis of the motor 33, A pinion gear 39 that rotates about the same center axis as the worm gear 37 and a pinion gear 39 that meshes with the pinion gear 39 and linearly moves and has one end hinged to the vehicle body, (41).

The vehicle door is hinged to the vehicle body and is rotated and rotated relative to the vehicle body along a predetermined path. The vehicle door can be automatically opened and closed by receiving the power generated by the driving unit 30 installed therein.

2, the worm 35 interlocked with the rotation axis of the motor 33 and the worm gear 37 with the teeth formed along the circumferential surface thereof are arranged at right angles to each other and on the axis of the worm gear 37, So that the threads of the worm 35 can be engaged with each other. The power generated by the motor 33 can be transmitted to the worm gear 37 by the rotation at a large reduction ratio by interlocking with the worm 35 and rotating the worm gear 37. [

The rotation of the pinion gear 39 is switched to the linear movement of the rack gear 41. [ The rack gear 41 is meshed with the teeth formed on the circumferential surface of the pinion gear 39 so that a plurality of teeth formed on one surface along the length direction are engaged with the rotation of the pinion gear 39 and linearly moved. The front end of the rack gear 41 is hinged to a hinge member attached to the vehicle body side and the vehicle door can be rotated relative to the vehicle body with the hinge coupled to the vehicle body by the linear movement of the rack gear 41 as a rotation axis have.

In one embodiment of the present invention, the driving unit 30 may include an encoder for measuring the opening angle and opening / closing speed of the vehicle door.

For example, the encoder can measure the opening angle and opening / closing speed of the vehicle door by measuring the displacement and the speed of the linear motion of the rack gear once connected to the vehicle and the hinge.

3 shows an example of an encoder for detecting the position and opening / closing speed of the vehicle door.

Referring to FIG. 3, the driving unit 30 of the present invention further includes an encoder 70 capable of detecting a vehicle opening / closing direction and an opening / closing speed.

As described above, the vehicle door can pivot relative to the vehicle body along the axis of the hinge joint in accordance with the linear movement of the rack gear 41, and the encoder 70 then rotates the hinge joint relative to the vehicle body on the basis of the positional displacement and speed of the rack gear The opening and closing speed of the vehicle door can be measured.

3, the encoder 70 includes an encoder gear that rotates in conjunction with the linear movement of the rack gear 41. The encoder 70 is connected to the rack gear 41 by a straight line The moving direction or speed is changed, and thus the rotational direction or speed of the encoder gear also changes. Therefore, by measuring the rotation direction or speed of the encoder gear, it is possible to detect whether the vehicle door is opened or closed or the opening / closing speed.

For reference, the opening / closing speed of the vehicle door in the present invention means the angular speed of the vehicle door. The angular speed of the vehicle door means the amount of change per unit time of the angle formed by the vehicle door with the vehicle body with respect to the rotation axis.

  Referring again to FIG. 1, the control unit 90 calculates the signals received from the other vehicle devices and sends out an overall control signal regarding the opening and closing of the vehicle door, thereby controlling opening and closing, locking and unlocking of the vehicle door.

In one embodiment of the present invention, signals received from other vehicle devices may include a vehicle door opening signal and a vehicle door closing signal, such that the vehicle door opening signal and the vehicle door closing signal are provided on the remote control, The door switch can be input through any one of the door switches.

In an embodiment of the present invention, the control unit 90 can determine the control direction of the vehicle door based on the type of the vehicle door open / close command signal inputted by the user. The control unit 90 can control the turning of the vehicle door based on the determined control direction and a predetermined speed reference. At this time, the control unit 90 may transmit the vehicle door control signal to the driving unit 30 to control the vehicle door.

In one embodiment of the invention, the preset speed reference may include an open speed profile and a closed speed profile. At this time, the opening speed profile and the closing speed profile each include information on the opening / closing speed depending on the opening angle of the vehicle door. Examples of the open speed profile and the closed speed profile included in the preset speed reference will be described later with reference to the drawings.

In an embodiment of the present invention, the control unit 90 may determine whether the vehicle door is rotated based on the opening angle of the vehicle door measured by the driving unit 30, when the vehicle door opening / closing command signal is input from the user. If it is determined that the vehicle door is turning, the control unit 90 may stop the vehicle door.

In an embodiment of the present invention, the control unit 90 stops the vehicle door when the magnitude of the driving current measured by the driving unit 30 exceeds a preset reference current magnitude, It can be controlled to rotate by a preset angle.

The sensor unit 10 may sense a touch of a user approaching the vehicle door or may detect an obstacle around the vehicle door. At this time, the sensor unit 10 may be provided with a distance sensor capable of measuring the distance between the obstacle vehicle doors around the vehicle door.

In an embodiment of the present invention, the controller 90 may calculate a maximum opening angle at which the vehicle door does not collide with an obstacle around the vehicle door based on the distance between the obstacle around the measured vehicle door and the vehicle door. At this time, the control unit 90 may modify the predetermined speed reference based on the calculated maximum opening angle, and may control the vehicle door based on the modified speed reference.

The latch portion 80 can lock the vehicle door or unlock the vehicle door. In this case, the lock of the vehicle door means that the vehicle door is bound to the vehicle body by the latch.

In an embodiment of the present invention, the latch portion 80 can determine whether or not the vehicle door is locked. When the vehicle door open / close command signal is input from the user, the control unit 90 can release the lock of the vehicle door when the latch unit 80 determines that the vehicle door is locked.

Hereinafter, an embodiment in which the vehicle door automatic opening and closing apparatus of the present invention controls the vehicle door according to the opening speed profile and the closing speed profile included in the preset speed reference will be described with reference to FIG. 4 through FIG.

Figure 4 shows an example of the openable angle of the vehicle door when no obstacle is present.

Referring to Fig. 4, when there is no obstacle within the opening and closing range of the vehicle door, the vehicle door 22 can be opened to an angle of maximum? 1 with respect to the vehicle body 21. The maximum angle characteristic at which the vehicle door can be opened is based on the type of the vehicle, the structure of the vehicle door, and the characteristics of the structure coupled with the vehicle body.

 Referring again to FIG. 4, when the vehicle door is opened at an angle of? 1 (Full Open), the maximum opening point 23 where the center line of the vehicle door end is located and the case where the vehicle door is fully closed The lockable point 24 at which the centerline of the distal end is located is indicated by a dotted line.

The zeroth opening point OE0, the first opening point OE1, the second opening point OE2 and the third opening point OE3 shown in Fig. 4 are used to describe a divided section of an opening velocity profile to be described later As shown in the figure, each point corresponds to a point at which the characteristic of opening / closing speed of the vehicle door changes in the process of opening the vehicle door. Details will be described later with reference to FIG.

The zero-closing point CE0, the first closing point CE1 and the second closing point CE2 shown in Fig. 4 are also shown for explaining the divided sections of the closing speed profile to be described later, It corresponds to a point where the characteristic of the opening / closing speed of the vehicle door changes in the process of closing the door. Details will be described later with reference to FIG.

In an embodiment of the present invention, the zeroth opening point OE0, the second closing point CE2 and the lockable point 24 shown in Fig. 4 may be the same point. Likewise, the zero-th closed point CE0, the third open point OE3 and the maximum open point 23 may be at the same point. The points where the respective points are distinguished from each other are for explanation of the vehicle door opening / closing step, and the positions of the respective points can be set differently according to the vehicle type and the structural characteristics of the vehicle door.

5 is a view illustrating an open speed profile of a vehicle door according to an embodiment of the present invention.

5, the opening speed profile of the vehicle door includes a speed profile for the opening speed acceleration section L1, the opening speed constant speed section L2, the opening speed deceleration section L3, and the opening completion section L4 .

As described above, the zeroth opening point OE0, the first opening point OE1, the second opening point OE2, and the third opening point OE3 are convenient for explaining the divided sections of the opening velocity profile, respectively , And the actual opening speed profile may include data on the opening / closing speed corresponding to the opening angle of the vehicle door.

In the opening speed acceleration section L1, the vehicle door starts rotating in the opening direction at the zero-th opening point OE0, at which time the opening / closing speed of the vehicle door can be accelerated to the first opening / closing speed OV1 during the time t1 have.

As described above, in an embodiment of the present invention, the latch unit 80 can determine whether the vehicle door is closed. If the latch unit 80 determines that the vehicle door is closed, When the vehicle door open / close command signal is inputted, the vehicle door can be unlocked before starting the control of the vehicle door. Thereafter, the unlocked vehicle door can start to rotate in the opening direction by the control unit 90.

The open / close speed of the vehicle door at the open speed constant speed section L2 can be maintained at the first open / close speed OV1 during the time t2. Therefore, the vehicle door can be rotated in the opening direction at a constant speed in the open speed constant speed section (L2).

The open / close speed of the vehicle door at the opening speed deceleration section L3 may be reduced to the 0th open / close speed OV0 during the time t3. That is, in the opening speed deceleration section L3, the vehicle door continuously rotates in the opening direction, and at the same time, the opening / closing speed is gradually decreased.

In the opening completion period L4, the opening / closing speed of the vehicle door can be reduced until the vehicle door is stopped for the time t4. At this time, the position where the opening / closing speed of the vehicle door has a value of 0 is the third opening point OE3. Referring again to FIG. 4, the third open point OE3 is distinguished from the maximum open point 23. That is, the vehicle door is decelerated in such a manner that the vehicle door is stopped at the third opening point OE3 while passing through the opening completion section L4, and the vehicle door stopped at the third opening point OE3 is manually opened by the user Can be further opened up to the point (23).

6 illustrates a closure rate profile of a vehicle door in accordance with an embodiment of the present invention.

Referring to Fig. 6, the closing speed profile of the vehicle door includes a speed profile for the closing speed acceleration section L5, the closing speed section L6, and the closing speed deceleration section L7.

As described above, the zero-th closing point CE0, the first closing point CE1, and the second closing point CE2 are shown for convenience of description of the divided sections of the closing speed profile, respectively, The profile may include data relating to the opening and closing speed corresponding to the opening angle of the vehicle door.

In the closing speed acceleration section L5, the opening / closing speed of the vehicle door is accelerated to the first closing opening / closing speed OV1 for the time t5.

In the closed speed constant speed section L6, the opening / closing speed of the vehicle door is maintained at the first closing opening / closing speed OV1 for the time t6. Therefore, the vehicle door can be rotated in the closing direction at a constant speed in the closed speed constant speed section L6.

In the closing speed deceleration section L7, the opening / closing speed of the vehicle door is decelerated to the 0th closing opening / closing speed OV0 for the time t7. That is, in the closing speed deceleration section L7, the vehicle door continuously rotates in the closing direction and the opening / closing speed is gradually decreased.

 As described above, in one embodiment of the present invention, the latch portion 80 can determine whether or not the vehicle door is closed. When the latch unit 80 determines that the vehicle door is open, the control unit 90 can lock the vehicle door that has finished the rotation at the second closing point CE2 at which the closing speed deceleration period L7 ends.

As described above, the user can automatically open or close the vehicle door by inputting the door open / close command signal. Therefore, a user who is incapable of opening and closing the vehicle door alone due to inconvenience can automatically open and close the vehicle door through the automatic door opening / closing device of the present invention, so that it is possible to reduce the labor of manually opening and closing the vehicle door.

Further, with reference to the velocity profiles in FIGS. 5 and 6, each of the opening velocity profile and the closing velocity profile is shown to be connected in the form of a gentle curve. That is, when the vehicle door is pivoted according to the respective speed profiles, the vehicle door can be pivoted according to the natural opening / closing speed change. Therefore, the use of the vehicle door automatic opening and closing apparatus of the present invention has an advantage that it can provide a luxurious vehicle door operating feeling to the vehicle user.

7 shows an example of distance measurement between an obstacle and a vehicle door through a distance sensor.

FIG. 7 shows a state in which an obstacle is present on a side surface of the vehicle from an upper part of the vehicle.

In one embodiment of the present invention, the distance sensor may be installed on one side of the vehicle. 7, the distance sensor may be installed on one side of the vehicle body 21 or on the vehicle door 22, and the number of the distance sensors installed at this time may be the same as the standard of the vehicle body 21 or the vehicle door 22 . ≪ / RTI >

7, the distance between the obstacle 5 and the vehicle door 22 is S1, and the control unit 90 determines the distance between the obstacle 5 and the vehicle door 22 based on the distance S1 between the measured obstacle 5 and the vehicle door 22 The maximum opening angle at which the vehicle door 22 does not collide can be calculated.

8 shows an example of the maximum opening angle of the vehicle door.

Fig. 8 shows a state in which the vehicle door is in contact with the obstacle 5 present on the side of the vehicle. When the obstacle 5 and the vehicle door 22 present on the vehicle side contact each other, the vehicle door 22 is opened at the first contact opening angle? 2. At this time, the first contact point A1 where the center of the end of the vehicle door is located is shown by a dotted line.

9 shows the maximum opening angle of the vehicle door calculated by the controller when an obstacle is present.

Referring to Fig. 9, there is shown a first maximum opening angle [theta] 3 at which the vehicle door 22 can be opened without colliding with the obstacle 5 existing on the vehicle side described above with reference to Fig. When the vehicle door 22 is opened at the first maximum opening angle 3, the distance between the obstacle 5 and the vehicle door 22 is S2.

In an embodiment of the present invention, the controller 90 may set the maximum opening angle differently depending on the position relative to the vehicle door pivot shaft 203 of the obstacle 5.

For example, the second door area 202 shown in Fig. 9 can pivot a longer distance than the first door area 201 while the vehicle door 22 is opened at the same angle. That is, even if the vehicle door 22 is controlled to be opened at the same maximum opening angle, an opening angle error may occur due to inertia of the vehicle door 22 and strength characteristics of the vehicle door connecting portion such as a hinge, A larger turning distance error is generated in the second door area 202 than in the first door area 201. [

Therefore, when the obstacle 5 shown in Fig. 9 is located farther from the vehicle door pivot shaft 203 than the presently illustrated position, if the controller 90 sets the maximum opening angle to be equal to the current maximum opening angle The possibility that the vehicle door 22 collides with the obstacle 5 due to the opening angle error of the vehicle door 22 can be increased. Accordingly, when the obstacle 5 shown in Fig. 9 is located farther from the vehicle door pivot shaft 203 than the presently illustrated position, the controller 90 determines that the maximum opening angle is the first maximum It is possible to reduce the possibility of collision between the vehicle door 22 and the obstacle 5 by setting the angle smaller than the opening angle 3.

As described above, the control unit 90 can calculate the maximum opening angle at which the vehicle door does not collide with the obstacle around the vehicle door based on the distance between the obstacle around the measured vehicle door and the vehicle door. At this time, the control unit 90 may modify a preset speed reference based on the calculated maximum opening angle.

9, when the obstacle 5 exists on the side of the vehicle, the control unit 90 calculates the maximum opening angle based on the distance between the obstacle 5 and the vehicle door 22 measured by the distance sensor. At this time, the maximum opening angle calculated by the controller 90 is the first maximum opening angle 3, and the controller 90 can modify the preset speed reference based on the first maximum opening angle 3.

Figure 10 illustrates a modified speed reference in accordance with an embodiment of the present invention.

Referring to Figs. 5, 9 and 10, Fig. 10 shows the relationship between the open speed profile of the vehicle door 22 described above with reference to Fig. 5, that is, The open speed profile of the vehicle door 22 deformed by the control unit 90 when an obstacle 5 exists is shown by a dotted line. The point indicated by the arrow in Fig. 10 is a point at which the terminal center of the vehicle door 22 can be positioned when the vehicle door 22 is brought into contact with the obstacle 5, as shown in Figs. 8 and 9, Contact point (A1).

9 and 10, in the embodiment of the present invention, the modified open speed profile of the vehicle door 22 includes the deformation opening speed acceleration section TL1, the deformation opening speed deceleration section TL3, And a velocity profile for the section TL4.

In this case, when the deformed opening speed profile of the vehicle door 22 is compared with the opening speed profile in the absence of the obstacle described above with reference to FIG. 5, the opening / closing speed of the vehicle door 22 in the deformation opening speed acceleration period TL1 Is accelerated to the open / close speed (OV1) for a time t8 equal to t1 of the opening speed acceleration section (L1).

On the other hand, the opening / closing speed of the vehicle door 22 in the deformation opening speed decelerating period TL3 is set to be 0 during the time t9 which is shorter than t3, which is the time when the opening / closing speed of the vehicle door 22 is decelerated in the opening speed decelerating interval L3. Decelerates to the open / close speed (OV0).

The opening and closing speed of the vehicle door 22 in the deformation opening completion period TL4 is set to t4 which is the time during which the opening and closing speed of the vehicle door 22 is decelerated in the opening completion period L4 similarly to the deformation opening speed acceleration period TL1, Until the vehicle door 22 stops.

Referring again to FIG. 10, the modified open speed profile does not include the open speed constant velocity section unlike the open speed profile in the case where no obstacle exists as described above with reference to FIG.

That is, the control unit 90 may remove each section with respect to the open speed profile or the closed speed profile included in the preset speed reference, or may generate the modified speed profile by shortening the time required for acceleration or deceleration. At this time, the control unit 90 controls the vehicle door to pivot according to the modified speed profile, so that the vehicle door can be opened and closed without colliding with the obstacle.

In one embodiment of the present invention, the distance sensor may be provided to operate continuously at the time of closing the door as well as at the time of opening the door. That is, the distance sensor continuously detects obstacles existing in an open range of the door during the opening process of the door, and transmits the information to the controller 90. The control unit 90 continuously computes and acquires information about the distance between the obstacle and the door in the opening process of the door using the information transmitted in this way and transmits information about the distance between the obstacle and the door to the driving unit 30 , It is possible to confirm in real time whether or not the vehicle door is opened or closed in accordance with the modified speed profile.

That is, the automatic door opening / closing apparatus of the present invention detects an obstacle around the vehicle door using a sensor to prevent collision between the vehicle door and the obstacle when there is an obstacle in the vehicle door turning area in the state of opening / closing the vehicle door, It is possible to safely open and close the vehicle door by controlling the opening and closing of the door.

 As described above, in an embodiment of the present invention, the control unit 90 stops the vehicle door when the magnitude of the driving current measured in real time by the driving unit 30 exceeds the preset reference current magnitude, It can be controlled so as to rotate by a predetermined angle in the direction opposite to the turning direction.

For example, when an obstacle is trapped between the vehicle door and the vehicle body while the vehicle door is being rotated by the control unit 90, or when an external force is applied to the vehicle door, a motor (not shown) An overcurrent may flow. The driving unit 30 measures the magnitude of the driving current applied to the motor and stops the vehicle door when it is determined that a problem has occurred in the turning of the vehicle door when the measured driving current exceeds the preset reference current magnitude . At this time, the control unit 90 rotates the vehicle door by a preset angle in a direction opposite to the existing turning direction so that an obstacle can be separated from the vehicle door and the vehicle body in case an obstacle is caught between the vehicle door and the vehicle body .

Fig. 11 shows an example in which an accident occurs when a vehicle door collides with an obstacle or an obstacle is stuck between the vehicle door and the vehicle body.

Referring to FIG. 11, when the vehicle door is rotated from the 0th opening point OE0 to the first opening point OE1 according to the opening speed profile in the absence of an obstacle as described above with reference to FIG. 5, (OV1). Thereafter, the vehicle door that has rotated at the constant speed to the second opening point OE2 may collide with the obstacle at the first collision point CE1 or an obstacle may be caught between the vehicle door and the vehicle body. At this time, due to an overload applied to the motor included in the driving unit 30, the magnitude of the driving current measured by the driving unit 30 in real time may exceed the preset reference current magnitude.

11, when it is determined that the magnitude of the driving current measured in real time by the driving unit 30 exceeds the preset reference current magnitude, the control unit 90 determines that the vehicle door is at the second collision point CE2 The opening and closing speed of the vehicle door can be decelerated to be completely stopped. When the vehicle door is completely stopped at the second collision point, the control unit 90 controls the vehicle door to rotate in the opposite direction by a predetermined angle so that the vehicle door is moved from the second collision point CE2 to the third collision point CE3, .

Therefore, in the automatic door opening / closing apparatus of the present invention, when the user's body is caught between the vehicle door and the vehicle body in the state of opening and closing the vehicle door, or when there is an external force applied in the direction opposite to the turning direction of the vehicle door, So that the vehicle door can be safely opened and closed.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, But the present invention is not limited thereto.

Claims (8)

Receiving a vehicle door open / close command signal;
Measuring an opening angle of the vehicle door in real time;
Determining a control direction of the vehicle door based on the type of the vehicle door open / close command signal; And
And controlling the vehicle door based on the determined control direction and a predetermined speed reference
(Method for controlling automatic door opening / closing device of vehicle door).
The method according to claim 1,
The step of controlling the vehicle door
Transmitting a vehicle door control signal generated through a control unit to a driving unit; And
And rotating the vehicle door relative to the vehicle body through the power generated by the driving unit
(Method for controlling automatic door opening / closing device of vehicle door).
The method according to claim 1,
The preset speed reference
An open speed profile and a closed speed profile, wherein the open speed profile and the close speed profile each include information on an opening / closing speed of the vehicle door according to an opening angle of the vehicle door
(Method for controlling automatic door opening / closing device of vehicle door).
The method of claim 1, wherein
Determining whether the vehicle door is turned based on the measured opening angle of the vehicle door; And
And stopping the vehicle door when the vehicle door open / close command signal is inputted, when the vehicle door is rotating
(Method for controlling automatic door opening / closing device of vehicle door).
The method according to claim 1,
The step of controlling the vehicle door
Determining whether the vehicle door is locked;
And unlocking the vehicle door when the vehicle door is locked
(Method for controlling automatic door opening / closing device of vehicle door).
The method according to claim 1,
The step of controlling the vehicle door
Measuring the magnitude of the driving current of the driving unit in real time;
And stopping the vehicle door when the measured magnitude of the driving current exceeds a preset reference current magnitude and then controlling the vehicle door to rotate by a predetermined angle in a direction opposite to the existing rotating direction of the vehicle door doing
(Method for controlling automatic door opening / closing device of vehicle door).
The method according to claim 1,
The step of controlling the vehicle door
Measuring a distance between the obstacle and the vehicle door through the distance sensor;
Calculating a maximum opening angle at which the obstacle does not collide with the vehicle door based on the measured distance between the obstacle and the vehicle door;
Modifying a preset velocity reference based on the calculated maximum opening angle; And
And controlling the vehicle door based on the modified speed reference
(Method for controlling automatic door opening / closing device of vehicle door).
The method according to claim 1,
The open / close command signal
A vehicle door opening signal and a vehicle door closing signal, and is inputted through any one of a remote control, a door switch installed inside and outside the vehicle
(Method for controlling automatic door opening / closing device of vehicle door).

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