Pedal device for vehicle

Abstract

A vehicle pedal device is provided that is easier to get on and off. The pedal device (41) has a movable pedal (40) provided at a door opening portion (3) of a vehicle (1) and an actuator that drives the movable pedal to actuate in an expansion direction and a storage direction. In addition, a control device that constitutes a drive control portion by controlling the operation of the actuator has a sidewalk detection portion that detects a sidewalk (71) provided parallel to a running surface (70) of the vehicle. Furthermore, the control device has a separation distance detection portion that detects a separation distance (D) between a side edge portion (1s) of the vehicle in which the movable pedal is stored and the sidewalk, and an expansion amount setting portion that sets an expansion amount (L) of the movable pedal that extends from the side edge portion of the vehicle in a width direction of the running surface based on the separation distance. Furthermore, the greater the separation distance between the side edge portion of the vehicle and the sidewalk, the greater the expansion amount setting portion sets the expansion amount of the movable pedal.

Description

TECHNICAL FIELD

[0001] The present application relates to a pedal device for a vehicle. BACKGROUND

[0002] In the past, as shown in Patent Document 1, for example, there is a pedal device for a vehicle that is provided with a movable pedal that is provided to a door opening portion of a vehicle, and a drive control portion that drives the movable pedal to actuate the movable pedal in an expansion direction and a storage direction. By employing such a pedal device, the expansion amount of the movable pedal that protrudes in the width direction of the running surface from the side edge portion of the vehicle can be freely set. Also, the actuation time can be freely set.

[0003] PRIOR ART DOCUMENTS

[0004] PATENT DOCUMENTS

[0005] Patent Document 1: Japanese Patent Application Publication No. 2008-238978

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] However, for example, in the case where a passenger boards and alights from a vehicle that is parked at a parking spot, the positional relationship between the boarding and alighting position of the passenger and the position of the vehicle is not necessarily constant, and varies depending on the shape of the running surface and the sidewalk, and the parking position of the vehicle. Therefore, merely providing a pedal device like the above-described conventional technology is not necessarily sufficient, and there is still room for improvement in this regard. SUMMARY

[0008] The present application was made in order to solve the above-described problems, and has as its object to provide a pedal device for a vehicle that is easier to board and alight from.

[0009] MEANS OF SOLVING THE PROBLEMS

[0010] A pedal device for a vehicle that solves the above-described problems is provided with a movable pedal that is provided to a door opening portion of a vehicle, and a drive control portion that drives the movable pedal to actuate the movable pedal in an expansion direction and a storage direction, the drive control portion being provided with a sidewalk detection portion that detects a sidewalk that is provided in parallel with the running surface of the vehicle, a separation distance detection portion that detects the separation distance between the side edge portion of the vehicle in which the movable pedal is stored and the sidewalk, and an expansion amount setting portion that sets the expansion amount of the movable pedal that protrudes in the width direction of the running surface from the side edge portion of the vehicle based on the separation distance, the greater the separation distance being, the greater the expansion amount of the movable pedal that the expansion amount setting portion sets.

[0011] According to the above structure, the movable step can be deployed to a closer position with respect to the sidewalk at the position where the passenger gets on and off the vehicle via the door opening. Thus, the boarding and alighting performance with respect to the vehicle can be improved.

[0012] The vehicle step device for solving the above-described technical problem is preferably provided with a height detection section that detects the height of the sidewalk with respect to the running surface. In a case where the height of the sidewalk is lower than an interference determination value that is set in advance with respect to the minimum ground height of the movable step, the deployment amount setting section sets the deployment amount of the movable step to be larger than the interval distance. In a case where the height of the sidewalk is equal to or higher than the interference determination value, the deployment amount setting section sets the deployment amount of the movable step to be smaller than the interval distance.

[0013] According to the above structure, the interference between the sidewalk and the movable step can be avoided, and the movable step can be deployed to a closer position with respect to the sidewalk at the position where the passenger gets on and off the vehicle using the movable step.

[0014] In the vehicle step device for solving the above-described technical problem, the deployment amount setting section preferably sets the deployment amount of the movable step to a basic deployment amount that is set in advance in a case where the sidewalk is not detected at a position closer than a maximum deployment distance that is set in advance.

[0015] According to the above structure, even in a case where the sidewalk is not detected at a position closer than the maximum deployment distance, i.e., in a range where the deployment amount of the movable step can be increased according to the interval distance from the side edge portion of the vehicle, the passenger can get on and off the running surface using the movable step. Thus, the boarding and alighting performance can be improved.

[0016] In the vehicle step device for solving the above-described technical problem, the deployment amount setting section preferably does not deploy the movable step in a case where the interval distance is smaller than a minimum deployment distance that is set in advance.

[0017] According to the above structure, the movable step that is deployed below the door opening can not interfere with the passenger who gets on and off the vehicle using the sidewalk as the boarding position. Thus, the boarding and alighting performance can be improved.

[0018] In the vehicle step device for solving the above-described technical problem, the drive control section preferably ends the deployment operation of the movable step before the opening operation of the door provided in the door opening is started.

[0019] According to the above structure, high safety can be ensured. In addition, the improvement in the quality can be achieved.

[0020] In the vehicle pedal device that solves the above-described technical problem, it is preferable that the movable pedal act in the expansion direction beyond the maximum pedal expansion amount at the time of utilization of the movable pedal, thereby functioning as an inclined plate that forms an inclined path under the door opening portion.

[0021] According to the above-described structure, even if the occupant is a user of, for example, a wheelchair, a wheeled carrier, or a bicycle, convenience can be improved.

[0022] Effects of the Invention

[0023] According to the present application, the getting on and off with respect to the vehicle can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0024] Figure 1 is a perspective view of a vehicle on which an inclined device functioning as a pedal device is mounted.

[0025] Figure 2 is a perspective view of a vehicle on which an inclined device functioning as a pedal device is mounted.

[0026] Figure 3 is a perspective view of an inclined device provided under a door opening portion.

[0027] Figure 4 is a perspective view of an inclined device provided under a door opening portion.

[0028] Figure 5 is a schematic configuration view of an inclined device.

[0029] Figure 6 is an action explanatory view of an inclined device functioning as a pedal device.

[0030] Figure 7 of (a) (b) is an action explanatory view of an inclined device functioning as a pedal device.

[0031] Figure 8 is an action explanatory view of an inclined device functioning as a pedal device.

[0032] Figure 9 is a control block diagram of an inclined device functioning as a pedal device.

[0033] Figure 10 is a flowchart showing the processing steps of expansion control of an inclined device functioning as a pedal device.

[0034] Figure 11 is a flowchart showing the processing steps of expansion and sliding door opening work of an inclined plate that can be utilized as a movable pedal.

[0035] Figure 12 This is an explanatory diagram showing the method of pedal deployment control.

[0036] Figure 13 This is a flowchart illustrating the processing steps for setting the extension amount of the movable pedal.

[0037] Figure 14 This is a flowchart illustrating another example of the processing steps for setting the extension amount of the movable pedal.

[0038] Symbol Explanation

[0039] 1…vehicles

[0040] 1s…side edge

[0041] 3…door opening

[0042] 25…Actuator

[0043] 40…Modible pedal

[0044] 41… Pedal Mechanism

[0045] 50…Control device (drive control unit)

[0046] 70…Road surface

[0047] 71… Sidewalk

[0048] 72…Sidewalk Inspection Department

[0049] 73…Interval Distance Detection Unit

[0050] 75… Deployment Quantity Setting Department

[0051] D…interval distance

[0052] L…expansion amount Detailed Implementation

[0053] Hereinafter, an embodiment of the vehicle pedal device will be described with reference to the accompanying drawings.

[0054] like Figure 1 and Figure 2 As shown, the vehicle 1 of this embodiment has a generally box-shaped body 2 extending in the longitudinal direction of the vehicle. Furthermore, a door opening 3 serving as a passenger boarding / alighting opening is provided on the side 2s of the body 2. A pair of sliding doors 4f and 4r are provided in this door opening 3, and these sliding doors 4f and 4r open and close in opposite directions in the longitudinal direction of the vehicle.

[0055] That is, the sliding door 4f on the vehicle front side performs an opening operation by moving to the vehicle front side and performs a closing operation by moving to the vehicle rear side. On the other hand, the sliding door 4r on the vehicle rear side performs an opening operation by moving to the vehicle rear side and performs a closing operation by moving to the vehicle front side. Moreover, each of these sliding doors 4f, 4r has a structure as a power sliding door device that performs an opening and closing operation based on a driving force of an unillustrated actuator. Moreover, the vehicle 1 of the present embodiment is a structure that opens and closes the door opening 3 in a linked manner by each of these sliding doors 4f, 4r.

[0056] In addition, the vehicle 1 of the present embodiment has a tilt device 11 that deploys the tilt plate 10 toward the lower end of the door opening 3 in a case where the door opening 3 is in a fully open state. Moreover, the vehicle 1 of the present embodiment enables a passenger, even if the passenger is a user of, for example, a wheelchair, a wheeled carrier, or a bicycle, to easily get on and off from the door opening 3 by using the tilt road R formed with the tilt plate 10.

[0057] As shown in Figs. 1 and 2, the vehicle 1 of the present embodiment has a door opening 3 that is opened and closed by a pair of sliding doors 4f, 4r. The sliding door 4f on the vehicle front side is a structure that performs an opening operation by moving to the vehicle front side and performs a closing operation by moving to the vehicle rear side. On the other hand, the sliding door 4r on the vehicle rear side is a structure that performs an opening operation by moving to the vehicle rear side and performs a closing operation by moving to the vehicle front side. Figure 3 Figure 4 As shown in Figs. 1 and 2, the vehicle 1 of the present embodiment has a door opening 3 that is opened and closed by a pair of sliding doors 4f, 4r. The sliding door 4f on the vehicle front side is a structure that performs an opening operation by moving to the vehicle front side and performs a closing operation by moving to the vehicle rear side. On the other hand, the sliding door 4r on the vehicle rear side is a structure that performs an opening operation by moving to the vehicle rear side and performs a closing operation by moving to the vehicle front side.

[0058] In detail, the tilt device 11 of the present embodiment has a pair of guide rails 20, 20 that extend in the direction of deployment and the direction of storage of the tilt plate 10 deployed from the storage box 12 toward the lower end of the door opening 3, that is, in the depth direction within the storage box 12.

[0059] As shown in Figs. 1 and 2, the vehicle 1 of the present embodiment has a door opening 3 that is opened and closed by a pair of sliding doors 4f, 4r. The sliding door 4f on the vehicle front side is a structure that performs an opening operation by moving to the vehicle front side and performs a closing operation by moving to the vehicle rear side. On the other hand, the sliding door 4r on the vehicle rear side is a structure that performs an opening operation by moving to the vehicle rear side and performs a closing operation by moving to the vehicle front side. Figures 3 to 5 ​As shown, in the tilting device 11 of this embodiment, the guide rails 20, 20 are arranged substantially parallel to the tilting plate 10, which is clamped into the storage box 12 from both sides in the width direction. Furthermore, the tilting device 11 of this embodiment includes movable bodies 21, 21, which are configured to slide along the extension direction of the engaged guide rails 20, 20, respectively, in a state of engagement with the guide rails 20. Moreover, the tilting device 11 includes a pair of support arms 22, 22, which are positioned between the movable bodies 21, 21 and the tilting plate 10, respectively, in a state where they are rotatable relative to the movable bodies 21, 21 and rotatable relative to the rear end 10r of the tilting plate 10. The tilting device 11 of this embodiment is structured such that it moves together with the movable bodies 21, 21 and the support arms 22, 22 in the unfolding direction and the storage direction of the tilting plate 10.

[0060] Furthermore, the tilting device 11 of this embodiment includes an actuator 25 driven by a motor 23. In the tilting device 11 of this embodiment, the actuator 25 is disposed inside the storage box 12, on the inner side relative to the rear end 20r of each guide rail 20, 20. Moreover, the tilting device 11 of this embodiment includes: housing tubes 27, 27 connecting the actuator 25 and the rear end 20r of each guide rail 20, 20; and a pair of drive cables 30, 30 arranged along the extending direction of each housing tube 27, 27 and the guide rail 20, 20. Furthermore, the tilting device 11 of this embodiment is structured to move each moving body 21, 21 along the extending direction of each guide rail 20, 20 based on the driving force of the actuator 25 transmitted via each drive cable 30, 30.

[0061] In detail, such as Figure 6 and Figure 7 As shown in (a), in the tilting device 11 of this embodiment, the tilting plate 10 is held in a generally horizontal position within the storage box 12 based on the engaging force of the moving body 21 and the support arm 22 on the guide rail 20. Furthermore, the tilting device 11 of this embodiment is a structure in which, while maintaining this generally horizontal position, it moves integrally with the moving body 21 and the support arm 22 in the unfolding direction and the storage direction of the tilting plate 10 along the extending direction of the guide rail 20.

[0062] In addition, such as Figure 7As shown in (b), the tilting device 11 of this embodiment is configured such that, for the tilting plate 10 which extends outward from the side edge 1s of the vehicle 1 provided with the storage box 12 in the vehicle width direction, the moving body 21 and the support arm 22 move in the unfolding direction to a position beyond the end of the extension of the tilting plate 10. Furthermore, in the tilting device 11 of this embodiment, based on the engagement relationship with the guide rail 20, these moving bodies 21 and the support arm 22 function as a lifting mechanism 31 that lifts the rear end portion 10r of the tilting plate 10 upward. Specifically, the rear end portion 10r of the tilting plate 10 is lifted by rotating the support arm 22 about the connection point X1 relative to the rear end portion 10r of the tilting plate 10 and the connection point X2 relative to the moving body 21. Furthermore, the tilting device 11 of this embodiment thus forms a tilting path R such that the rear end portion 10r of the tilting plate 10 approaches the vehicle floor 32.

[0063] Furthermore, in the tilting device 11 of this embodiment, a floor engaging portion 33 is provided at the rear end 10r of the tilting plate 10. In this embodiment, the tilting device 11 is a structure in which the vehicle floor 32 supports the load of the tilting plate 10 by engaging the floor engaging portion 33 with the edge 32e of the vehicle floor 32.

[0064] In addition, such as Figure 7 (a) and Figure 8 As shown above, during the deployment of the tilting plate 10 and before the tilting plate 10 finishes extending outward in the vehicle width direction, the tilting device 11 of this embodiment can stop the deployment of the tilting plate 10. Furthermore, the tilting device 11 of this embodiment can support the load of the occupant 35 whose feet are placed on the tilting plate 10 in this state, that is, it can support the load of the occupant 35 who is getting in and out of the vehicle 1 via the door opening 3. Moreover, the tilting device 11 of this embodiment functions as a movable pedal 40, and as a pedal device 41 for deploying and retracting the movable pedal 40.

[0065] Furthermore, the tilting device 11 of this embodiment has a load support device 43 near the opening 12a of the storage box 12, which supports the tilting plate 10 as it extends. Specifically, the load support device 43 has a rotating body 43x that slides in contact with the tilting plate 10, which moves in the unfolding and retracting directions, from below. Thus, the tilting device 11 of this embodiment can ensure smooth unfolding and retracting of the tilting plate 10, and can stably support the load of the occupant 35 who uses the tilting plate 10 as a movable footrest 40.

[0066] In addition, such as Figure 9As shown, in the vehicle 1 of this embodiment, the operation of the actuator 25 of the tilting device 11 and the actuator 45 of the sliding doors 4f and 4r, which have a structure as a power sliding door device, is controlled by the control device 50.

[0067] Specifically, in this embodiment, the control device 50 receives, for example, an operation input signal Scr provided in the operation input unit 51 of the vehicle 1 for the driver's seat (not shown). That is, in the vehicle 1 of this embodiment, the driver's operational requests for the sliding doors 4f and 4r and the tilting device 11 are input to the control device 50 as the operation input signal Scr. Furthermore, the control device 50 of this embodiment includes: a door control unit 52 that controls the opening and closing of the sliding doors 4f and 4r based on these operational requests; and a tilt control unit 53 that controls the unfolding and retracting of the tilting device 11 based on these operational requests.

[0068] Furthermore, in the vehicle 1 of this embodiment, based on the operation input of the operation input unit 51, a tilt mode and a pedal mode can be selected. The tilt mode is a mode in which the tilt plate 10 extends outward in the vehicle width direction from the side edge 1s of the vehicle 1 to form a tilt path R. The pedal mode is a mode in which the tilt plate 10 is used as a movable pedal 40. In addition, the control device 50 of this embodiment includes a pedal control unit 54, which, when the pedal mode is selected, causes the tilt device 11 to operate as a pedal device 41.

[0069] In detail, such as Figure 10 As shown in the flowchart, when vehicle 1 is in a parked state (step 101: Yes), the control device 50 of this embodiment accepts the opening operation request of the sliding doors 4f and 4r (step 102: Yes). Moreover, in vehicle 1 of this embodiment, the mode selection operation of the tilting device 11 (step 103) is performed simultaneously with the opening operation request of the sliding doors 4f and 4r. Then, when the operation input signal Scr indicating the selection of the tilting mode is detected (step 104: Yes), the control device 50 of this embodiment controls the operation of the tilting device 11 to form a tilting path R of the tilting plate 10 that unfolds below the door opening 3 (tilt unfolding control, step 105).

[0070] That is, in this case, the control device 50 of this embodiment, as a tilt deployment control, causes the tilt plate 10 to extend entirely to the rear end 10r of the tilt plate 10 being disposed outside the vehicle. Then, by lifting the rear end 10r, control is performed to make the tilt plate 10 form a tilted path R.

[0071] Furthermore, in step 103 above, when the pedal mode is selected (step 104: No; and step 106: Yes), the control device 50 of this embodiment controls the operation of the tilting device 11 to use the tilting plate 10, which extends downward toward the door opening 3, as a movable pedal 40 of the pedal device 41 (pedal extension control, step 107). In this case, the control device 50 is configured to maintain the tilting plate 10, which serves as the movable pedal 40, in a generally horizontal position as pedal extension control, and extend the tilting plate 10 through the door opening 3 to a position where the feet of the occupant 35 can easily rest, that is, to the middle of the overall extension.

[0072] Furthermore, in the vehicle 1 of this embodiment, in step 103 above, it is possible not to select either the tilt mode or the pedal mode (step 104: No; and step 106: No). Then, in this case, the control device 50 of this embodiment is configured to not deploy the tilt plate 10 as a non-deployment mode selection (step 108).

[0073] In addition, such as Figure 11 As shown in the flowchart, when the tilting plate 10 is unfolded below the door opening 3 by executing step 105 or step 107, the control device 50 of this embodiment performs a safety check near the door opening 3 by monitoring the periphery of the vehicle 1 (step 201). Furthermore, after confirming that the area near the door opening 3 is safe (step 202: Yes), the control device 50 causes the tilting plate 10 to extend outward from the side edge 1s of the vehicle 1 in the vehicle width direction (step 203). Then, the control device 50 of this embodiment is configured to perform the opening operation control of the sliding doors 4f and 4r in the state where the tilting plate 10 has finished unfolding (step 204: Yes) (step 205).

[0074] That is, when the vehicle 1 in this embodiment selects the tilt mode (refer to...) Figure 10 Step 104: Yes), with the inclined plate 10 extending from the side edge 1s of the vehicle 1 forming an inclined path R below the door opening 3, the opening action of the sliding door 4f, 4r begins. Furthermore, the vehicle 1 is configured such that, when the pedal mode is selected (see...), Figure 10 Step 106: Similarly, when the inclined plate 10 is extended to the extended position as the movable pedal 40, the opening action of the sliding door 4f, 4r begins.

[0075] Moreover, in a case where the tilt plate 10 that has been deployed below the door opening portion 3 by execution of the tilt mode and the step mode described above is accommodated in the accommodation box 12, the control device 50 of the present embodiment starts the accommodation operation of the tilt plate 10 after the closing operation of the sliding door 4f, 4r ends. Moreover, in the vehicle 1 of the present embodiment, this is configured to thereby ensure the safety of the occupant 35 who gets on and off the vehicle 1 with respect to the tilt road R formed by the tilt plate 10 and the movable step 40 that uses the tilt plate 10 as the step device 41.

[0076] More specifically, as shown in Figure 9 , the captured image Vd of the outside of the vehicle 1 captured by the camera 55 provided to the vehicle 1 and the output signal Ssd of the sonar 56 also provided to the vehicle 1 are input to the control device 50 of the present embodiment. Further, in the vehicle 1 of the present embodiment, the camera 55 is provided, for example, above the door opening portion 3 (see Figure 1 and Figure 2 ). In addition, the sonar 56 is provided, for example, to the lower end portion of the sliding door 4f, 4r. Moreover, the control device 50 of the present embodiment is provided with a surrounding monitoring portion 57 that monitors the surroundings of the vehicle 1 by analyzing the captured image Vd of the camera 55 and the output signal Ssd of the sonar 56. Moreover, the control device 50 of the present embodiment is configured to thereby perform the safety confirmation near the door opening portion 3 at the time of the operation control of the sliding door 4f, 4r and the tilt device 11 (see Figure 11 , step 201).

[0077] More specifically, the control device 50 of the present embodiment determines whether there is an obstacle on the opening and closing trajectory in a case where the sliding door 4f, 4r is caused to perform the opening and closing operation. In addition, the control device 50 also similarly determines whether there is an obstacle on the deployment trajectory and the accommodation trajectory of the tilt plate 10 in a case where the operation of the tilt device 11 is controlled. Moreover, the control device 50 of the present embodiment is provided with a notification control portion 58 that performs a notification output that prompts a person detected near the door opening portion 3 to retreat in a case where the person is detected. In the vehicle 1 of the present embodiment, the notification output in this case is performed by a combination of a voice guide using a speaker 59 provided to the vehicle 1, an output of a warning sound, and a visual warning output using a display device 60 such as a display, a warning lamp, and the like. Moreover, the vehicle 1 of the present embodiment is configured to thereby perform the operation control of the sliding door 4f, 4r and the tilt device 11 in a state where the safety near the door opening portion 3 is confirmed.

[0078] Further, the control device 50 of the present embodiment sets a limit time in advance to perform such a safety confirmation in the vicinity of the door opening portion 3. Also, it is configured to, in a case where the safety in the vicinity of the door opening portion 3 is not confirmed within the set limit time, i.e., at the time of timeout, not perform the deployment control and the stowage control of the tilt device 11 and the opening / closing control of the sliding doors 4f, 4r, and to shift to the standby state again to accept the work request.

[0079] Further, as shown in Figure 8 and Figure 9 , the control device 50 of the present embodiment is provided with a sidewalk detection portion 72 that detects a sidewalk 71 provided in parallel with a travel surface 70 of the vehicle 1 by analyzing a captured image Vd of the camera 55 and an output signal Ssd of the sonar 56. Also, the control device 50 of the present embodiment determines the positional relationship between the sidewalk 71 constituting the position P of the passenger 35 who gets on / off the vehicle 1 via the door opening portion 3 and the movable step 40 deployed in a manner that stretches out in the width direction of the travel surface 70 from the side edge portion Is of the vehicle 1 from this. Also, the control device 50 of the present embodiment performs the above step deployment control of the movable step 40 using the tilt plate 10 of the tilt device 11 as the step device 41 based on the determined positional relationship between the movable step 40 and the sidewalk 71 (see Figure 10 , Step 107).

[0080] (Step Deployment Control)

[0081] Next, the manner of the step deployment control performed by the control device 50 of the present embodiment will be described. Also, hereinafter, in the description of the step deployment control, the tilt device 11 functioning as the step device 41 will be simply described as the step device 41, and the tilt plate 10 used as the movable step 40 will be simply described as the movable step 40 for convenience.

[0082] As shown in Figure 9 and Figure 12 , the control device 50 of the present embodiment is provided with a separation distance detection portion 73 that detects the separation distance D between the side edge portion Is of the vehicle 1 in which the movable step 40 is stored and the detected sidewalk 71. Also, the control device 50 is provided with a height detection portion 74 that detects the height H of the sidewalk 71 with the travel surface 70 of the vehicle 1 as a reference. Also, the control device 50 of the present embodiment is provided with a deployment amount setting portion 75 that sets the deployment amount L of the movable step 40 that stretches out in the width direction of the travel surface 70 from the side edge portion Is of the vehicle 1 in which the storage box 12 is provided based on the separation distance D between the side edge portion Is of the vehicle 1 and the sidewalk 71 and the height H of the sidewalk 71 detected thereby.

[0083] Specifically, as shown in the flowchart of Figure 13 , the deployment amount setting unit 75 of the present embodiment first compares the distance D between the side edge portion 1s of the vehicle 1 and the sidewalk 71 with a preset minimum deployment distance D1 (step 301). Moreover, when the deployment amount setting unit 75 determines that the distance D between the side edge portion 1s of the vehicle 1 and the sidewalk 71 is greater than or equal to the minimum deployment distance D1 (D≥D1, step 301: Yes), then, the distance D between the side edge portion 1s of the vehicle 1 and the sidewalk 71 is compared with a preset maximum deployment distance D2 (step 302). In addition, in the pedal device 41 of the present embodiment, the minimum deployment distance D1 is set to about 20 cm, for example. Further, the maximum deployment distance D2 is set to a value smaller than the maximum pedal deployment amount Lm that allows the movable pedal 40 to extend outward in the vehicle width direction from the side edge portion 1s of the vehicle 1 in a state where the movable pedal 40 is maintained in a substantially horizontal posture, that is, in a state where the occupant 35 can use it (D2<Lm). That is, as described above, the pedal device 41 of the present embodiment operates in the deployment direction by exceeding the maximum pedal deployment amount Lm, so that the movable pedal 40 functions as the inclined plate 10 of the inclination device 11 that forms the inclined road R below the door opening 3 (refer to Figure 7 (b)). And the control device 50 of the present embodiment is configured to store these minimum deployment distance D1 and maximum deployment distance D2 in the storage area not shown.

[0084] In addition, when the deployment amount setting unit 75 of the present embodiment determines that the distance D between the side edge portion 1s of the vehicle 1 and the sidewalk 71 is less than or equal to the maximum deployment distance D2 (D≤D2, step 302: Yes), the detected height H of the sidewalk 71 is compared with an interference determination value H0 preset based on the lowest ground height h0 of the movable pedal 40 (step 303). Moreover, when the deployment amount setting unit 75 determines that the height H of the sidewalk 71 is lower than the interference determination value H0 (H<H0, step 303: Yes), the deployment amount L of the movable pedal 40 is set to a value obtained by adding a specified value α to the detected distance D between the side edge portion 1s of the vehicle 1 and the sidewalk 71 (L = D+α, step 304). And the deployment amount setting unit 75 of the present embodiment is configured to, in step 303 above, when it is determined that the height H of the sidewalk 71 is greater than or equal to the interference determination value H0 (H≥H0, step 303: No), set the deployment amount L of the movable pedal 40 to a value obtained by subtracting a specified value β from the distance D between the side edge portion 1s of the vehicle 1 and the sidewalk 71 (L = D-β, step 305).

[0085] That is, the deployment amount setting section 75 of the present embodiment sets the deployment amount L of the movable step 40 larger as the separation distance D of the side edge portion Is of the vehicle 1 from the sidewalk 71 is larger. Also, in the step device 41 of the present embodiment, the interference determination value Ho is set to a value smaller than the minimum ground height ho of the movable step 40 having a substantially flat outer shape (Ho < ho). That is, the deployment amount setting section 75 of the present embodiment determines whether the movable step 40 extending in the width direction of the travel surface 70 interferes with the sidewalk 71 by comparing the interference determination value Ho with the height H of the sidewalk 71. Further, in the control device 50 of the present embodiment, each of the prescribed values a, β used in the calculation of the deployment amount L based on the separation distance D of the side edge portion Is of the vehicle 1 from the sidewalk 71 is set to, for example, several centimeters or so. Also, these prescribed values a, β and the interference determination value Ho are held in a storage area of the control device 50, not shown. Also, the step device 41 of the present embodiment is configured so that it can avoid interference between the sidewalk 71 and the movable step 40 and can deploy the movable step 40 to a position closer to the sidewalk 71 that is the boarding and alighting position P of the occupant 35 using the movable step 40.

[0086] Also, the deployment amount setting section 75 of the present embodiment sets the deployment amount L of the movable step 40 to a basic deployment amount Lo set in advance (L = Lo, step 306) when it is determined in the above step 302 that the separation distance D from the sidewalk 71 is larger than the maximum deployment distance D2 (D > D2, step 302: No). Further, in the step device 41 of the present embodiment, the basic deployment amount Lo is set to, for example, 30 cm or so. Also, the control device 50 of the present embodiment holds the basic deployment amount Lo in the storage area, not shown. Also, in the control device 50 of the present embodiment, it is assumed that the separation distance D from the sidewalk 71 is larger than the maximum deployment distance D2 even when the sidewalk detection section 72 cannot detect the sidewalk 71. Also, the step device 41 of the present embodiment enables the occupant 35 to board and alight on the travel surface 70 using the movable step 40 even when the sidewalk 71 is not detected in a position closer than the maximum deployment distance D2, that is, in a range in which the deployment amount L of the movable step 40 can be increased corresponding to the separation distance D from the side edge portion Is of the vehicle 1.

[0087] Further, in the case where the interval distance D between the side edge portion Is of the vehicle 1 in which the housing box 12 is stored and the sidewalk 71 is determined to be smaller than the minimum deployment distance Dl in the above-described step 301 (D < Dl, step 301: No), the deployment amount L of the movable step 40 is set to "0" so that the movable step 40 is not deployed (L = 0, step 306). Further, the step device 41 of the present embodiment is configured so that the movable step 40 deployed below the door opening portion 3 does not cause an obstacle to the occupant 35 who gets on or off the vehicle 1 with the sidewalk 71 as the getting-on or off position P.

[0088] Next, the effects of the present embodiment will be described.

[0089] In the step device 41 of the present embodiment, the deployment amount L of the movable step 40 is set larger as the interval distance D between the side edge portion Is of the vehicle 1 in which the housing box 12 is stored and the sidewalk 71 is larger. Therefore, the movable step 40 is deployed to a position close to the sidewalk 71 which becomes the getting-on or off position P of the occupant 35 who uses the movable step 40, regardless of the positional relationship between the vehicle 1 and the sidewalk 71. Further, the getting-on or off property with respect to the vehicle 1 is improved thereby.

[0090] Next, the effects of the present embodiment will be described.

[0091] (1) The step device 41 includes the movable step 40 provided to the door opening portion 3 of the vehicle 1 and the actuator 25 which drives the movable step 40 to move the movable step 40 in the deployment direction and the storage direction. Further, the control device 50 which constitutes the drive control portion by controlling the operation of the actuator 25 includes the sidewalk detection portion 72 which detects the sidewalk 71 provided in parallel with the running surface 70 of the vehicle 1. Further, the control device 50 includes the interval distance detection portion 73 which detects the interval distance D between the side edge portion Is of the vehicle 1 in which the movable step 40 is stored and the sidewalk 71 and the deployment amount setting portion 75 which sets the deployment amount L of the movable step 40 which extends from the side edge portion Is of the vehicle 1 in the width direction of the running surface 70 based on the interval distance D. Further, the larger the interval distance D between the side edge portion Is of the vehicle 1 and the sidewalk 71, the larger the deployment amount L of the movable step 40 set by the deployment amount setting portion 75.

[0092] According to the above-described structure, the movable step 40 can be deployed to a position closer to the sidewalk 71 which becomes the getting-on or off position P of the occupant 35 who gets on or off the vehicle 1 via the door opening portion 3, regardless of the positional relationship between the vehicle 1 and the sidewalk 71. Further, the getting-on or off property with respect to the vehicle 1 is improved thereby.

[0093] (2) The control device 50 is provided with a height detection section 74 that detects the height of the sidewalk 71 with respect to the running surface 70 of the vehicle 1. Further, the deployment amount setting section 75 compares the detected height H of the sidewalk 71 with an interference determination value H0 that is set in advance with respect to the minimum ground height ho of the movable step 40. Further, in the case where the height H of the sidewalk 71 is lower than the interference determination value H0, the deployment amount setting section 75 sets the deployment amount L of the movable step 40 to be larger than the separation distance D between the side edge section Is of the vehicle 1 and the sidewalk 71, and in the case where the height H of the sidewalk 71 is equal to or higher than the interference determination value H0, the deployment amount setting section 75 sets the deployment amount L of the movable step 40 to be smaller than the separation distance D.

[0094] According to the above structure, it is possible to avoid interference between the sidewalk 71 and the movable step 40, and it is possible to deploy the movable step 40 to a position that is closer to the sidewalk 71 that is the boarding and alighting position P of the occupant 35 using the movable step 40.

[0095] (3) In the case where the sidewalk 71 is not detected at a position that is closer than the maximum deployment distance D2 that is set in advance, the deployment amount setting section 75 sets the deployment amount L of the movable step 40 to be the basic deployment amount Lo that is set in advance.

[0096] According to the above structure, even in the case where the sidewalk 71 is not detected at a position that is closer than the maximum deployment distance D2, i.e., in the range where the deployment amount L of the movable step 40 can be increased in accordance with the separation distance D from the side edge section Is of the vehicle 1, the occupant 35 is able to board and alight on the running surface 70 using the movable step 40. Further, as a result, it is possible to improve the boarding and alighting property. In particular, in the vehicle type that has the door opening portion 3 at a high position, a more significant effect can be obtained.

[0097] (4) In the case where the separation distance D from the side edge section Is of the vehicle 1 is smaller than the minimum deployment distance Dl that is set in advance, the deployment amount setting section 75 does not deploy the movable step 40.

[0098] According to the above structure, the movable step 40 that is deployed below the door opening portion 3 does not interfere with the occupant 35 who boards and alights on the vehicle 1 using the sidewalk 71 as the boarding and alighting position P. Further, as a result, it is possible to improve the boarding and alighting property.

[0099] (5) Before the opening operation of the sliding door 4f, 4r provided to the door opening portion 3 is started, the control device 50 ends the deployment operation of the movable step 40. As a result, it is possible to ensure high safety. In addition to this, it is possible to achieve an improvement in the quality.

[0100] (6) After the closing operation of the sliding door 4f, 4r is completed, the control device 50 starts the stowing operation of the movable step 40. Thereby, high safety can be ensured. In addition to this, improvement of the quality can be achieved.

[0101] (7) By the movable step 40 exceeding the maximum step deployment amount Lm which can be used by the occupant 35 and operating in the deployment direction, the movable step 40 functions as the ramp 10 which forms the ramp road R under the door opening 3. Thereby, even if the occupant 35 is a user of a wheelchair, a vehicle with wheels or a bicycle, etc., convenience can be improved.

[0102] Further, the above-described fact mode can be implemented by being changed as follows. The above-described embodiments and the following changes can be implemented in combination with each other within a range where there is no technical contradiction.

[0103] In the above-described embodiments, the ramp mode in which the ramp 10 which is deployed in a manner of protruding from the side edge portion Is of the vehicle 1 to the outside in the vehicle width direction forms the ramp road R and the step mode in which the ramp 10 is used as the movable step 40 are selected based on the operation input to the operation input portion 51. However, it is not limited thereto, and for example, the control device 50 determines that the occupant 35 is a user of a wheelchair or the like and the necessity of the ramp road R by analyzing the photographed image Vd of the camera 55 or the like. Also, thereby, it can be a structure in which the selection of the ramp mode and the step mode is automatically performed.

[0104] In the above-described embodiments, the vehicle 1 in which the ramp device 11 which can use the ramp 10 as the movable step 40 of the step device 41 is mounted is embodied. However, it is not limited thereto, and as long as it is a structure in which the deployment amount L of the movable step 40 can be arbitrarily set, it can be applied to a vehicle which has the step device 41 which does not have the function as the ramp device 11.

[0105] In the above-described embodiments, the deployment amount L of the movable step 40 is set to be larger as the detected interval distance D between the side edge portion Is of the vehicle 1 and the sidewalk 71 is larger by adding a prescribed value a or subtracting a prescribed value β. However, it is not limited thereto, and for example, the deployment amount L based on the interval distance D can be arbitrarily changed by multiplying the detected interval distance D by a prescribed coefficient or the like. Also, it can be a structure in which a map or a table in which the interval distance D and the deployment amount L are prescribed is held in advance. Also, the interval distance D and the deployment amount L of the movable step 40 do not necessarily need to have a proportional relationship.

[0106] In addition, as Figure 14As shown in the flowchart, it is determined whether the height H of the sidewalk 71 detected is below the height of the running surface 70 of the vehicle 1 (H = 0) (step 401). Also, in the case where the height H of the sidewalk 71 is below the height of the running surface 70 (H < 0, step 401: Yes), it is also possible to be a structure in which the movable step 40 is not deployed (L = 0, step 402). Thus, the movable step 40 deployed below the door opening portion 3 can not hinder the occupant 35 who gets on and off the vehicle 1 with the running surface 70 as the getting-on and off position P.

[0107] Next, the technical ideas that can be grasped by the above-described factual modes and modification examples are described.

[0108] (1) The vehicle step device is characterized in that the drive control portion starts the stowing operation of the movable step after the closing operation of the door provided in the door opening portion is completed. Thus, high safety can be ensured. In addition, an improvement in quality can be achieved.

[0109] (2) The vehicle step device is characterized in that a height detection portion that detects the height of the sidewalk with the running surface as a reference is provided, and the deployment amount setting portion does not deploy the movable step in the case where the height of the sidewalk is below the height of the running surface. Thus, the movable step deployed below the door opening portion can not hinder the occupant who gets on and off the vehicle with the running surface as the getting-on and off position.

Claims

1. A vehicle step device comprising: a movable step provided at a door opening portion of a vehicle; and a drive control portion that drives the movable step to move the movable step in an unfolding direction and a stowing direction, wherein the drive control portion includes: a sidewalk detection portion that detects a sidewalk provided in parallel with a running surface of the vehicle; a separation distance detection portion that detects a separation distance between a side edge portion of the vehicle in which the movable step is stowed and the sidewalk; a height detection portion that detects a height of the sidewalk with reference to the running surface; and an unfolding amount setting portion that sets an unfolding amount of the movable step extending in a width direction of the running surface from the side edge portion of the vehicle based on the separation distance, wherein the unfolding amount setting portion sets the unfolding amount of the movable step larger as the separation distance is larger, wherein the unfolding amount setting portion sets the unfolding amount of the movable step larger when the height of the sidewalk is lower than an interference determination value set in advance with reference to a minimum above ground height of the movable step, and sets the unfolding amount of the movable step smaller when the height of the sidewalk is equal to or higher than the interference determination value, and wherein the unfolding amount setting portion sets the unfolding amount after completion of detection by the height detection portion when the separation distance is equal to or larger than a minimum unfolding distance set in advance and equal to or smaller than a maximum unfolding distance set in advance.

2. The vehicle step device according to claim 1, wherein the unfolding amount setting portion sets an unfolding amount of the movable step to a basic unfolding amount set in advance when the sidewalk is not detected at a position closer than the maximum unfolding distance set in advance.

3. The vehicle step device according to claim 1 or 2, wherein the unfolding amount setting portion does not unfold the movable step when the separation distance is smaller than a minimum unfolding distance set in advance.

4. The vehicle step device according to claim 1, wherein the drive control portion ends unfolding of the movable step before a door opening operation of a door provided at the door opening portion is started.

5. The vehicle step device according to claim 1, wherein the movable step functions as a ramp that forms a sloped road under the door opening portion when the movable step is moved in the unfolding direction beyond a maximum unfolding amount of the movable step when the movable step is used. ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​ ​

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