JP2019108693A - Vehicle door control device - Google Patents

Abstract

To improve stability and operability of a user when driving a door.SOLUTION: A vehicle door control device 10 includes: a detection unit 12 for detecting an object to be detected positioned in a predetermined detection range 17 between a bottom 3 of a vehicle body 2 and the ground G; and a control unit 27 for controlling an electric device 21 of a door 5 arranged in the vehicle body 2, based on the detection result of the detection unit 12. The detection unit 12 is arranged at the bottom 3 of the vehicle body 2 so as to form the detection range 17 extending along the horizontal direction (horizontal line H) from the detection unit 12.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a vehicle door control device.

  There is known a door opening device capable of automatically opening and closing a door without the user touching the door handle. In the door opening and closing apparatus disclosed in Patent Document 1, the movement of the user for opening and closing the door is detected by the capacitance sensor disposed below the back door of the vehicle body.

Unexamined-Japanese-Patent No. 2015-21238

  In the door opening and closing device of Patent Document 1, when driving the door, it is necessary for the user to bring the remaining foot into contact with the capacitance sensor in an unstable single foot standing posture, and therefore the stability and operation of the user Bad sex.

  An object of the present invention is to provide a vehicle door control device capable of improving the stability and operability of a user when driving a door.

  According to one aspect of the present invention, there is provided a detection unit for detecting an object to be detected located within a predetermined detection range between the bottom of the vehicle body and the ground, and a door disposed on the vehicle body based on the detection result of the detection unit. A vehicle door control device disposed at the bottom of the vehicle body so as to form the detection range extending along the horizontal direction from the detection unit; I will provide a.

  In the vehicle door control device of the present invention, since the detection unit is disposed at the bottom of the vehicle body, even when the space around the door is small, the distance necessary for detection can be secured, and There is no influence on the design. Further, since the detection range of the detection unit is set between the bottom of the vehicle body and the ground, it is possible to prevent the detection unit from erroneously detecting another vehicle or obstacle around the vehicle, and to suppress the operation failure of the door. . Moreover, since the control unit detects a predetermined movement of the user based on a change in the distance obtained from the detection result of the detection unit, the user does not have to be in an unstable one-foot standing posture. Therefore, the stability and operability of the user when driving the door can be improved.

BRIEF DESCRIPTION OF THE DRAWINGS The side view of the vehicle using the vehicle door control apparatus which concerns on 1st Embodiment of this invention. The bottom view which shows a part of vehicle of FIG. BRIEF DESCRIPTION OF THE DRAWINGS The block diagram which shows the structure of the vehicle door control apparatus of 1st Embodiment. FIG. 2 is a perspective view showing the configuration of a detection unit. The flowchart which shows the door control of 1st Embodiment by a control part. The continuation flow chart of Drawing 5A. A bottom view showing a part of vehicles using a vehicle door control device concerning a 2nd embodiment. The block diagram which shows the structure of the vehicle door control apparatus of 2nd Embodiment. The flowchart which shows the door control of 2nd Embodiment by a control part. The continuation flow chart of Drawing 8A. The bottom view which shows the modification of a vehicle door control device.

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

First Embodiment
1 to 3 show a vehicle door control device 10 mounted on a vehicle 1 according to a first embodiment of the present invention. As shown in FIG. 2, the door control device 10 detects the movement determined by the user outside the rear side door 5 (hereinafter simply referred to as a door) of the vehicle 1 to detect the movement of the door 5. It controls the door drive unit 21 which is an electric device. In the following description, the vehicle length direction of the vehicle 1 is referred to as the X direction, the vehicle width direction of the vehicle 1 is referred to as the Y direction, and the vehicle height direction of the vehicle 1 is referred to as the Z direction.

(Outline of door control device)
As shown in FIG. 3, the door control device 10 includes a detection sensor (detection unit) 12, a door drive unit 21, an LED (display unit) 23, a collation unit 25, and a control unit 27. However, in FIG. 3, the part surrounded by the alternate long and short dash line is the configuration added this time, and the existing parts mounted on the vehicle 1 are used for the door drive unit 21 and the comparison unit 25.

  In the door control device 10, when opening and closing the door 5 with respect to the vehicle body 2, the user performs, for example, the following defined movement in front of the door 5. As shown in FIG. 2, while standing in front of the door 5, the user inserts one foot (a part from the ankle point) between the bottom 3 of the vehicle body 2 and the ground G (first operation M1 ). Subsequently, after moving the inserted foot backward in the X direction (second operation M2), the foot is pulled out from between the bottom 3 of the vehicle body 2 and the ground G (third operation M3). The control unit 27 detects the movement determined by the user based on the change in the distance obtained from the detection result of the detection sensor 12, whereby the door 5 is closed by the door drive unit 21. , And close the door 5 if the door 5 is open. Thereby, the user can automatically open and close the door 5 without using a hand.

  As shown in FIG. 1 and FIG. 2, the detection sensor 12 detects an object to be detected located within a defined detection range 17 between the bottom 3 of the vehicle body 2 and the ground G. The detected object includes the user who holds the key (portable device), the third party other than the user, the obstacle, and the ground G.

  As shown in FIG. 3, the detection sensor 12 is communicably connected to the control unit 27 by a communication cable. However, the detection sensor 12 may be communicably connected to an ECU (Electronic Control Unit) of the vehicle 1, and the control unit 27 may receive the detection result of the detection sensor 12 from the ECU. The detection sensor 12 may be wirelessly connected to the control unit 27 or the ECU.

  As the detection sensor 12, an ultrasonic sensor including a transmitter 13 and a receiver 14 is used. Referring to FIGS. 1 and 2, ultrasonic waves emitted from the transmitter 13 form a detection area 17 which spreads in a substantially conical shape along a defined direction. The reflected wave of the ultrasonic wave transmitted from the transmitter 13 is received by the receiver 14. The detection result is used to determine the presence or absence of an object in the detection range 17 and to calculate the distance from the detection sensor 12 to the object. The arrangement of the detection sensor 12 will be described in detail later.

  The door drive unit 21 drives the door 5 to open and close the vehicle body 2. Although not shown, the door drive unit 21 is configured by a motor, a gear mechanism, etc. for moving the door 5 forward in the X direction backward that opens the door 5 and in the X direction forward that closes the door 5. There is. The door drive unit 21 is communicably connected to the control unit 27 by a communication cable. However, the door drive unit 21 may be electrically connected to the ECU, and the control unit 27 may transmit the drive signal of the door drive unit 21 by the control unit 27 to the ECU, and the ECU may transmit to the door drive unit 21.

  The LED 23 provides an optical display for guiding the user. Referring to FIG. 1, the LED 23 is disposed on the vehicle body 2 so as to be located below the door 5 to be controlled. The LED 23 is mounted on a substrate in a casing, although not shown in detail. The substrate is communicably connected to the control unit 27 by a communication cable. The light of the LED 23 is configured to be able to be irradiated with an illuminance that can be viewed by the user even when the surroundings of the vehicle 1 are dark as well as when it is bright.

  The collation unit 25 includes a transceiver having an out-of-vehicle LF transmission / reception antenna that communicates with a key and an LF (Low Frequency) signal and performs authentication of the out-of-vehicle key. The transceiver is communicably connected to the control unit 27 by a communication cable, but may be communicably connected to the ECU. The transceiver is activated in response to an instruction from the ECU, and performs communication regarding key authentication processing. In the key authentication process, the collation means 25 sends a request for transmission of an authentication code to the key, compares the authentication code received from the key with the registered regular code, and is a user if they match (establish) I will judge.

  The control unit 27 controls the door drive unit 21 based on the result of the key authentication by the collation unit 25 and the detection result of the detection sensor 12. The control unit 27 includes a storage unit 28, a measurement unit 29, a determination unit 30, and a display drive unit 31, and is communicably connected to the ECU. The control unit 27 is configured of a single or a plurality of microcomputers and other electronic devices.

  The storage unit 28 stores a control program, setting data such as a threshold used in the control program and the determination value D, and a data table for calculating a distance from the detection result of the detection sensor 12. Further, the storage unit 28 is configured to be able to store the detection result of the detection sensor 12 for the set number of times (for example, 10 times).

  The measurement unit 29 detects the detection object from the detection sensor 12 based on the time (detection result) from when the transmitter 13 transmits (radiates) ultrasonic waves to when the receiver 14 receives reflected waves. Measure the distance to the object. That is, the measuring unit 29 and the detection sensor 12 constitute a distance measurement sensor that measures the distance from the detection sensor 12 to the object to be detected. The measurement result is stored in the storage unit 28 as distance information. When the storage unit 28 exceeds the settable number of times that can be stored, the measurement results are erased in order from the oldest one.

  The judging unit 30 judges the movement of the object to be detected based on the change of the distance which is the measurement result (the position of the object to be detected) of the measuring unit 29. That is, the determination unit 30 determines whether the object to be detected has moved or stopped based on the difference (change amount) between the current measurement result and the previous measurement result. If the amount of change is large, the movement distance is large, and if the amount of change is small, the movement distance is small. The determination unit 30 determines that the object to be detected has moved if the amount of change exceeds a predetermined determination value D, and determines that the object to be detected is stopped if the amount of change is less than the determination value D.

  The display driving unit 31 switches the LED 23 to the lighting state, the blinking state, and the extinguishing state. For example, when the determination unit 30 determines that the user has entered the detection range 17 and the key authentication by the comparison unit 25 is established, the display drive unit 31 switches the LED 23 from the off state to the on state. In addition, when the determination unit 30 determines that the user has performed the determined movement, the display drive unit 31 causes the LED 23 to blink. Then, when the open drive or close drive of the door 5 by the door drive unit 21 is completed, the display drive unit 31 turns off the LED 23. As described above, the user can understand the detection state by the detection sensor 12 to improve the operability by the user.

(Placement of detection sensor)
As shown in FIG. 1 and FIG. 2, the detection sensor 12 is fixed to the bottom 3 of the vehicle body 2 so as to be located at a predetermined interval in the X direction with respect to the door 5. This interval is a distance required to detect the movement of the user by the detection sensor 12, and is preferably set to 60 cm or more. The detection sensor 12 is disposed on the rear side of the front tire 6 of the vehicle 1 in the X direction with reference to the front end of the door 5 in the X direction. Further, the detection sensor 12 is disposed such that a detection range 17 extending toward the rear tire 7 along the horizontal direction (horizontal line H) from the detection sensor 12 is formed. Thus, the detection range 17 of the detection sensor 12 is configured to extend along the side surface 4 of the vehicle body 2 in which the door 5 to be controlled is disposed.

  Referring to FIG. 4, the detection sensor 12 is disposed in the casing 15 and configured such that the output of the transmitter 13 and the input of the receiver 14 are located on the same surface of the casing 15. A horn 16 for enhancing the directivity of the ultrasonic wave transmitted by the transmitter 13 is disposed on one surface of the casing 15 on which the output unit and the input unit are located. The horn 16 is formed in a conical cylinder shape having a first opening 16a surrounding the output of the transmitter 13 and the input of the receiver 14, and a second opening 16b having a diameter larger than the first opening 16a. There is.

(Setting of detection range)
The radiation angles R1 and R2, the maximum length L, and the inclination angles i1 and i2 of the detection range 17 are as follows in order to reliably detect the user by the detection sensor 12 and to suppress false detections other than the user. It is set as.

  As shown in FIGS. 1 and 2, the detection range 17 of the detection sensor 12 has the dimension in the Z direction in the side view (XZ plane) and the dimension in the Y direction in the bottom view (XY plane) as follows. It is in the shape of a set elliptical cone. That is, in the detection range 17, the radiation angle R1 in the side view shown in FIG. 1 and the radiation angle R2 in the bottom view shown in FIG. 2 are set individually. Of course, the radiation angle R1 and the radiation angle R2 may be set to the same value.

  If the radiation angle R1 in the side view is too narrow, detection of the user by the detection sensor 12 becomes difficult, and if too wide, the bottom 3 of the vehicle body 2 and the ground G are detected by the detection sensor 12, which is not preferable. In order to prevent these problems, the radiation angle R1 is set as large as possible without detecting the bottom 3 of the vehicle body 2 and the ground G. If the radiation angle R2 in the bottom view is too narrow, detection of the user by the detection sensor 12 becomes difficult, and if it is too wide, the possibility of false detection of a small animal or obstacle by the detection sensor 12 becomes high. . In order to prevent these disadvantages, the radiation angle R2 is set as small as possible within the range in which the user's foot can be detected.

  If the maximum length L of the detection range 17 from the detection sensor 12 to the tip 17a is too short, detection of the user's movement by the detection sensor 12 becomes difficult, and if too long, the rear tire 7 is mistaken by the detection sensor 12 Not desirable for detection. In order to prevent these disadvantages, the maximum length L of the detection range 17 is set to be as long as possible without detecting the rear tire 7.

  As shown in FIG. 1, the inclination angle i1 in the side view is a horizontal line H extending in the X direction through the detection sensor 12 between the bottom 3 of the vehicle body 2 and the ground G, and an output center C of the detection range 17 It is defined as an angle. The upper edge 17b of the detection range 17 is located on the bottom 3 side of the vehicle body 2, and the lower edge 17c of the detection range 17 is located on the ground G side. The inclination angle i1 is not preferable because the bottom 3 of the vehicle body 2 enters the detection range 17 when the inclination angle i1 is excessively narrowed, and the ground G enters the detection range 17 when the inclination angle i1 is excessively wide. In order to prevent these disadvantages, the inclination angle i1 is set to be half of the radiation angle R1, and the upper edge 17b extends in the X direction along the bottom 3 (horizontal line H) of the vehicle body 2 It is done.

  As shown in FIG. 2, the inclination angle i2 in the bottom view is a horizontal line H extending in the X direction through the detection sensor 12 between the bottom 3 of the vehicle body 2 and the ground G (bottom 3 center side); Is defined as an angle formed by the output center C of. The outer edge 17 d of the detection range 17 is located on the side 4 side of the vehicle body 2, and the inner edge 17 e of the detection range 17 is located on the center side of the vehicle body 2. If the inclination angle i2 is excessively narrowed, the outer edge 17d protrudes outward from the side surface 4 of the vehicle body 2 and the possibility of detecting an obstacle other than the user is increased. Also, if the inclination angle i2 is excessively wide, the outer edge 17d is separated from the side surface 4 of the vehicle body 2 toward the center of the bottom 3 and it is not preferable because the user's foot can not be detected. In order to prevent these disadvantages, the inclination angle i2 is set to be a half of the radiation angle R2, and the outer edge 17d extends in the X direction along the side surface 4 (horizontal line H) of the vehicle body 2 It is configured.

  As described above, since the detection sensor 12 is disposed on the bottom 3 of the vehicle body 2, there is no influence on the design of the vehicle 1 by mounting the door control device 10 and the side surface 4 of the vehicle 1 has a small space around it. Even in this case, the distance required for detection can be secured. In addition, the output surface of the detection sensor 12 for forming the detection range 17 is disposed to face the rear tire 7, and the second opening 16b is opened in the opposite direction to the direction in which the vehicle 1 travels. Since the contamination of the output surface can be suppressed, the decrease in detection accuracy by the detection sensor 12 can be suppressed.

  The detection range 17 is effectively narrowed by the arrangement of the horn 16. Further, the detection range 17 is set between the bottom 3 of the vehicle body 2 and the ground G along the side surface 4 on which the door 5 to be controlled is disposed. Therefore, it is possible to prevent the detection sensor 12 from erroneously detecting the movement of the user who gets on / off from the entrance of the vehicle body 2 in the open state of the other vehicle and obstacle around the vehicle 1 and the door 5. Further, the maximum length L of the detection range 17 is set so as to reliably detect the user. As a result, while the detection sensor 12 reliably detects only the movement of the user who is the detected object, it is possible to suppress the operation failure of the door 5 accompanying the erroneous detection of the obstacle.

(Control by control unit)
The automatic opening / closing control of the door 5 by the control unit 27 is started when the vehicle 1 is parked and the engine is stopped. When the control unit 27 determines that the key authentication by the collation unit 25 is established and the user has performed the determined movement within the detection range 17, the door drive unit 21 opens or closes the door 5.

  The detection range 17 of the detection sensor 12 is divided into a trigger section (first operation section) 18 and a start section (second operation section) 19 according to the difference in distance from the detection sensor 12. The trigger section 18 is set between the tip 17 a of the detection range 17 and the central portion of the door 5 in the X direction. The start section 19 is set between the central portion of the door 5 in the X direction and the front end portion of the door 5 in the X direction.

  The movement of the user determined by the determination unit 30 includes the movement between the trigger section 18 and the start section 19. That is, a first operation M1 in which the user inserts his or her foot into the start section 19, a second operation M2 in which the user moves the foot from the start section 19 to the trigger section 18, and a third operation M3 in which the user releases the foot from the trigger section 18 include. Note that the movement for controlling the door 5 is not limited to this, and an operation of stopping for a predetermined time between the operations M1 to M3 or an operation of inserting and removing the legs into and from the sections 18 and 19 may be added. It is possible to change accordingly. In addition, the positions of the trigger section 18 and the start section 19 may be reversed, and the operations M1 to M3 for transferring the foot may be changed to operations matched to the sections.

  Thus, setting the movement by the user as movement across the two operation sections 18 and 19 makes it possible to reduce the possibility that the movement of the third party matches the defined movement. Therefore, the erroneous operation of the door 5 due to the erroneous detection of the detection sensor 12 can be reduced. In addition, since the user does not have to be in an unstable one-leg standing posture in order to open and close the door 5, the stability and operability of the user at the time of operation can be improved.

  Next, the operation of the door control device 10 will be described according to the flowcharts shown in FIGS. 5A and 5B.

  As shown in FIG. 5A, the control unit 27 first waits until a predetermined detection time has elapsed (step S1). When the detection time has elapsed, the control unit 27 causes the transmitter 13 to transmit the ultrasonic wave and causes the receiver 14 to receive the reflected wave (step S2).

  When the detection sensor 12 does not detect the detected object (step S3: No), the control unit 27 switches the LED 23 to the off state by the display drive unit 31 and clears the key authentication state (step S4).

  When the detection sensor 12 detects the detected object (step S3: Yes), it is read whether or not the key authentication is established (step S5). Then, when the key authentication is not established (step S5: No), the control unit 27 requests the key authentication (step S6). In the authentication process, the collation means 25 requests the key to transmit an authentication code, compares the authentication code received from the key with the registered regular code, and determines that the user is the user if they match.

  When the key authentication is not established (step S7: No), the control unit 27 turns off the LED 23 and clears the key authentication state (step S4). When the key authentication is established (step S7: Yes), the control unit 27 switches the LED 23 to the lighting state by the display driving unit 31 (step S8).

  As shown in FIG. 5B, when the key authentication is established (steps S5 and S7: Yes), the control unit 27 determines the movement of the user based on the measurement result (step S9).

  If the change in the distance obtained by the detection result of the detection sensor 12 does not match the determined movement (step S10: No), the process waits for the next detection time.

  When the change in the distance obtained by the detection result of the detection sensor 12 matches the defined movement (step S10: Yes), the control unit 27 detects whether the door 5 is in the closed state or in the open state. . When the door 5 is in the closed state (step S11: Yes), the control unit 27 performs a door open output for opening the door 5 by the door drive unit 21 (step S12). When the door 5 is in the open state (step S11: No), the control unit 27 performs a door close output for closing the door 5 by the door drive unit 21 (step S13).

  Subsequently, the control unit 27 switches the LED 23 to the blinking state (step S14), and stands by until the open drive or close drive by the door drive unit 21 is completed (step S15). Then, when the driving of the door driving unit 21 is completed, the control unit 27 turns off the LED 23, clears the key authentication state (step S16), and waits for the next detection time.

  As described above, in the door control device 10 according to the present embodiment, the detection sensor 12 is disposed on the bottom 3 of the vehicle body 2. Therefore, even if the side 4 has a small space around it, the distance necessary for detection is secured. it can. Further, the control unit 27 improves the stability and operability of the user at the time of driving the door 5 because the movement determined by the user is detected by the change of the distance obtained from the detection result of the detection sensor 12. it can.

Second Embodiment
6 and 7 show a vehicle door control device 10 according to a second embodiment mounted on a vehicle 1. The door control device 10 includes a rear door (first door) 5A disposed on the side surface 4 of the vehicle body 2 and a front door (second door) 5B disposed on the same side surface 4 as the rear door 5A. It controls by each detection sensor 12.

  As shown in FIG. 7, the door control device 10 includes one detection sensor 12, two door drive units 21A and 21B, two LEDs 23A and 23B, collation means 25 similar to the first embodiment, and control. A unit 27 is provided.

  As shown in FIG. 6, the detection sensor 12 is different from the first embodiment in that the range of the operation sections 18 and 19 of the detection range 17 is changed. Hereinafter, the X direction rear side of the detection range 17 is referred to as a first operation section 18, and the X direction front side of the detection range 17 is referred to as a second operation section 19. The first operation section 18 is set between the tip 17a of the detection range 17 and the front end portion of the rear door 5A in the X direction. The second operation section 19 is set between the rear end portion of the front door 5B in the X direction and the front end portion of the front door 5B in the X direction.

  The rear door drive unit 21A drives the rear door 5A with respect to the vehicle body 2 in the same manner as in the first embodiment. The front door drive unit 21B drives the front door 5B rotatably connected to the vehicle body 2 so as to open and close. The front door drive unit 21B includes a latch that holds the door 5B in a closed state, a motor that rotates the latch in the opening direction and the closing direction of the front door 5B, and the like.

  As shown in FIG. 7, the rear LED 23A for the rear door 5A is driven by the detection sensor 12 detecting a user located in the first operation section 18. The front LED 23B for the front door 5B is driven by the detection sensor 12 detecting a user located in the second operation section 19. The rear LED 23A is disposed on the vehicle body 2 so as to be located below the rear door 5A, and the front LED 23B is disposed on the vehicle body 2 so as to be located below the front door 5B.

  The control unit 27 is configured to control the corresponding door 5A or 5B depending on which of the operation sections 18 and 19 the user detected by the detection sensor 12 is located. Moreover, the control part 27 will control door 5A or 5B, if the motion defined by the user is detected.

  Specifically, when the detection sensor 12 detects the user located in the first operation section 18 and the authentication by the collation unit 25 is established, the control unit 27 drives the rear door drive unit 21A and the rear LED 23A, while the front The door drive unit 21B and the front LED 23B are not driven. When the detection sensor 12 detects the user located in the second operation section 19 and the authentication by the collation unit 25 is established, the control unit 27 drives the front door drive unit 21B and the front LED 23B while the rear door drive unit 21A and rear LED23A are not driven.

  For the determined movement, for example, the first operation M1, M1 'in which the user inserts the foot into the operation section 18, 19 and the second operation M2, M2 in which the foot is stopped in the operation section 18, 19 for a predetermined time And a third action M3, M3 'which releases the foot from the operating section 18, 19. Of course, the movement for controlling the door 5A or 5B is not limited to this, and can be changed as needed.

  As described above, since the different doors 5A and 5B are controlled based on the detection result of one detection sensor 12, the convenience of the user is improved while preventing an increase in the number of parts due to an increase in the control target. There is.

  Next, the operation of the door control device 10 of the second embodiment will be described according to the flowcharts shown in FIGS. 8A and 8B.

  As shown in FIG. 8A, the control unit 27 stands by until a predetermined detection time elapses (step S20), and when the detection time elapses, the control unit 27 transmits ultrasonic waves from the transmitter 13 to receive a receiver. The reflected wave is received by step S14 (step S21).

  When the detection sensor 12 does not detect the detected object (step S22: No), the control unit 27 causes the display drive unit 31 to switch the LEDs 23A and 23B into the extinguished state, and clears the key authentication state (step S23).

  If the detection sensor 12 detects a detected object (step S22: Yes), it is read whether or not key authentication is established (step S24). Then, when the key authentication is not established (step S24: No), the control unit 27 requests the key authentication (step S25).

  When the key authentication is not established (step S26: No), the control unit 27 turns off the LEDs 23A and 23B and clears the key authentication state (step S23).

  When key authentication is established (step S26: Yes), the control unit 27 determines whether the user detected by the detection sensor 12 exists in the first operation section 18 (step S27). When the user is present in the first operation section 18 (step S27: Yes), the rear LED 23A is turned on (step S28). When a user exists in the 2nd operation division 19 (Step S27: No), front LED23B is made to light (Step S29).

  As shown in FIG. 8B, when the key authentication is established (steps S24 and S26: Yes), the control unit 27 determines the movement of the user based on the detection result (step S30).

  If the movement of the user determined based on the detection result of the detection sensor 12 does not match the defined movement (step S31: No), the process waits for the next detection time.

  When the movement of the user determined based on the detection result of the detection sensor 12 matches the defined movement (step S31: Yes), the control unit 27 corresponds to the operation sections 18 and 19 in which the user is detected. It is detected whether the door 5A or 5B is closed or open. When the door 5A or 5B is in the closed state (step S32: Yes), the control unit 27 performs a door open output for opening the door 5A or 5B by the door drive unit 21A or 21B (step S33). When the door 5A or 5B is in the open state (step S32: No), the control unit 27 performs a door close output for closing the door 5A or 5B by the door drive unit 21A or 21B (step S34).

  Subsequently, the control unit 27 switches the LED 23A or 22B to the blinking state (step S35), and stands by until the open drive or close drive by the door drive unit 21A or 21B is completed (step S36). When driving of the door driving unit 21A or 21B is completed, the control unit 27 turns off the LED 23A or 22B, clears the key authentication state (step S37), and waits for the next detection time.

  As described above, in the door control device 10 according to the second embodiment, by dividing the detection range 17 into the two operation sections 18 and 19, the two doors 5A and 5B can be controlled by one detection sensor 12. Further, as in the first embodiment, even at the side portion of the vehicle 1 with a small space around it, the distance necessary for detection can be secured, and therefore, the stability of the user when driving the doors 5A, 5B. Operability can be improved.

  In addition, the vehicle door control apparatus 10 of this invention is not limited to the structure of the said embodiment, A various change is possible.

  The detection sensor 12 may be disposed on the front side of the rear tire 7 in the X direction. Further, as shown in FIG. 9, in the second embodiment, the detection sensor 12A for the rear door 5A is disposed on the front tire 6 side of the vehicle body 2, and the detection sensor for the front door 5B on the rear tire 7 side of the vehicle body 2. You may arrange 12B. Further, also in the second embodiment shown in FIG. 6, when the operation sections 18 and 19 are further divided into two areas and the user's defined movement including the movement between the areas is detected, the control unit 27 controls the door It may be configured to control 5A or 5B.

  The detection sensor 12 may be configured by an infrared sensor including a light emitting element and a light receiving element. When an infrared sensor is used as the detection sensor 12, the directivity of the detection range can be enhanced without using the horn 16 shown in FIG. Therefore, the operation failure of the door 5 due to the erroneous detection of the detection sensor 12 can be effectively suppressed. Further, the sensor is not limited to the ultrasonic sensor or the infrared sensor, and any sensor that can detect the detected object and can determine the distance to the detected object based on the detection result can be changed as needed.

  The detection sensor 12 arranges the detection sensor 12 at the center between the bottom 3 of the vehicle body 2 and the ground G such that the inclination angle i1 in side view is 0 degree (horizontal). The horizontal line H may be matched.

  The control unit 27 may divide the detection range 17 into three or more operation sections to detect the movement set by the user. Further, as in the second embodiment, the movement to be defined may be configured by a combination of approach and stop of the foot without dividing the detection range 17 into two or more operation sections. Further, the movement to be determined may be set by combining the change in distance (movement), the stop, the number of movements, and the number of stops as necessary.

  The electric device of the door 5 is not limited to the door drive unit 21 that drives the door 5 to open and close, and may be a door lock device that locks the door 5 to the vehicle body 2 so as not to be opened. Moreover, the door to be controlled is not limited to the side door, but may be a back door.

  When the motorized side doors 5 are disposed on both side surfaces 4 of the vehicle 1, the detection sensors 12 may be respectively disposed on the both side surfaces 4 to individually control the motorized components of the individual side doors 5. In this case, in the vehicle 1 equipped with a back sonar that monitors the rear during traveling, a back sonar sensor is used, and the control unit 27 determines which of the left and right doors 5 the user is moving to Alternatively, only the corresponding detection sensor 12 may be driven.

  The detection range 17 of the detection sensor 12 may be the maximum length L including the opposing rear tire 7. In this case, the control unit 27 (judging unit 30) determines that the detected object having no change in the distance (position) for a predetermined time or more is an obstacle, and the measurement result is not used to detect the movement of the user. It is preferable to set it as a structure.

DESCRIPTION OF SYMBOLS 1 ... Vehicle 2 ... Body 3 ... Bottom 4 ... Side 5, 5A, 5B ... Door 6 ... Front tire 7 ... Rear tire 10 ... Vehicle door control device 12, 12A, 12B ... Detection sensor (detection part)
Reference Signs List 13 transmitter 14 receiver 15 casing 16 horn 16 a first opening 16 b second opening 17 detection range 17 a tip 17 b upper edge 17 c lower edge 17 d outer edge 17 e inner edge 18: Trigger section (first operation section)
19 ... Start section (second operation section)
21, 21A, 21B ... door drive unit (electric equipment)
23, 23A, 23B ... LED (display section)
25: collation means 27: control unit 28: storage unit 29: measurement unit 30: judgment unit 31: display drive unit G: ground H: horizontal line passing through detection sensor C: output center R1, R2: radiation angle i1, i2: horizontal line Tilt angle to

Claims (8)

A detection unit for detecting an object to be detected located within a predetermined detection range between the bottom of the vehicle body and the ground;
And a controller configured to control an electric device of a door disposed on a vehicle body based on a detection result of the detector.
The vehicle door control device, wherein the detection unit is disposed at the bottom of the vehicle body to form the detection range extending in the horizontal direction from the detection unit.   The vehicle door control device according to claim 1, wherein the detection unit is disposed such that the detection range extends along a side surface of the vehicle body in which the door is disposed. The door is a side door disposed on the side of the vehicle body,
The vehicle door control device according to claim 2, wherein the detection unit is disposed on a rear side in a vehicle length direction of a front tire of the vehicle such that the detection range extends toward a rear tire of the vehicle. In the detection range, two or more operation sections are set according to the distance from the detection unit,
The control unit is configured to control the motorized device when it detects a defined movement by the detected object including movement between the two or more operation sections based on a change in distance obtained from a detection result of the detection unit. The vehicle door control device according to any one of claims 1 to 3, wherein the vehicle door control device is configured as follows. The door includes a first door disposed on a side surface of the vehicle body, and a second door disposed on the same side surface as the first door.
In the detection range, a first operation section and a second operation section are set according to the distance from the detection unit,
The control unit controls the motorized device of the first door when the detection unit detects the detection target located in the first operation area, and the detection unit is positioned in the second operation area. The vehicle door control device according to any one of claims 1 to 3, configured to control the electrically powered device of the second door when the detected portion to be detected is detected.   The vehicle door control device according to any one of claims 1 to 5, wherein the electrically powered device includes a door drive unit that drives the door to open and close the vehicle body. The detection unit is an ultrasonic sensor,
The vehicle door control device according to any one of claims 1 to 6, wherein a horn for enhancing the directivity of an ultrasonic wave to be transmitted is disposed in the ultrasonic sensor.   The vehicle door control device according to any one of claims 1 to 6, wherein the detection unit is an infrared sensor.

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