Vehicle door control device

Abstract

The present invention provides a vehicle door control device capable of ensuring safety and improving convenience during the opening operation of a door. The door control device (80) includes: a control unit (81) that, based on an opening operation command signal, unlocks a latch (150) of a fully closed latch mechanism (110) by releasing an actuator (43) and opens a sliding door (40) by a door actuator (44); and a determination unit (83) that permits or restricts the unlocking operation of the latch (150) of the fully closed latch mechanism (110) and the opening operation of the sliding door (40) based on the establishment and non-establishment of a first operation start condition and a second operation start condition when the opening operation command signal is input to the control unit (81). When the first operation start condition is established and the second operation start condition is not established, the determination unit (83) permits the unlocking operation of the latch (150) of the fully closed latch mechanism (110) and restricts the opening operation of the sliding door (40).

Description

Technical Field

[0001] The present invention relates to a door control device for a vehicle. Background Art

[0002] Patent Document 1 discloses a vehicle including: a vehicle body having a door opening provided on a side surface thereof, a sliding door configured to open and close the door opening, a driving device configured to drive the sliding door, and a control device configured to control the driving device. The control device detects a request for opening and closing the sliding door from a user based on a signal output when an operation input unit is operated. Further, the control device controls the driving device based on the opening and closing operation request, thereby causing the sliding door to perform an opening and closing operation.

[0003] Prior Art Documents

[0004] Patent Documents

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2016-89456

[0006] Technical Problem to be Solved by the Invention

[0007] In the above-described door control device for a vehicle, it is desired to ensure safety and improve convenience during the opening operation of the sliding door. The technical problem of the present invention is to provide a door control device for a vehicle that can ensure safety and improve convenience during the opening operation of the door. Summary of the Invention

[0008] Hereinafter, means for solving the above technical problem and their effects are described.

[0009] The vehicle door control device for solving the above technical problems is applied to a vehicle, which includes: a door; a fully closed latch mechanism having a fully closed latch that is displaced between a fully locked position where the door is constrained to the fully closed position and an unlocked position where the door can be moved from the fully closed position; a release actuator that unlocks the fully closed latch from the fully locked position toward the unlocked position; and a door actuator that opens and closes the door. The vehicle door control device includes: a control unit that, when an opening operation command signal is input, unlocks the fully closed latch through the release actuator and opens the door through the door actuator; and a determination unit that, when the opening operation command signal is input to the control unit, permits or restricts the unlocking operation of the fully closed latch and the opening operation of the door based on the establishment and non-establishment of a first operation start condition and a second operation start condition. The first operation start condition is a condition that is likely to affect the safety of at least one of the vehicle and the user when the opening and closing operation of the door starts in a state where the first operation start condition is not established. The second operation start condition is a condition that is unlikely to affect the safety even when the opening and closing operation of the door starts in a state where the second operation start condition is not established. When both the first operation start condition and the second operation start condition are established, the determination unit permits both the unlocking operation of the fully closed latch and the opening operation of the door. When the first operation start condition is not established, the determination unit restricts both the unlocking operation of the fully closed latch and the opening operation of the door. When the first operation start condition is established and the second operation start condition is not established, the determination unit permits the unlocking operation of the fully closed latch and restricts the opening operation of the door.

[0010] Suppose such a comparative example: For example, even when an opening operation command signal is input, when the first operation start condition is established and the second operation start condition is not established, both the unlocking operation of the fully closed latch and the opening operation of the door are restricted. When this comparative example is applied to a vehicle equipped with an opening and closing switch that outputs an opening operation command signal when the user operates it as a substitute for a door handle, when the second operation start condition is not established, the user cannot open the door at all. That is, in the comparative example, the convenience of the user for the opening operation of the door cannot be said to be good.

[0011] In this regard, in the case where the vehicle door control device of the above structure is input with an opening operation command signal, when the first operation start condition is satisfied and the second operation start condition is not satisfied, although the opening operation of the door is restricted, the unlocking operation of the fully closed latch is permitted. That is, in the above case, the vehicle door control device can suppress the inadvertent opening operation of the door by not performing the opening operation of the door. In addition, in the above case, the vehicle door control device can be in a state where the user can perform an opening operation on the door by performing the unlocking operation of the fully closed latch. In this way, the vehicle door control device can ensure safety and improve convenience during the opening operation of the door.

[0012] In the above vehicle door control device, preferably, the first operation start condition includes a condition that is satisfied when the vehicle body speed is less than a speed determination value and is not satisfied when the vehicle body speed is equal to or greater than the speed determination value.

[0013] In the case where an opening operation command signal is input, when the vehicle is traveling at a vehicle body speed equal to or greater than the speed determination value, the vehicle door control device of the above structure restricts the unlocking operation of the fully closed latch. That is, when the vehicle is traveling at a vehicle body speed equal to or greater than the speed determination value, even if an opening operation command signal is input to the vehicle door control device, it will not be in a state where the door can be opened. Therefore, the vehicle door control device can ensure the safety of the user.

[0014] In the above vehicle door control device, preferably, the first operation start condition includes a condition that is satisfied when the door is not locked and is not satisfied when the door is locked.

[0015] In the case where an opening operation command signal is input, when the door is locked, the vehicle door control device of the above structure restricts the unlocking operation of the fully closed latch. That is, when the door is locked, even if an opening operation command signal is input to the vehicle door control device, it will not be in a state where the door can be opened. Therefore, the vehicle door control device can ensure the safety of the vehicle, specifically, ensure the security of the vehicle.

[0016] In the above vehicle door control device, preferably, the second operation start condition includes a condition that is satisfied when the battery voltage value is equal to or greater than a voltage determination value and is not satisfied when the battery voltage value is less than the voltage determination value.

[0017] When the battery voltage value is less than the voltage determination value, even if the vehicle door control device can normally complete the unlocking operation with low power consumption, it may not be able to normally complete the door opening operation with high power consumption. In this regard, in the situation where an opening operation command signal is input, when the battery voltage value is less than the voltage determination value, although the vehicle door control device with the above structure does not cause the door to perform an opening operation, it causes the fully closed latch to perform an unlocking operation. That is, since it becomes a state where the user can perform an opening operation on the door, the vehicle door control device can improve the convenience for the user.

[0018] In the above vehicle door control device, preferably, the second operation start condition includes a condition that is established when the function of the door actuator is validated and is not established when the function of the door actuator is invalidated.

[0019] In the situation where an opening operation command signal is input, when the function of the door actuator is invalidated, although the vehicle door control device with the above structure does not cause the door to perform an opening operation, it causes the fully closed latch to perform an unlocking operation. That is, since it becomes a state where the user can perform an opening operation on the door, the vehicle door control device can improve the convenience for the user.

[0020] In the above vehicle door control device, preferably, it further includes a failure detection unit that detects a failure of the door actuator, and the second operation start condition includes a condition that is established when no failure of the door actuator is detected and is not established when a failure of the door actuator is detected.

[0021] In the situation where an opening operation command signal is input, when a failure of the door actuator is detected, although the vehicle door control device with the above structure does not cause the door to perform an opening operation, it causes the fully closed latch to perform an unlocking operation. That is, since it becomes a state where the user can perform an opening operation on the door, the vehicle door control device can improve the convenience for the user.

[0022] In the above-described vehicle door control device, preferably, the vehicle is provided with a fully open latch mechanism having a fully open latch that is displaceable between a fully locked position for restraining the door in the fully open position and an unlocked position that enables the door to move from the fully open position. The release actuator is configured to be able to perform an unlocking operation on both the fully closed latch and the fully open latch. When a closing operation command signal is input, the control unit causes the fully open latch to perform an unlocking operation through the release actuator and causes the door to perform a closing operation through the door actuator. When the closing operation command signal is input to the control unit, the determination unit permits or restricts the unlocking operation of the fully open latch and the closing operation of the door based on the establishment and non-establishment of the first operation start condition and the second operation start condition. When both the first operation start condition and the second operation start condition are established, the determination unit permits both the unlocking operation of the fully open latch and the closing operation of the door. When the first operation start condition is not established, the determination unit restricts both the unlocking operation of the fully open latch and the closing operation of the door. When the first operation start condition is established and the second operation start condition is not established, the determination unit permits the unlocking operation of the fully open latch and restricts the closing operation of the door.

[0023] Similar to the opening operation of the door, the vehicle door control device can also improve the convenience for the user during the closing operation of the door.

[0024] Advantages of the Invention

[0025] The vehicle door control device can ensure safety and improve convenience during the opening operation of the door. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 FIG. is a schematic view of a vehicle equipped with a vehicle door control device according to an embodiment.

[0027] Figure 2 FIG. is a schematic view showing the structure of a sliding door of the above vehicle.

[0028] Figure 3 FIG. is a front view showing the operation of the latch of the latch mechanism of the above sliding door.

[0029] Figure 4 FIG. is a front view showing the operation of the latch of the latch mechanism of the above sliding door.

[0030] Figure 5 FIG. is a front view showing the operation of the latch of the latch mechanism of the above sliding door.

[0031] Figure 6This is a flowchart showing the process implemented by the door control device to determine whether to start the opening and closing operation of the above sliding door.

[0032] Symbol Explanation

[0033] 10…Vehicle

[0034] 20…Vehicle Body

[0035] 24…Latch

[0036] 34…Lift Seat

[0037] 40…Sliding Door

[0038] 41…Open / Close Switch

[0039] 42…Door Lock Switch

[0040] 43…Release Actuator

[0041] 44…Door Actuator

[0042] 47…PSD Main Switch

[0043] 50…Fuel Tank Cap

[0044] 80…Door Control Device (Vehicle Door Control Device)

[0045] 81…Control Unit

[0046] 82…Fault Detection Unit

[0047] 83…Judgment Unit

[0048] 100…Latch Mechanism

[0049] 110(111, 112)…Fully Closed Latch Mechanism

[0050] 120…Fully Open Latch Mechanism

[0051] 150…Latch Detailed Implementation Manner

[0052] Hereinafter, with reference to the drawings, a vehicle equipped with a vehicle door control device (hereinafter, also referred to as "door control device") according to an embodiment will be described.

[0053] As Figure 1 shown, the vehicle 10 includes: a vehicle body 20 having a passenger compartment 21, a seat 30 provided in the passenger compartment 21, a sliding door 40 disposed on the side portion of the vehicle body 20, and a fuel tank cap 50 disposed on the side portion of the vehicle body 20. In addition, as Figure 2As shown, the vehicle 10 includes a peripheral monitoring device 61 that monitors the periphery of the vehicle 10, a monitoring control device 62 that controls the peripheral monitoring device 61, a wireless communication device 72 that wirelessly communicates with the portable device 71, and a door control device 80 that controls the sliding door 40.

[0054] As Figure 1 shown, both side portions of the vehicle body 20 in the width direction have door openings 22, and one side portion in the width direction has a fuel supply opening 23. The door opening 22 is an opening that connects the inside and outside of the passenger compartment 21 and is opened and closed by the sliding door 40. The fuel supply opening 23 is an opening that exposes the fuel supply port to the outside of the vehicle and is opened and closed by the fuel tank cap 50. In the present embodiment, a part of the movement range when the sliding door 40 is opened and closed overlaps with the movement range when the fuel tank cap 50 is opened and closed.

[0055] The seat 30 has a driver's seat 31, a front passenger seat 32, and a plurality of rear seats 33. One of the plurality of rear seats 33 is a lift seat 34 that moves between a position inside the passenger compartment 21 and a position outside the passenger compartment 21. When the sliding door 40 adjacent to the lift seat 34 is disposed in the fully open position, the lift seat 34 performs a deployment operation toward the outside of the passenger compartment 21 or a storage operation toward the inside of the passenger compartment 21.

[0056] As Figure 2 shown, the sliding door 40 includes an opening / closing switch 41 and a door lock switch 42 that are operated by a user, a latch mechanism 100 that restrains the sliding door 40 to the vehicle body 20, a release actuator 43 that releases the restraint of the latch mechanism 100 on the sliding door 40, and a door actuator 44 that drives the sliding door 40. In addition, the sliding door 40 includes a remote control device 45 that relays the power of the release actuator 43 to the latch mechanism 100, and a plurality of cables 461, 462, 463, 464 that mechanically connect the latch mechanism 100, the release actuator 43, and the remote control device 45.

[0057] The opening / closing switch 41 has an outer opening / closing switch 411 provided on the outer surface of the sliding door 40 and an inner opening / closing switch 412 provided on the inner surface of the sliding door 40. The outer opening / closing switch 411 is preferably provided at a position where it is easily operable by a user standing on the side of the vehicle 10, and the inner opening / closing switch 412 is preferably provided at a position where it is easily operable by a user sitting on the seat 30 on the side of the sliding door 40. In addition, the opening / closing switch 41 can be provided on the outer surface and the inner surface of the B-pillar of the vehicle body 20 in addition to the sliding door 40.

[0058] The outer opening / closing switch 411 and the inner opening / closing switch 412 are switches for causing the sliding door 40 to perform an opening operation, and preferably include a switch for causing the sliding door 40 to perform a closing operation and a switch for stopping the sliding door 40 in an arbitrary position during the opening / closing operation. Further, when the switch for causing the sliding door 40 to perform an opening operation is operated, the outer opening / closing switch 411 and the inner opening / closing switch 412 output an opening operation command signal to the door control device 80, and when the switch for causing the sliding door 40 to perform a closing operation is operated, the outer opening / closing switch 411 and the inner opening / closing switch 412 output a closing operation command signal to the door control device 80. Additionally, when the switch for stopping the sliding door 40 is operated, the outer opening / closing switch 411 and the inner opening / closing switch 412 output a stop command signal to the door control device 80.

[0059] The door lock switch 42 switches between the locked state and the unlocked state of the corresponding door. Therefore, the door lock switch 42 is disposed on the inner surface of the corresponding door. The door lock switch 42 outputs a signal corresponding to the state to the door control device 80. In addition, the vehicle 10 may also include a central door lock switch around the driver's seat 31 for switching the states of all the door lock switches 42.

[0060] The release actuator 43 is configured to include, for example, an electric motor and a transmission mechanism that transmits the power of the electric motor to the first cable 461 and a fully closed latch mechanism 110 described later. The release actuator 43 releases the state in which the latch mechanism 100 restrains the sliding door 40 to the vehicle body 20 by pulling the first cable 461.

[0061] In the present embodiment, the release actuator 43 also functions as a closing actuator. That is, the release actuator 43 drives a fully closed rear latch mechanism 111 described later and pulls the sliding door 40 near the fully closed position into the fully closed position. At this time, the fully closed rear latch mechanism 111 shifts to a state of restraining the sliding door 40 to the vehicle body 20.

[0062] The door actuator 44 is configured to include, for example, an electric motor and a transmission mechanism that transmits the power of the electric motor to the sliding door 40. The door actuator 44 causes the sliding door 40 to perform an opening operation or a closing operation between the fully closed position where the door opening 22 is fully closed and the fully open position where the door opening 22 is fully opened by rotating the output shaft of the electric motor forward or backward.

[0063] The door actuator 44 selects the validity or invalidity of the opening / closing operation through the PSD main switch 47. The PSD main switch 47 is provided, for example, near the driver's seat 31. When the PSD main switch 47 is turned off, in other words, when the opening / closing operation of the door actuator 44 for the sliding door 40 is invalidated, the user needs to manually perform the opening / closing operation of the sliding door 40. The PSD main switch 47 outputs a signal corresponding to the on / off state to the door control device 80.

[0064] Next, the latch mechanism 100 will be described.

[0065] As Figure 2 shown, the latch mechanism 100 has a fully-closed latch mechanism 110 (111, 112) that restrains the sliding door 40 in the fully-closed position to the vehicle body 20 and a fully-open latch mechanism 120 that restrains the sliding door 40 in the fully-open position to the vehicle body 20. The fully-closed rear latch mechanism 111 is disposed at the rear end portion of the sliding door 40, and the fully-closed front latch mechanism 112 is disposed at the front end portion of the sliding door 40. The fully-open latch mechanism 120 is disposed at the front end portion of the sliding door 40 and below the fully-closed front latch mechanism 112.

[0066] As Figure 3 shown, the latch mechanism 100 (110, 120) includes: a latch support shaft 130 and a pawl support shaft 140 arranged at intervals, a latch 150 rotatably supported by the latch support shaft 130, and a pawl 160 rotatably supported by the pawl support shaft 140. In addition, the latch mechanism 100 has a latch spring 170 that biases the latch 150 in the first rotation direction R1 and a pawl spring 180 that biases the pawl 160 in the second rotation direction P2.

[0067] In addition, Figure 3 the specific structures of the latch mechanism 100 shown are actually generally different structures for the fully-closed rear latch mechanism 111, the fully-closed front latch mechanism 112, and the fully-open latch mechanism 120. In the present embodiment, for the sake of simplicity of description, the structures of the fully-closed rear latch mechanism 111, the fully-closed front latch mechanism 112, and the fully-open latch mechanism 120 are regarded as the same for description.

[0068] The axis of the latch support shaft 130 and the axis of the pawl support shaft 140 extend in the same direction in a spaced-apart state. The latch 150 has claw-shaped first engaging portions 151 and second engaging portions 152 arranged at intervals in the rotation direction of the latch 150. In addition, the latch 150 has a striker engaging groove 153 that engages with the striker 24 of the vehicle body 20. As Figure 3 shown, in a state where it is not engaged with the striker 24, the latch 150 contacts a latch stopper (not shown), whereby the striker engaging groove 153 faces the striker 24.

[0069] In addition, the strikers 24 corresponding to the fully-closed rear latch mechanism 111, the strikers 24 corresponding to the fully-closed front latch mechanism 112, and the strikers 24 corresponding to the fully-open latch mechanism 120 are provided at different positions in the vehicle body 20.

[0070] The pawl 160 has a claw-shaped third engaging portion 161 that engages with the first engaging portion 151 and the second engaging portion 152 of the latch 150. The pawl 160 is positioned by contacting the outer peripheral surface of the latch 150. In addition, the pawl 160 is connected to the release actuator 43 via the remote control device 45. When the release actuator 43 is driven, the pawl 160 rotates in the first rotation direction P1.

[0071] In the following description, as Figure 3 shown, in the fully closed latch mechanism 110 and the fully open latch mechanism 120, the position of the latch 150 when the latch 150 engages the striker engaging groove 153 with respect to the striker 24 is also referred to as the "unlocked position". In addition, when the latch 150 is in the unlocked position, since the engagement between the latch 150 and the striker 24 is released, the sliding door 40 can move in the opening and closing directions.

[0072] Next, the operation of the latch mechanism 100 will be described.

[0073] As Figure 4 shown, when the sliding door 40 performs a closing operation toward the fully closed position, the striker 24 corresponding to the fully closed latch mechanism 110 starts to enter the striker engaging groove 153 of the latch 150 of the fully closed latch mechanism 110. In addition, when the sliding door 40 performs an opening operation toward the fully open position, the striker 24 corresponding to the fully open latch mechanism 120 starts to enter the striker engaging groove 153 of the latch 150 of the fully open latch mechanism 120.

[0074] In either case, the striker 24 presses the latch 150 while moving inward and enters the inside of the striker engaging groove 153. Then, the latch 150 rotates from the unlocked position in the second rotation direction R2 against the force of the latch spring 170. At this time, the third engaging portion 161 of the pawl 160 slides on the outer peripheral surface of the latch 150 and engages with the first engaging portion 151 of the latch 150.

[0075] As a result, the rotation of the latch 150 in the first rotation direction R1 is restricted, and the sliding door 40 cannot move in the direction away from the striker 24. In the following description, as Figure 4 shown, in the fully closed latch mechanism 110 and the fully open latch mechanism 120, the position of the latch 150 when the first engaging portion 151 of the latch 150 engages with the third engaging portion 161 of the pawl 160 is also referred to as the "half-locked position".

[0076] As Figure 5As shown, after the latch 150 of the fully closed rear latch mechanism 111 is arranged at the half-locked position, when the release actuator 43 operates as a closing actuator and is released, the latch 150 of the fully closed rear latch mechanism 111 rotates further in the second rotation direction R2 from the half-locked position against the acting force of the latch spring 170. At this time, the third engaging portion 161 of the pawl 160 slides on the outer peripheral surface of the latch 150 and engages with the second engaging portion 152 of the latch 150. At this time, the sliding door 40 is pulled into the fully closed position. Therefore, the latch 150 of the fully closed front latch mechanism 112 engages with the pawl 160 in the same manner as the latch 150 of the fully closed rear latch mechanism 111.

[0077] On the other hand, as Figure 5 shown, when the sliding door 40 continues to move after the latch 150 of the fully open latch mechanism 120 is arranged at the half-locked position, the striker 24 moves further inward and enters the inside of the striker engaging groove 153. Then, the latch 150 rotates further in the second rotation direction R2 from the half-locked position against the acting force of the latch spring 170. At this time, the third engaging portion 161 of the pawl 160 slides on the outer peripheral surface of the latch 150 and engages with the second engaging portion 152 of the latch 150.

[0078] As a result, similar to the half-locked position, even if the latches 150 of the fully closed latch mechanism 110 and the fully open latch mechanism 120 want to move in the direction away from the striker 24, the rotation of the latch 150 in the first rotation direction R1 is restricted, and the sliding door 40 cannot move in the direction away from the striker 24. In the following description, as Figure 5 shown, in the latch mechanism 100, the position of the latch 150 when the second engaging portion 152 of the latch 150 engages with the third engaging portion 161 of the pawl 160 is also referred to as the "fully locked position", and the displacement of the latch 150 from the half-locked position to the fully locked position is also referred to as the "fully locking operation".

[0079] As described above, in the present embodiment, the power source when the latch 150 of the fully closed latch mechanism 110 performs the fully locking operation is the release actuator 43 that functions as a closing actuator, and the power source when the latch 150 of the fully open latch mechanism 120 performs the fully locking operation is the door actuator 44. Regarding this point, the latches 150 of the fully closed rear latch mechanism 111, the fully closed front latch mechanism 112, and the fully open latch mechanism 120 may not have the same shape. Specifically, the latch 150 of the fully open latch mechanism 120 is different from the latch 150 of the fully closed latch mechanism 110 and does not need to be shaped so as to be displaceable to the half-locked position.

[0080] In the fully closed latch mechanism 110 and the fully open latch mechanism 120, when the release actuator 43 is driven, the pawl 160 rotates in the first rotation direction P1 against the force of the pawl spring 180. That is, when the latch 150 is in the fully locked position or the semi-locked position and the release actuator 43 is driven, the engagement between the third engagement portion 161 of the pawl 160 and the first engagement portion 151 or the second engagement portion 152 of the latch 150 is released. As a result, the latch 150 rotates in the first rotation direction R1 following the force of the latch spring 170. That is, the latch 150 is displaced from the fully locked position or the semi-locked position to the unlocked position. In the following description, the displacement of the latch 150 from the fully locked position or the semi-locked position to the unlocked position is also referred to as "unlocking operation".

[0081] As Figure 2 shown, the remote control device 45 is connected to the release actuator 43, the fully closed rear latch mechanism 111, the fully closed front latch mechanism 112, and the fully open latch mechanism 120 via the first cable 461, the second cable 462, the third cable 463, and the fourth cable 464, respectively.

[0082] When the release actuator 43 pulls the first cable 461, the remote control device 45 pulls the second cable 462 to cause the latch 150 of the fully closed rear latch mechanism 111 to perform an unlocking operation. In addition, when the release actuator 43 pulls the first cable 461, the remote control device 45 pulls the third cable 463 to cause the latch 150 of the fully closed front latch mechanism 112 to perform an unlocking operation. Similarly, when the release actuator 43 pulls the first cable 461, the remote control device 45 pulls the fourth cable 464 to cause the latch 150 of the fully open latch mechanism 120 to perform an unlocking operation.

[0083] As Figure 1 shown, the peripheral monitoring device 61 is provided, for example, on the roof of the vehicle body 20. The peripheral monitoring device 61 can be, for example, a distance measuring sensor using sound waves, radio waves, and light, or a TOF camera and a normal digital camera. The detection result of the peripheral monitoring device 61 is output to the monitoring control device 62. The monitoring control device 62 determines, for example, whether there is a vehicle approaching the periphery of its own vehicle, or calculates the distance between its own vehicle and the vehicle approaching its own vehicle. The monitoring control device 62 outputs to the door control device 80 whether there is a vehicle approaching its own vehicle.

[0084] The portable device 71 has a switch for locking and unlocking all the doors of the vehicle 10 and a switch for opening, closing, and stopping the sliding door 40. The wireless communication device 72 determines whether the portable device 71 is a normal portable device 71 corresponding to the vehicle 10 by performing wireless communication with the portable device 71 located around the vehicle 10.

[0085] When a switch for opening and closing the sliding door 40 is operated, the portable device 71 outputs an opening operation command signal, a closing operation command signal, and a stop command signal to the wireless communication device 72. Further, the wireless communication device 72 outputs an opening operation command signal, a closing operation command signal, and a stop command signal to the door control device 80.

[0086] As Figure 2 shown, the door control device 80 includes: a control unit 81 that controls the release actuator 43 and the door actuator 44, a failure detection unit 82 that detects failures of the release actuator 43 and the door actuator 44, and a determination unit 83 that determines whether to permit or restrict the control content implemented by the control unit 81.

[0087] An opening operation command signal, a closing operation command signal, and a stop command signal from the opening / closing switch 41 and the portable device 71 are input to the control unit 81. When the opening operation command signal or the closing operation command signal is input, the control unit 81 unlocks the latch 150 of the latch mechanism 100 by controlling the release actuator 43. After the unlocking operation is completed, the control unit 81 opens and closes the sliding door 40 by controlling the door actuator 44.

[0088] For example, when the opening operation command signal is input, the control unit 81 unlocks the latch 150 of the fully closed latch mechanism 110 and then opens the sliding door 40. Further, when the closing operation command signal is input, the control unit 81 unlocks the latch 150 of the fully open latch mechanism 120 and then closes the sliding door 40. Then, when the sliding door 40 reaches near the fully open position, the control unit 81 fully locks the latch 150 of the fully closed latch mechanism 110. In addition, when the stop command signal is input, the control unit 81 stops the sliding door 40.

[0089] For example, when no pulse corresponding to the rotation angle of the output shaft of the motor for driving the release actuator 43 is output even if the motor is driven, the failure detection unit 82 determines that the release actuator 43 has failed. The same applies to the door actuator 44. As an example, the failure detection unit 82 may manage a flag indicating the failure status of the release actuator 43 and a flag indicating the failure status of the door actuator 44.

[0090] The determination unit 83 receives the following inputs: a signal from the door lock switch 42 indicating whether the sliding door 40 is in the locked state, a signal from the PSD main switch 47 indicating whether the opening / closing operation of the sliding door 40 is valid, and a signal from the monitoring control device 62 regarding the presence or absence of a vehicle approaching the host vehicle. Additionally, the determination unit 83 receives the following signals Sig: a signal regarding the position of the power seat 34, a signal regarding the position of the fuel tank lid 50, a signal regarding the vehicle body speed VB, a signal regarding the battery voltage value Eb, and a signal for determining whether the vehicle 10 is in the safety mode.

[0091] The determination unit 83 determines whether the two operation start conditions are satisfied or not based on the various input signals. Moreover, based on the determination results of the two operation start conditions, when the control unit 81 receives an open operation command signal and a close operation command signal, the determination unit 83 permits or restricts the unlocking operation of the latch 150 based on the control unit 81, and permits or restricts the opening / closing operation of the sliding door 40 based on the control unit 81.

[0092] The two operation start conditions include a first operation start condition and a second operation start condition. The first operation start condition is a condition that, when the opening / closing operation of the sliding door 40 starts in a state where the first operation start condition is not satisfied, is likely to affect the safety of at least one of the vehicle 10 and the user. The second operation start condition is a condition that, when the opening / closing operation of the sliding door 40 starts in a state where the second operation start condition is not satisfied, is unlikely to affect the above-mentioned safety. In other words, the first operation start condition is a condition where, when the opening / closing operation of the sliding door 40 starts in a state where the first operation start condition is not satisfied, the possibility of the above-mentioned safety being reduced is high. The second operation start condition is a condition where, when the opening / closing operation of the sliding door 40 starts in a state where the second operation start condition is not satisfied, the possibility of the above-mentioned safety being reduced is low.

[0093] Here, the safety of the vehicle 10 includes: the components of the vehicle 10 operate correctly without damage, the operation of the components related to the driving and stopping of the vehicle 10 takes precedence over the operation of other components of the vehicle 10, and the vehicle 10 has high preventive performance. Additionally, the safety of the user includes no danger to the user.

[0094] When both the first operation start condition and the second operation start condition are satisfied, the determination unit 83 permits both the unlocking operation of the latch 150 based on the control unit 81 and the opening / closing operation of the sliding door 40. In this case, if the signal input to the control unit 81 is an opening operation command signal, the sliding door 40 performs an opening operation toward the fully open position, and if the signal input to the control unit 81 is a closing operation command signal, the sliding door 40 performs a closing operation toward the fully closed position. That is, for the opening / closing operation of the sliding door 40, the opening / closing operation of the sliding door 40 is permitted without any problems.

[0095] When the first operation start condition is not satisfied, the determination unit 83 restricts both the unlocking operation of the latch 150 based on the control unit 81 and the opening / closing operation of the sliding door 40. In this case, when the sliding door 40 is at an intermediate position between the fully closed position and the fully open position, the motor output of the door actuator 44 may be stopped to generate a braking torque so that the sliding door 40 cannot move in the opening direction or the closing direction. Thus, if the safety of the vehicle 10 and the user cannot be ensured when the sliding door 40 is opened or closed, the opening / closing operation of the sliding door 40 is restricted. In this case, since the unlocking operation of the latch 150 cannot be performed, the user cannot manually open or close the sliding door 40 either.

[0096] When the first operation start condition is satisfied and the second operation start condition is not satisfied, the determination unit 83 permits the unlocking operation of the latch 150 based on the control unit 81 and restricts the opening / closing operation of the sliding door 40. In this case, although the opening / closing operation of the sliding door 40 is restricted, since the unlocking operation of the latch 150 is performed, the user can manually open or close the sliding door 40. For example, if the sliding door 40 is in the fully closed position, the user can manually open the sliding door 40, and if the sliding door 40 is in the fully open position, the user can manually close the sliding door 40. That is, the user can open or close the sliding door 40 according to the user's intention, thus improving the convenience for the user.

[0097] Next, the first operation start condition will be described.

[0098] As long as any one of the conditions for the first operation start condition is not satisfied, the determination unit 83 restricts both the unlocking operation of the latch 150 and the opening / closing operation of the sliding door 40.

[0099] When the sliding door 40 is locked and the control unit 81 causes the sliding door 40 to perform an opening operation based on an opening operation command signal, problems may occur from a safety perspective. Therefore, the first operation start condition includes a condition that is established when the sliding door 40 is unlocked and not established when the sliding door 40 is locked. This condition is a condition considered when the control unit 81 is input with an opening operation command signal and is not considered when the control unit 81 is input with a closing operation command signal.

[0100] Similarly, when all the doors of the vehicle 10 are locked by the carrying device 71 and the ignition power supply is cut off, in other words, when the vehicle 10 is in the safety mode, problems may occur from a safety perspective when the control unit 81 causes the sliding door 40 to perform an opening operation based on an opening operation command signal. Therefore, the first operation start condition includes a condition that is established when the vehicle 10 is not in the safety mode and not established when the vehicle 10 is in the safety mode. This condition is a condition considered when the control unit 81 is input with an opening operation command signal and is not considered when the control unit 81 is input with a closing operation command signal.

[0101] When the vehicle 10 is in motion and the control unit 81 causes the sliding door 40 to perform an opening operation based on an opening operation command signal, the user sitting in the seat 30 on the side of the sliding door 40 may be in danger. Therefore, the first operation start condition includes a condition that is established when the vehicle body speed VB is less than the speed determination value Vth and not established when the vehicle body speed VB is greater than or equal to the speed determination value Vth. For example, when the speed determination value Vth is set to "0", this condition is established when the vehicle 10 is stopped and not established when the vehicle 10 is in motion. In addition, the vehicle body speed VB is set to a positive value both when the vehicle 10 is moving forward and backward. This condition is a condition considered when the control unit 81 is input with an opening operation command signal and is not considered when the control unit 81 is input with a closing operation command signal.

[0102] When the internal combustion engine is started by the starting motor and the control unit 81 causes the sliding door 40 to perform an opening operation, the voltage required for driving the starting motor cannot be ensured, and thus the starting of the internal combustion engine may not end normally. Therefore, the first operation condition includes a condition that is established when the internal combustion engine is stopped and after the internal combustion engine is started and not established when the internal combustion engine is starting. In other words, this condition is established when the starting motor is not driven and not established when the starting motor is being driven. This condition is considered when the control unit 81 is input with both an opening operation command signal and a closing operation command signal.

[0103] In the case where the release actuator 43 malfunctions, when the control unit 81 unlocks the latch 150 based on the opening operation instruction signal and the closing operation instruction signal, the latch operation may not end normally. Therefore, the first operation start condition includes a condition that holds when the release actuator 43 is not malfunctioning and does not hold when the release actuator 43 malfunctions. This condition is considered when both the opening operation instruction signal and the closing operation instruction signal are input to the control unit 81.

[0104] Next, the second operation start condition will be described.

[0105] Even when any of the conditions for the second operation start condition does not hold, as long as the first operation start condition holds, the determination unit 83 permits the unlocking operation of the latch 150.

[0106] When the battery voltage value Eb drops below the voltage determination value Eth, when the control unit 81 opens the sliding door 40 based on the opening operation instruction signal and the closing operation instruction signal, it may not be possible to ensure the voltage required to drive the door actuator 44. That is, when the battery voltage value Eb drops below the voltage determination value Eth, the opening and closing operations of the sliding door 40 may not end normally. Therefore, the second operation start condition includes a condition that holds when the battery voltage value Eb is equal to or higher than the voltage determination value Eth and does not hold when the battery voltage value Eb is less than the voltage determination value Eth. In addition, the so-called voltage determination value Eth here is larger than the battery voltage value Eb required for the unlocking operation of the latch 150 based on the release actuator 43 and smaller than the battery voltage value Eb required for the opening and closing operations of the sliding door 40 based on the door actuator 44. This condition is considered when both the opening operation instruction signal and the closing operation instruction signal are input to the control unit 81.

[0107] When the PSD main switch 47 is turned off, even if the control unit 81 unlocks the latch 150 based on the opening operation instruction signal and the closing operation instruction signal, the safety of the vehicle 10 and the user will not be reduced. Therefore, the second operation condition includes a condition that holds when the PSD main switch 47 is effectively turned on and does not hold when the PSD main switch 47 is ineffectively turned off. This condition is considered when both the opening operation instruction signal and the closing operation instruction signal are input to the control unit 81.

[0108] In the case where the door actuator 44 malfunctions, when the control unit 81 causes the sliding door 40 to open and close based on the opening operation instruction signal and the closing operation instruction signal, the opening and closing operation of the sliding door 40 may not end normally. Therefore, the second operation start condition includes a condition that holds when the door actuator 44 is not malfunctioning and does not hold when the door actuator 44 malfunctions. This condition is a condition considered when both the opening operation instruction signal and the closing operation instruction signal are input to the control unit 81.

[0109] When the fuel tank lid 50 is open, when the control unit 81 causes the sliding door 40 to open based on the opening operation instruction signal, the sliding door 40 may come into contact with the fuel tank lid 50. That is, when the fuel tank lid 50 is open, it is preferable to prohibit the opening operation of the sliding door 40. Therefore, the second operation start condition includes a condition that holds when the fuel tank lid 50 is closed and does not hold when the fuel tank lid 50 is open. This condition is a condition considered when the opening operation instruction signal is input to the control unit 81 and is not considered when the closing operation instruction signal is input to the control unit 81.

[0110] When the reclining seat 34 is deployed, when the control unit 81 causes the sliding door 40 to close based on the closing operation instruction signal, the sliding door 40 may come into contact with the reclining seat 34. That is, when the reclining seat 34 is deployed, it is preferable to prohibit the closing operation of the sliding door 40. Therefore, the second operation start condition includes a condition that holds when the reclining seat 34 is stored in the vehicle compartment 21 and does not hold when the reclining seat 34 is deployed outside the vehicle compartment 21. This condition is a condition considered when the closing operation instruction signal is input to the control unit 81 and is not considered when the opening operation instruction signal is input to the control unit 81.

[0111] When there is a vehicle approaching the own vehicle, when the control unit 81 causes the sliding door 40 to open based on the opening operation instruction signal, there is a possibility of danger to a user who wants to get out of the vehicle 10 and the vehicle approaching the own vehicle. That is, when there is a vehicle approaching the own vehicle, it is preferable to prohibit the opening operation of the sliding door 40. Therefore, the second operation start condition includes a condition that holds when there is no vehicle approaching the own vehicle and does not hold when there is a vehicle approaching the own vehicle. This condition is a condition considered when the opening operation instruction signal is input to the control unit 81 and is not considered when the closing operation instruction signal is input to the control unit 81.

[0112] Next, with reference to Figure 6 the flowchart shown, the process flow of the process executed by the door control device 80 to determine whether to start the opening and closing operation of the sliding door 40 will be described.

[0113] As Figure 6 shown, the door control device 80 determines whether an open operation command signal or a close operation command signal is input (S11). When neither the open operation command signal nor the close operation command signal is input (S11: NO), the door control device 80 ends this process.

[0114] When an open operation command signal or a close operation command signal is input (S11: YES), the door control device 80 determines whether the first operation start condition is satisfied (S12). When the first operation start condition is not satisfied (S12: NO), in other words, when it is not suitable to perform the opening and closing operation of the sliding door 40, the door control device 80 ends this process. That is, in this case, not only is the sliding door 40 not opened and closed, but also the latch 150 is not unlocked.

[0115] When the first operation start condition is satisfied (S12: YES), the door control device 80 determines whether the second operation start condition is satisfied (S13). When the second operation start condition is satisfied (S13: YES), in other words, when it is in a state suitable for performing the opening and closing operation of the sliding door 40, the door control device 80 unlocks the latch 150 (S14), and makes the sliding door 40 perform the opening and closing operation (S15). After that, the door control device 80 ends this process.

[0116] When the second operation start condition is not satisfied (S13: NO), in other words, when it is in a state where although it is not suitable to perform the opening and closing operation of the sliding door 40, but the opening and closing operation of the sliding door 40 by the user can be tolerated, the door control device 80 unlocks the latch 150 (S16). After that, the door control device 80 does not make the sliding door 40 perform the opening and closing operation, and ends this process.

[0117] The functions and effects of this embodiment will be described.

[0118] (1) Assume such a comparative example: Even when an open operation command signal is input, when the first operation start condition is satisfied and the second operation start condition is not satisfied, both the unlocking operation of the latch 150 and the opening and closing operation of the sliding door 40 are restricted. In this comparative example, in addition to the first operation start condition, if the second operation start condition is also not satisfied, the user cannot open and close the sliding door 40 either. That is, it cannot be said that the convenience of the user is good.

[0119] In this regard, in the situation where an opening operation instruction signal is input, when the first operation start condition is satisfied and the second operation start condition is not satisfied, although the door control device 80 restricts the opening and closing operation of the sliding door 40, the unlocking operation of the latch 150 is permitted. That is, in the above situation, by not causing the sliding door 40 to perform an opening and closing operation, the door control device 80 can prevent the sliding door 40 from accidentally opening. In addition, in the above situation, by causing the latch 150 to perform an unlocking operation, the door control device 80 can bring the sliding door 40 into a state where the user can perform an opening and closing operation. In this way, the door control device 80 can ensure safety and improve convenience during the opening and closing operation of the sliding door 40.

[0120] (2) In the situation where an opening operation instruction signal is input, when the vehicle 10 is traveling at a speed corresponding to the speed determination value Vth, for example, when the vehicle 10 is traveling, the door control device 80 restricts the unlocking operation of the latch 150 of the fully closed latch mechanism 110. That is, when the vehicle 10 is traveling, even if an opening operation instruction signal is input to the door control device 80, not only will the sliding door 40 not perform an opening operation, but also the state where the user can perform an opening operation on the sliding door 40 will not be achieved. Thereby, the door control device 80 can ensure the safety of the user.

[0121] (3) In the situation where an opening operation instruction signal is input, when the sliding door 40 is locked and the vehicle 10 is in the safety mode, the door control device 80 restricts the unlocking operation of the latch 150 of the fully closed latch mechanism 110. That is, when the sliding door 40 is locked and the vehicle 10 is in the safety mode, even if an opening operation instruction signal is input to the door control device 80, not only will the sliding door 40 not perform an opening operation, but also the state where the user can perform an opening operation on the sliding door 40 will not be achieved. Thereby, the door control device 80 can ensure the safety of the vehicle 10. Specifically, it can ensure the security of the vehicle 10.

[0122] (4) In the situation where an opening operation instruction signal or a closing operation instruction signal is input, when the internal combustion engine is starting, the door control device 80 restricts the unlocking operation of the latch 150 of the fully closed latch mechanism 110 and the fully open latch mechanism 120. That is, when the internal combustion engine is starting, even if an opening operation instruction signal or a closing operation instruction signal is input to the door control device 80, the release actuator 43 and the door actuator 44 will not be driven. Thereby, the door control device 80 can suppress a decrease in the voltage required for driving the starting motor of the internal combustion engine.

[0123] (5) When an open operation command signal or a close operation command signal is input, in the case where the release actuator 43 is in a failure state, the door control device 80 restricts the unlocking operation of the latch 150 of the fully closed latch mechanism 110 and the fully open latch mechanism 120. That is, when the release actuator 43 is in a failure state, even if an open operation command signal or a close operation command signal is input to the door control device 80, the release actuator 43 will not be driven. Thus, the door control device 80 can prevent the latch 150 of the fully closed latch mechanism 110 and the fully open latch mechanism 120 from stopping at an abnormal position. That is, the door control device 80 can ensure the safety of the vehicle 10.

[0124] (6) When an open operation command signal or a close operation command signal is input, in the case where the battery voltage value Eb is less than the voltage determination value Eth, although the door control device 80 does not cause the sliding door 40 to perform an opening / closing operation, it causes the latch 150 of the fully closed latch mechanism 110 and the fully open latch mechanism 120 to perform an unlocking operation. That is, it becomes a state where the user can manually open and close the sliding door 40. Therefore, the door control device 80 can improve the convenience for the user.

[0125] (7) When an open operation command signal or a close operation command signal is input, in the case where the PSD main switch 47 is turned off, although the door control device 80 does not cause the sliding door 40 to perform an opening / closing operation, it causes the latch 150 of the fully closed latch mechanism 110 and the fully open latch mechanism 120 to perform an unlocking operation. That is, it becomes a state where the user can manually open and close the sliding door 40. Therefore, the door control device 80 can improve the convenience for the user.

[0126] (8) When an open operation command signal or a close operation command signal is input, in the case where the door actuator 44 is in a failure state, although the door control device 80 does not cause the sliding door 40 to perform an opening / closing operation, it causes the latch 150 of the fully closed latch mechanism 110 and the fully open latch mechanism 120 to perform an unlocking operation. That is, it becomes a state where the user can manually open and close the sliding door 40. Therefore, the door control device 80 can improve the convenience for the user.

[0127] (9) When an open operation command signal is input, in the case where the fuel tank lid 50 is open, although the door control device 80 does not cause the sliding door 40 to perform an opening operation, it causes the latch 150 of the fully closed latch mechanism 110 to perform an unlocking operation. That is, it becomes a state where the user can manually open the sliding door 40. Therefore, the door control device 80 can improve the convenience for the user.

[0128] (10) When the closing operation instruction signal is input and the elevating seat 34 is deployed, although the door control device 80 does not cause the sliding door 40 to perform a closing operation, it causes the latch 150 of the fully open latch mechanism 120 to perform an unlocking operation. That is, it becomes a state where the user can manually close the sliding door 40. Therefore, the door control device 80 can improve the convenience for the user.

[0129] (11) When the opening operation instruction signal is input and there is a vehicle approaching the own vehicle, although the door control device 80 does not cause the sliding door 40 to perform an opening operation, it causes the latch 150 of the fully closed latch mechanism 110 to perform an unlocking operation. That is, it becomes a state where the user can manually open and close the sliding door 40. Therefore, the door control device 80 can improve the convenience for the user.

[0130] This embodiment can be implemented after being changed as follows. This embodiment and the following modification examples can be implemented in combination with each other within a range where there is no technical contradiction.

[0131] The determination unit 83 may not consider some of the first operation start conditions and the second operation start conditions in the above embodiment. In addition, the first operation start condition and the second operation start condition may also include other conditions.

[0132] A signal indicating the outside air temperature of the vehicle 10 may also be input to the determination unit 83. In this case, the second operation start condition may also include a condition that does not hold when the temperature around the vehicle 10 is outside the operable temperature range of the door actuator 44. This condition only needs to be considered when the control unit 81 is input with an opening operation instruction signal and a closing operation instruction signal.

[0133] A signal indicating airbag deployment may also be input to the determination unit 83, in other words, a signal indicating that the vehicle has collided may also be input. In this case, the second operation start condition may also include a condition that does not hold when the airbag is deployed. This condition only needs to be considered when the control unit 81 is input with both an opening operation instruction signal and a closing operation instruction signal.

[0134] The sliding door 40 may also be provided with a touch sensor for detecting pinching between the vehicle body 20 and the sliding door 40. Moreover, the detection result of the touch sensor may also be input to the determination unit 83. In this case, the second operation start condition may include a condition that does not hold when pinching is detected. This condition only needs to be considered when the control unit 81 is input with a closing operation instruction signal.

[0135] The vehicle 10 may also be provided with a sensor for releasing the failure detection of the actuator 43. In this case, the failure detection unit 82 may detect the failure of the release actuator 43 based on the detection result of the sensor for failure detection. The same applies to the failure detection of the door actuator 44.

[0136] The sliding door 40 may also be provided with an outer door handle and an inner door handle. In addition, the sliding door 40 may be provided with a lever that can be operated from the passenger compartment 21 and unlocks the latch 150 of the latch mechanism 100.

[0137] The door may be a swing door or a pop-up door. In addition, the door may be a front door or a rear door.

[0138] The vehicle 10 may also be an electric vehicle that does not have an internal combustion engine. In this case, the fuel port covered by the fuel tank lid 50 is a power supply port.

[0139] The door control device 80 may be configured as one or more processors that operate according to a computer program (software), one or more dedicated hardware circuits such as dedicated hardware (application-specific integrated circuit: ASIC) that execute at least a part of various processes, or a circuit including a combination of these. The processor includes a CPU and memories such as a RAM and a ROM, and the memories store program codes or instructions configured to cause the CPU to execute processes. The memories, that is, the storage media, include all available media that can be accessed by a general-purpose or dedicated computer.

Claims

1. A door control device for a vehicle, the door control device being applied to a vehicle, the vehicle comprising: a door; a fully closed latch mechanism having a fully closed latch that is displaceable between a fully locked position for restraining the door in a fully closed position and an unlocked position that enables the door to move from the fully closed position; A release actuator that unlocks the fully closed latch from the fully locked position toward the unlocked position; and a door actuator that opens and closes the door, where The vehicle door control device includes: A control unit that, when an opening operation command signal is input, causes the fully closed latch to perform an unlocking operation through the release actuator and causes the door to perform an opening operation through the door actuator; And A determination unit that, when the control unit is input with the opening operation command signal, permits or restricts the unlocking operation of the fully closed latch and the opening operation of the door based on the establishment and non-establishment of a first operation start condition and a second operation start condition. The first operation start condition is a condition that is likely to affect the safety of at least one of the vehicle and the user when the opening and closing operation of the door starts in a state where the first operation start condition is not established. The second operation start condition is a condition that is unlikely to affect the safety even when the opening and closing operation of the door starts in a state where the second operation start condition is not established. When both the first operation start condition and the second operation start condition are established, the determination unit permits both the unlocking operation of the fully closed latch and the opening operation of the door. When the first operation start condition is not established, the determination unit restricts both the unlocking operation of the fully closed latch and the opening operation of the door. When the first operation start condition is established and the second operation start condition is not established, the determination unit permits the unlocking operation of the fully closed latch and restricts the opening operation of the door.

2. The vehicle door control device according to claim 1, wherein The first operation start condition includes a condition that is established when the vehicle body speed is less than a speed determination value and is not established when the vehicle body speed is greater than or equal to the speed determination value.

3. The vehicle door control device according to claim 1 or 2, wherein The first operation start condition includes a condition that is established when the door is not locked and is not established when the door is locked.

4. The vehicle door control device according to any one of claims 1 to 3, wherein The second operation start condition includes a condition that is established when the battery voltage value is greater than or equal to a voltage determination value and is not established when the battery voltage value is less than the voltage determination value.

5. The vehicle door control device according to any one of claims 1 to 4, wherein The second operation start condition includes a condition that is established when the function of the door actuator is validated and is not established when the function of the door actuator is invalidated.

6. The vehicle door control device according to any one of claims 1 to 5, wherein It further includes a fault detection unit that detects a fault of the door actuator. The second operation start condition includes a condition that is established when no fault of the door actuator is detected and is not established when a fault of the door actuator is detected.

7. The vehicle door control device according to any one of claims 1 to 6, wherein: the vehicle is provided with a fully open latch mechanism having a fully open latch that is displaceable between a fully locked position where the door is constrained to the fully open position and an unlocked position where the door can be moved from the fully open position; the release actuator is configured to be able to perform an unlocking operation on both the fully closed latch and the fully open latch; when a closing operation command signal is input, the control unit causes the fully open latch to perform an unlocking operation through the release actuator and causes the door to perform a closing operation through the door actuator; when the closing operation command signal is input to the control unit, the determination unit permits or restricts the unlocking operation of the fully open latch and the closing operation of the door based on the establishment and non - establishment of the first operation start condition and the second operation start condition; when both the first operation start condition and the second operation start condition are established, the determination unit permits both the unlocking operation of the fully open latch and the closing operation of the door; when the first operation start condition is not established, the determination unit restricts both the unlocking operation of the fully open latch and the closing operation of the door; when the first operation start condition is established and the second operation start condition is not established, the determination unit permits the unlocking operation of the fully open latch and restricts the closing operation of the door.

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