TWI736451B - Door entrapment detector and door opening-closing device - Google Patents

Abstract

The subject of the present invention is to provide a vehicle door anti-pinch detection device and a door switch device that can improve the detection accuracy of vehicle door jamming. The vehicle door anti-pinch detection device 1 of the present invention detects whether the side-by-side door 30 that opens and closes the vehicle entrance and exits is in the state of vehicle door trapping. The door anti-pinch detection device is provided with: an acquisition unit 11 that acquires the output signal of the first detection sensor 53 that detects the deformation of the first elastic member 51 installed on the door side of the first door 31, and detects that it is installed on the second door The output signal of the second detection sensor 54 for the deformation of the second elastic member 52 on the door side of 32; and the determination section 12 which calculates the output signal of the first detection sensor 53 obtained by the obtaining section 11 and the second detection The difference between the output signals of the sensor 54 is a calculated value, and based on the calculated value, it is determined whether the door 30 is in a state of door jamming.

Description

Vehicle door anti-pinch detection device and door switch device

The invention relates to a door anti-pinch detection device and a door switch device for opening and closing the door of the vehicle entrance and exit.

A vehicle door anti-pinch detection device is proposed for detecting an object trapped by the door of the opening and closing door of the vehicle entrance and exit (for example, refer to Japanese Patent Laid-Open No. 2016-159847).

The door anti-pinch detection device described in Japanese Patent Laid-Open No. 2016-159847 is provided with a pressure switch that outputs a signal corresponding to the deformation of the elastic member installed on the door side of the door. And, based on the output result of the pressure switch, the vehicle door inclusions are detected.

However, in the above-mentioned vehicle door anti-pinch detection device, when the pressure switch detects the pressure change caused by the vibration of the vehicle when the vehicle is running, the detection accuracy of the vehicle door pinch may be reduced.

The present invention was completed in view of this situation, and its object is to provide a door anti-pinch detection device and a door switch device that can improve the detection accuracy of vehicle door inclusions.

The door anti-pinch detection device that solves the above problems is to detect whether the side door of the vehicle entrance and exit opening is in the state of door trapping, and has: an acquisition unit that detects the elasticity of the door side of one of the above side door doors The output signal of the first detecting sensor for the deformation of the member, and the output signal of the second detecting sensor for detecting the deformation of the elastic member installed on the door side of the other door of the above-mentioned side-by-side door; and the judging part, which 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, which is a calculated value, and based on the calculated value, it is determined whether the side-by-side door is in the state of door jamming.

The door switch device that solves the above-mentioned problem is equipped with a door control device that controls opening and closing of the side door of the vehicle entrance and exit. The door control device has: an acquisition unit that obtains and detects the elastic member installed on the door side of one of the side door doors. The output signal of the deformed first detection sensor, and the output signal of the second detection sensor that detects the deformation of the elastic member installed on the door side of the other door of the side-by-side door; and the judging unit, which calculates the above 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 a calculated value, and based on the calculated value, it is determined whether the side-by-side door is in a door-trapped state.

The inventor found the following situation: When the vehicle is running, the output signal of the detection sensor contains a component accompanying the vibration of the vehicle. In addition, the output signals of the respective detection sensors of the door openings have the same positive and negative signs when the vehicle vibration is detected, and the positive and negative signs are opposite when the vehicle door is detected. According to the above configuration, since the components accompanying the vehicle vibration contained in each output signal are cancelled out, the difference between the output signals of the two detection sensors, that is, the calculated value becomes smaller. On the other hand, since the components included in the output signals are added together with the inclusion of the door, the above-mentioned calculated value becomes larger. Therefore, it is possible to prevent the erroneous detection of the vehicle door jam caused by vehicle vibration by determining the door jam based on the calculated value. As a result, the detection accuracy of vehicle door inclusions can be improved.

In the above-mentioned vehicle door anti-pinch detection device, it is preferable that the determination by the determination unit is performed by comparing the calculated value with a determination value that differs according to the traveling state of the vehicle.

The vibration of the vehicle sometimes varies depending on the driving state of the vehicle. Therefore, according to the above-mentioned structure, the detection accuracy of vehicle door inclusions can be further improved.

Preferably, the door anti-pinch detection device includes the first detection sensor and the second detection sensor, and the first detection sensor and the second detection sensor are formed to detect the elastic A pressure sensor for the pressure in the hollow part of the component.

According to the present invention, the detection accuracy of vehicle door inclusions can be improved.

1: Door anti-pinch detection device

2: Door control device

3: Door switch device

4: Vehicle control panel

11: Acquisition Department

11A: filter

12: Judgment Department

21: Door switch department

22: Door decompression department

23: Door close switch

30: door

31: Gate 1

32: Gate 2

41: Switch command department

42: Inspection Licensing Department

43: Car door inclusion notification department

51: The first elastic member

51A: Space

52: The second elastic member

52A: Space

53: The first detection sensor

53A: Tube

54: The second detection sensor

54A: Tube

60: Contact

D1: The first output signal

D2: The second output signal

D3: Calculated value

M1: Peak

M2: Peak

S11~S18: steps

S21~S23: steps

T1: The first judgment value

T2: Second judgment value

W1: 1st amplitude

W2: second amplitude

X1: output signal

X2: output signal

Y1: detection signal

Y2: detection signal

Fig. 1 is a block diagram showing a schematic configuration of a first embodiment of a door switch device equipped with a vehicle door anti-pinch detection device.

Fig. 2 is a graph showing an example of the detection signal obtained by the door anti-pinch detection device of the first embodiment.

Fig. 3 is a graph showing an example of the detection signal obtained by the door anti-pinch detection device of the first embodiment.

4(a) and (b) are graphs showing an example of the detection signal obtained by the door anti-pinch detection device of the first embodiment.

Fig. 5 is a flowchart showing the detection process of door trapping of the door trap prevention detection device of the first embodiment.

Fig. 6 is a diagram showing a modified example of the door control device with the door anti-pinch detection device.

FIG. 7 is a flowchart showing the door trap detection process of the door trap prevention detection device of the second embodiment.

(First Embodiment)

Hereinafter, the first embodiment of the door anti-pinch detection device will be described with reference to FIGS. 1 to 4. The door anti-pinch detection device is installed for opening and closing the doors of vehicles such as trams, etc., and detects objects and other objects trapped by the door.

As shown in FIG. 1, the door 30 of the vehicle is a side-by-side door having 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 action of a 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 a pneumatic cylinder. In addition, the driving device of the door 30 is not limited to a pneumatic cylinder, and may be a driving device such as an electric motor.

The door 30 is provided with a door anti-pinch detection device 1 in which a detection object or the like is caught by the door 30. The door anti-pinch detection device 1 and the door control device 2 are electrically connected and communicate with each other. In addition, the door control device 2 is electrically connected to and communicates with a vehicle control panel 4 installed in a cab for controlling the vehicle or the like. The device provided with the door control device 2 and the door anti-pinch detection device 1 is referred to as the door switch device 3.

The door control device 2 includes a door opening and closing unit 21 that performs opening and closing control of the door 30, and a door decompression unit 22 that performs decompression control when it is fully closed. The door opening/closing part 21 is driven by a pneumatic cylinder of a compressor (not shown) to move the door 30 between a fully opened state and a fully closed state. In the door 30 in the fully closed state, the door pressure reducing portion 22 weakens the driving of the pneumatic cylinder in the closing direction only during a specific period after becoming the fully closed state. Thereby, when objects such as passengers getting on and off the vehicle are caught between the first door 31 and the second door 32, the caught objects can be taken out and Eliminate car door inclusions. In addition, the structure of the door pressure reducing portion 22 may be omitted.

The vehicle control panel 4 includes an opening/closing command unit 41 that instructs the door control device 2 to open and close the door 30; a detection permission unit 42 that permits detection of a door trapped object; and a door trapped object notification unit 43 that notifies a door trapped object. The switch command unit 41 is operated by a flight attendant such as a driver or a ticket seller, and outputs an opening command or a closing command to the door control device 2. When an opening command is input to the door control device 2, the door 30 is moved to the open state by the door switch part 21, and when a closing command is input, the door 30 is moved to the closed state by the door switch part 21. The detection permission unit 42 is operated by the flight attendant to set whether or not to detect objects in the door. The detection permission unit 42 outputs a detection command when detecting a door trapped object, and does not output a detection command when not performing door trapped object detection. The door trapped object notification unit 43 lights up a lamp provided on the vehicle control panel 4 or displays information on the door trapped object when the door trapped detection device 1 detects the door trapped object.

A first elastic member 51 made of elastic material such as rubber is attached to the door side of the first door 31. The first elastic member 51 is a cylindrical member having a space 51A inside. The first elastic member 51 deforms when an object is clamped by the door 30, and the volume of the space 51A also changes. A second elastic member 52 made of elastic material such as rubber is attached to the door side of the second door 32. The second elastic member 52 is a cylindrical member having a space 52A inside. The second elastic member 52 deforms when an object is clamped by 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 the 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 uses the pressure in the closed state of the door 30 as a reference pressure, and outputs a fluctuating pressure relative to the reference pressure as an output signal. The first detection sensor 53 is attached to the upper portion of the first door 31, and is connected to the upper end portion of the space 51A of the first elastic member 51 via a tube 53A. In addition, the first detection sensor 53 may be used as a part of the structure of the door anti-pinch detection device 1. In addition, the first detection sensor 53 and the first elastic member 51 may be part of the structure of the door pinch prevention 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 uses the pressure in the closed state of the door 30 as the reference pressure, and outputs the fluctuating pressure relative to the reference pressure as an output signal. The second detection sensor 54 is attached to the upper part of the second door 32 and is connected to the upper end part of the space 52A of the second elastic member 52 via a tube 54A. In addition, the second detection sensor 54 may be used as a part of the structure of the door anti-pinch detection device 1. In addition, the second detection sensor 54 and the second elastic member 52 may be part of the structure of the door pinch prevention detection device 1.

The door 30 is provided with a door closing switch 23 that detects that the door 30 is closed. When the door 30 is closed and the second door 32 reaches a specific position, 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 vehicle body. The door closing switch 23 in 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. In addition, the door closing switch 23 may be attached to the first door 31.

The door anti-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 an object in the door.

The acquisition unit 11 includes a filter 11A. Since the frequency components of vehicle vibration are mostly high frequencies, the filter 11A is a low-pass filter which is more effective. The filter 11A removes signals with frequencies above 6 Hz, for example. The acquisition unit 11 acquires the first output signal output from the first detection sensor 53, and passes the first output signal through the filter 11A and reduces the frequency component of the vehicle vibration. The first detection signal is output to the determination unit 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 outputs the second detection signal in which the frequency component of the vehicle vibration is reduced to the determination unit 12.

The determination unit 12 calculates the calculated value which is the difference between the first detection signal and the second detection signal acquired by the acquisition unit 11, and determines whether the vehicle is in a door-trapped state when the vehicle is traveling based on the calculated value. The judging unit 12 judges whether it is a door jam state by comparing the calculated value with the judgment value, and judges the door jam state when the calculated value is greater than the judgment value.

Here, with reference to FIG. 2 and FIG. 3, the reduction of the component accompanying vehicle vibration by using the calculated value will be described. In addition, 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.

Figure 2 shows the first output signal D1, the second output signal D2, and the calculated value D3 (=D1-D2) when a door jam occurs when the vehicle is running. If the door is trapped while the vehicle is running, the first elastic member 51 installed on the door side of the first door 31, which is the door on the rear side of the vehicle travel direction, is stretched and the first output signal is positive, and it is installed in the vehicle travel direction The front door, that is, the second elastic member 52 on the door side of the second door 32 is opened, and the second output signal becomes a negative value. The calculated value D3 is a value greater than the output signal because it adds up the components of each output signal that accompany the door inclusions.

Fig. 3 shows the first output signal D1, the second output signal D2, and the calculated value D3 (=D1-D2) when there is running vibration when the vehicle is running. If there is running vibration when the vehicle is running, the first elastic member 51 deforms in the same manner as the second elastic member 52, so the first output signal D1 and the second output signal D2 are output at substantially the same value. Since the components associated with vehicle vibration contained in each output signal cancel out, the calculated value D3 is a small value, which can reduce the impact of vehicle vibration. In addition, if the calculated value is used for the determination, since the influence of the vehicle vibration can be reduced, it is not necessary to switch the determination when the vehicle is running and when the vehicle is stopped, and it is possible to detect an object in the door.

Here, with reference to FIGS. 4(a) and 4(b), the use of the filter 11A to reduce the frequency components of vehicle vibration will be described.

Figure 4(a) shows the output signals from the detection sensors 53, 54. On the left side of Figure 4(a), it shows the output signal X1 when a door jam occurs when the vehicle is stopped, and it is a low-frequency signal. On the right side of Figure 4(a), the output signal X2 when there is driving vibration when the vehicle is running is displayed, and it is a high-frequency signal. Since the amplitude of the output signal X2 including the driving vibration is the first amplitude W1, the determination value used to determine the door inclusion must be the first determination value T1 greater than the first amplitude W1. With the first judgment value T1, the peak M1 on the left side cannot be detected when the door is trapped. If the peak M2 on the right side is greater than the peak M1 on the left side when the door is trapped, it cannot be detected. Therefore, the detection signal shown in FIG. 4(b) can be obtained by passing the output signals output from the self-detecting sensors 53, 54 through the filter 11A.

Fig. 4(b) shows the detection signal of the output signal passing through the filter 11A. On the left side of Figure 4(b), it shows the detection signal Y1 when a door jam occurs when the vehicle is stopped. On the right side of Fig. 4(b), the detection signal Y2 when the vehicle is running vibration is displayed. Since the amplitude of the detection signal Y2 including the traveling vibration is the second amplitude W2 which is smaller than the first amplitude W1, the judgment value for judging the door inclusion can be set to the second judgment value T2 which is smaller than the first judgment value T1. With the second determination value T2, the left side peak M1 that is smaller than the right side peak M2 can be detected when there is an object in the door.

The judging unit 12 compares the difference between the first detection signal and the second detection signal that passes the first output signal and the second output signal through the filter 11A in the acquisition unit 11, that is, the calculated value and the judgment value, thereby judging vehicle door inclusions .

Next, the door trap detection process of the door trap prevention detection device 1 will be described with reference to FIG. 5.

First, the door anti-pinch detection device 1 determines whether there is a door closing command (step S11). That is, the door anti-pinch detection device 1 starts to detect whether there is a door jam due to the closing of the door 30 when there is a door closing command input from the vehicle control panel 4 via the door control device 2 and output. In addition, when there is no door closing command (step S11: NO), the vehicle door anti-pinch detection device 1 waits until a door closing command is issued.

On the other hand, when there is a door closing command (step S11: YES), the vehicle door anti-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 vehicle vibration is reduced. 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 vehicle vibration is reduced. Next, the acquisition unit 11 outputs the first detection signal and the second detection signal to the determination unit 12.

Next, the door pinch prevention detection device 1 calculates the difference between the two detection signals, that is, the calculated value (step S13). That is, the determination unit 12 can reduce the component accompanying vehicle vibration contained in the output signal by calculating the difference between the first detection signal and the second detection signal, that is, the calculated value.

Next, the door pinch prevention detection device 1 determines whether the calculated value is greater than the determination value (step S14). That is, when the determination unit 12 determines that the calculated value is equal to or less than the determination value (step S14: No), it determines whether the end condition is satisfied (step S18). In the case where the end condition is not satisfied (step S18: No), the determination unit 12 proceeds to step S12 and continues the determination. In addition, when the end condition is satisfied (step S18: YES), the determination unit 12 proceeds to step S17. Here, the end condition is a condition that does not require detection of door inclusions, such as the vehicle's rear end passing the starting end, the vehicle speed exceeding a specified speed, etc. after the vehicle starts to travel and a certain time has passed.

On the other hand, when the determination unit 12 determines that the calculated value is greater than the determination value (step S14: Yes), it determines that a door jam has occurred (step S15). That is, for the vibration of the vehicle, determine The part 12 can set the pressure variation of the door inclusion to a relatively large value, reduce the influence of vehicle vibration through filtering processing, and determine the calculated value, thereby performing door inclusion detection.

Here, if the processing of steps S12 to S14 and step S18 is put in other words, the determination unit 12 continues to obtain the detection signal, and continues the determination until there is a calculated value greater than the determination value or the end condition is satisfied.

Next, the door jam prevention detection device 1 outputs the door jam when it is determined that the door jam is detected (step S16). When the determining unit 12 determines that a door jam has occurred, it outputs the occurrence of the door jam to the door control device 2, and outputs the door jam to the vehicle control panel 4 via the door control device 2.

Next, when the determination unit 12 determines that the end condition is satisfied, the door trap prevention detection device 1 stops acquiring a detection signal (step S17), and ends the door trap detection process. In other words, even if the acquisition unit 11 receives an input and output signal, the output signal may not be passed through the filter 11A, and the input and output signal itself may be stopped. In addition, the acquisition unit 11 can also stop the output of the output signals from the first detection sensor 53 and the second detection sensor 54, and can also stop the pressure of the first detection sensor 53 and the second detection sensor 54 Detection.

In the above-mentioned vehicle door anti-pinch detection device 1, by using the detection sensor 53 and the second detection sensor 54, it is different from the prior art that detects the vehicle door trapping by the detection switch, and can be used by the elastic member 51 And the pressure fluctuation caused by the deformation of the second elastic member 52 is set as the difference, and the component accompanying the vibration of the vehicle is reduced.

As described above, according to this embodiment, the following effects can be obtained.

(1) Since the components associated with the vehicle vibration contained in each output signal cancel out, the difference between the output signals of the detection sensors 53, 54 that is, the calculated value becomes smaller. On the other hand, since the components included in the output signals are added together with the inclusion of the door, the above-mentioned calculated value becomes larger. Therefore, by judging the door inclusions based on the calculated value, the false detection of door inclusions caused by vehicle vibration can be suppressed Measurement. As a result, the detection accuracy of door inclusions when the vehicle is running can be improved.

(2) By comparing the calculated value with the judgment value, it is easy to judge the vehicle door inclusions.

(3) The signal of the frequency component caused by the vibration of the vehicle can be removed by judging the detection signal passed through the filter 11A.

(Second Embodiment)

Hereinafter, a second embodiment of the door pinch prevention detection device will be described with reference to FIG. 7. The door anti-pinch detection device of this embodiment is different from the above-mentioned first embodiment in that the determination is made in consideration of the running state of the vehicle. The following description will focus on the differences from the first embodiment.

The door anti-pinch detection device 1 obtains driving state information indicating the driving state of the vehicle from the vehicle control panel 4 via the door control device 2. Here, the driving state information is information indicating the state of the vehicle, that is, stopping, driving (power running), braking (brake), or vehicle speed.

The filter 11A of the acquisition unit 11 of the door anti-pinch detection device 1 removes different frequency components corresponding to the running state of the vehicle. Since the faster the vehicle speed, the more the frequency of the output signal of the driving vibration rises, so the lower limit of the frequency removed by the filter 11A rises. In addition, when the filter 11A considers that the vehicle speed is accelerating based on the state of the vehicle, the lower frequency limit for removal increases, and when it is considered that the vehicle speed is decreasing based on the state of the vehicle, the lower frequency limit for removal decreases.

The determination unit 12 of the door anti-pinch detection device 1 uses determination values corresponding to different driving states of the vehicle. As the vehicle speed is faster, the possibility of door jamming decreases, so the judgment value increases. In addition, when it is considered that the vehicle speed is accelerating (the higher second speed) based on the vehicle state (ie, the first speed), the judgment value rises (the larger second value), and the judgment value is increased based on the vehicle state (ie, the first speed). 2 Speed) When the vehicle speed is considered to decrease (the lower first speed), the judgment value decreases (the lower first value).

As shown in Figure 7, the door anti-pinch detection device 1 has a door closing command (step S11: Yes), obtain driving state information (step S21). That is, the door anti-pinch detection device 1 obtains the traveling state information from the vehicle control panel 4 via the door control device 2.

Next, the door trap prevention detection device 1 sets the filter 11A corresponding to the traveling state (step S22). That is, the acquisition unit 11 corresponds to the lower limit of the frequency removed by the driving state change filter 11A. In addition, the door anti-pinch detection device 1 sets a determination value corresponding to the traveling state (step S23). That is, the determination unit 12 changes the determination value corresponding to the traveling state. In addition, the sequence of step S22 and step S23 can be reversed or simultaneously.

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

Next, the door pinch prevention detection device 1 calculates the difference between the two detection signals, that is, the calculated value (step S13). That is, the determination unit 12 can reduce the component accompanying the vibration of the vehicle included in the output signal by calculating the difference between the first detection signal and the second detection signal, that is, the calculated value.

Next, the door anti-pinch detection device 1 compares the difference, that is, the calculated value, of the detection signal that passes through the filter 11A set corresponding to the driving state, and the determination value set corresponding to the driving state, to determine whether it is a door trap (step S14). ).

Hereinafter, the processing of steps S15 to S18 is performed in the same manner as in the first embodiment, and the door trap detection processing is ended.

As explained above, according to this embodiment, except for (1)~ in the first embodiment In addition to the effects of (3), the following effects can also be obtained.

(4) Since the vibration frequency component of the vehicle is sometimes different depending on the driving state of the vehicle, the detection accuracy of the door inclusion can be further improved by reducing the frequency component corresponding to the driving state of the vehicle.

(5) The detection accuracy of vehicle door inclusions can be further improved by using different judgment values corresponding to the driving state of the vehicle.

In addition, the above-mentioned embodiment can also be implemented in the following form which changed it suitably.

‥In each of the above embodiments, the first detection sensor 53 and the second detection sensor 54 are installed on the upper part of the door, but the installation position of the first detection sensor 53 and the second detection sensor 54 can be Set arbitrarily.

. In the second embodiment described above, a filter 11A that removes frequency components that differ according to the traveling state of the vehicle is provided, and different determination values corresponding to the traveling state of the vehicle are used. However, it may only be provided with a filter 11A that removes different frequency components corresponding to the traveling state of the vehicle, and using a different determination value corresponding to the traveling state of the vehicle.

. In each of the above-mentioned embodiments, the filter 11A of the acquisition unit 11 not only removes the frequency component of the vehicle vibration, but also removes the signal of the frequency component other than the vehicle vibration. However, the filter 11A of the acquisition unit 11 may also remove signals of frequencies only of the frequency components of the vehicle vibration.

. In the configuration of each of the above-mentioned embodiments, as long as the frequency component of the vehicle vibration can be reduced by calculating the difference between the two detection signals, that is, the calculated value, the configuration of the filter 11A may be omitted.

. In the configuration of each of the above-mentioned embodiments, the acquisition unit 11 is provided with the filter 11A, but the determination unit 12 may be provided with a filter for reducing the frequency components associated with vehicle vibration contained in the output signal. The judgment unit equipped with a filter judges based on the calculated value of the filtering process performed by the filter Determine whether the vehicle is in the state of door inclusions when the vehicle is driving.

. In each of the above embodiments, a pressure sensor is used as the detection sensor, but a deformation sensor that directly measures the amount of deformation of the elastic members 51 and 52 may also be used. That is, "detecting the deformation of the elastic member" includes the form of indirectly detecting the deformation of the elastic member by detecting the pressure change provided in the inner hollow portion of the elastic member, and the form of directly detecting the deformation of the elastic member.

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

1: Door anti-pinch detection device

2: Door control device

3: Door switch device

4: Vehicle control panel

11: Acquisition Department

11A: filter

12: Judgment Department

21: Door switch department

22: Door decompression department

23: Door close switch

30: door

31: Gate 1

32: Gate 2

41: Switch command department

42: Inspection Licensing Department

43: Car door inclusion notification department

51: The first elastic member

51A: Space

52: The second elastic member

52A: Space

53: The first detection sensor

53A: Tube

54: The second detection sensor

54A: Tube

60: Contact

Claims (3)

An anti-pinch detection device for a vehicle door, which detects whether a pair of doors opening and closing the vehicle's entrance and exit are in the state of vehicle door trapping, and has: An acquisition unit that acquires the output signal of the first detection sensor that detects the deformation of the elastic member installed on the door side of one of the pair of doors, and detects the output signal of the first detection sensor installed on the door side of the other door of the pair of doors The output signal of the second detecting sensor for the deformation of the elastic member; and A determination unit that calculates 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, that is, the calculated value, and determines based on the comparison between the determination value and the calculation value Whether the above-mentioned pair of doors are in the state of vehicle door inclusions; and When the speed of the above-mentioned vehicle is the first speed, use the first value as the above-mentioned judgment value. When the speed of the above-mentioned vehicle is a second speed higher than the above-mentioned first speed, use the second value which is greater than the above-mentioned first speed. The value is used as the above-mentioned judgment value. Such as the vehicle door anti-pinch detection device of claim 1, which includes the above-mentioned first detection sensor and the above-mentioned second detection sensor, and The first detection sensor and the second detection sensor are pressure sensors that detect the pressure formed in the hollow portion inside the elastic member. A door opening and closing device is provided with a door control device that controls opening and closing of a pair of doors for opening and closing the entrance of a vehicle, The above-mentioned door control device has: An acquisition unit that acquires the output signal of the first detection sensor that detects the deformation of the elastic member installed on the door side of one of the pair of doors, and detects the output signal of the first detection sensor installed on the door side of the other door of the pair of doors The output signal of the second detecting sensor for the deformation of the elastic member; and A determination unit that calculates 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, that is, the calculated value, and determines based on the comparison between the determination value and the calculation value Whether the above-mentioned pair of doors are in the state of vehicle door inclusions; and When the speed of the above-mentioned vehicle is the first speed, use the first value as the above-mentioned judgment value. When the speed of the above-mentioned vehicle is a second speed higher than the above-mentioned first speed, use the second value which is greater than the above-mentioned first speed. The value is used as the above-mentioned judgment value.

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