Door opening and closing assist device

Abstract

The present application achieves a good operation feeling regarding opening and closing of a door by a simple device configuration. A door opening and closing assist device (10) has: an information acquisition section (33) that acquires information of an opening and closing speed (Vdr) of a door (14); a door actuator (19) that performs driving for assisting opening and closing operation of the door (14); a target assist force calculation section (37) that performs calculation of a target assist force (Ptg) for assisting the opening and closing operation of the door (14); and a control section (39) that performs driving control related to the door actuator (19) based on the target assist force (Ptg). The target assist force calculation section (37) calculates a standard assist force (Psd) required to maintain the opening and closing speed (Vdr) based on the opening and closing speed (Vdr) of the door (14) acquired by the information acquisition section (33), performs correction to reduce the calculated standard assist force (Psd) in accordance with a prescribed rule, and sets the reduced and corrected standard assist force (Psd) as the target assist force (Ptg).

Description

Technical Field

[0001] This invention relates to a door opening and closing assist device for assisting in the opening and closing of vehicle doors. Background Technology

[0002] A door opening and closing assist device is known in the past, which adds an auxiliary force to the door opening and closing operation force applied by the vehicle operator, thereby assisting the opening and closing of the door (see Patent Document 1).

[0003] Patent Document 1 discloses a door opening and closing assist device comprising: a torque sensor for detecting the door opening and closing operation force applied to the door handle of a vehicle; a speed sensor for detecting the door opening and closing speed; a motor for assisting the door opening and closing operation force; and a controller for controlling the motor by calculating an assist force command value from the door opening and closing operation force and the opening and closing speed. The controller calculates the assist force command value based on the mass of the door, a coefficient of viscous friction determined by the relationship between the viscous friction force acting on the door and the moving speed, and an imaginary mass and an imaginary coefficient of viscous friction that can obtain an ideal operating feel.

[0004] According to the door opening and closing assist device of Patent Document 1, the assist force command value is calculated based on the opening and closing operation force and opening and closing speed of the door, and the motor is controlled based on the assist force command value as the result of the calculation. Thus, the control logic is established with a small number of parameters, and the settings and development can be easily executed through a clear configuration.

[0005] Existing technical documents

[0006] Patent documents

[0007] Patent Document 1: Japanese Patent Application Publication No. 2007-238014 Summary of the Invention

[0008] However, in order to widely popularize the door opening and closing assist device disclosed in Patent Document 1, it is required that the operation feel of opening and closing the door is good, and the structure of the device is simple.

[0009] In this regard, the door opening and closing assist device in Patent Document 1 has room for improvement in achieving a good sense of operation regarding door opening and closing through a simple device structure.

[0010] The present invention was made to solve the above-mentioned problems, and its purpose is to provide a door opening and closing auxiliary device that can achieve a good tactile feedback on the opening and closing of the door through a simple device configuration.

[0011] To achieve the above objective, the invention of (1) is a door opening and closing assist device that assists in the opening and closing operation of the doors of the vehicle. Its main feature is that it has: an information acquisition unit that acquires information about the opening and closing speed of the door; a door actuator that drives the door to assist in the opening and closing operation; a target assist force calculation unit that calculates a target assist force to assist in the opening and closing operation; and a control unit that performs drive control related to the door actuator based on the target assist force. The target assist force calculation unit calculates the assist force required to maintain the opening and closing speed, i.e., the standard assist force, based on the opening and closing speed of the door acquired by the information acquisition unit, performs a correction to reduce the calculated standard assist force according to a prescribed rule, and sets the reduced and corrected standard assist force as the target assist force.

[0012] Invention Effects

[0013] According to the present invention, a good sense of operation regarding the opening and closing of vehicle doors can be achieved through a simple device configuration. Attached Figure Description

[0014] Figure 1A This is a perspective view of a vehicle equipped with the door opening and closing assist device according to an embodiment of the present invention.

[0015] Figure 1B It is a three-dimensional diagram showing the installation status of the door opening and closing assist device on the door.

[0016] Figure 2 This is a functional block diagram of the door opening and closing auxiliary device according to an embodiment of the present invention.

[0017] Figure 3A In the diagram, (a) is a comparative diagram showing the relationship between the standard auxiliary force and the target auxiliary force when the opening and closing speed of the car door changes during the opening operation, and (b) is a comparative diagram showing the relationship between the standard auxiliary force and the target auxiliary force when the opening and closing speed of the car door changes during the closing operation.

[0018] Figure 3B It is a conceptual comparison diagram showing the relationship between the target assist force and the opening and closing speed of the car door when the vehicle's posture is changed in various ways during the opening operation of the car door.

[0019] Figure 3C It is a conceptual comparison diagram showing the relationship between the target assist force and the opening and closing speed of the car door when the vehicle's posture is changed in various ways during the closing operation of the car door.

[0020] Figure 4 This is a flowchart illustrating the operation of the door opening and closing auxiliary device used in embodiments of the present invention.

[0021] Explanation of reference numerals in the attached figures

[0022] 10. Door opening and closing auxiliary devices

[0023] 11 vehicles (this vehicle)

[0024] 13A and 13B hinge mechanisms

[0025] 14 doors

[0026] 19 door actuators

[0027] 20 body

[0028] 23 connecting mechanisms

[0029] 33 Information Acquisition Department

[0030] 35 Judgment Department

[0031] 37 Target Auxiliary Force Calculation Unit

[0032] 39 Control Department

[0033] Odr door opening

[0034] PSD Standard Assistance

[0035] Ptg Target Auxiliary Force

[0036] VDR door opening and closing speed

[0037] Vdrth specifies the speed threshold Detailed Implementation

[0038] Hereinafter, with appropriate reference to the accompanying drawings, the door opening and closing auxiliary device of the present invention will be described in detail.

[0039] Furthermore, in the accompanying drawings shown below, components with common functions are labeled with common reference numerals. Additionally, for ease of explanation, the dimensions and shapes of components may sometimes be distorted or enlarged for schematic representation.

[0040] When using directions for explanation, unless otherwise specified, they are based on the driver's perspective (front, back, left, right, up, down) as seen from the driver's seat (right side). In short, "front and back" corresponds to "vehicle length," "left and right" corresponds to "vehicle width," and "up and down" corresponds to "vehicle height."

[0041] When describing a vehicle 11 equipped with the door opening and closing assist device 10 according to an embodiment of the present invention, unless otherwise specified, the various components constituting the body of the vehicle 11 are formed of metal materials such as steel plates.

[0042] [The configuration of the door opening and closing assist device 10 according to an embodiment of the present invention]

[0043] First, appropriate reference Figure 1A , Figure 1B The configuration of a vehicle 11 equipped with the door opening and closing assist device 10 according to an embodiment of the present invention will be described.

[0044] Figure 1A This is a perspective view of the exterior of a vehicle 11 equipped with the door opening and closing assist device 10 according to an embodiment of the present invention. Figure 1B This is a perspective view showing the installation status of the door opening and closing assist device 10 toward the door 13. Figure 2 This is a functional block diagram of the door opening and closing auxiliary device 10. Figure 3A In the diagram, (a) is a comparison diagram showing the relationship between the standard auxiliary force Psd and the target auxiliary force Ptg when the opening and closing speed of the car door changes during the opening operation, and (b) is a comparison diagram showing the relationship between the standard auxiliary force Psd and the target auxiliary force Ptg when the opening and closing speed of the car door changes during the closing operation. Figure 3B This is a conceptual comparison diagram showing the relationship between the target assist force and the opening / closing speed Vdr of the door 14 when the posture of the vehicle 11 is changed in various ways during the opening operation of the door 14. Figure 3C This is a conceptual comparison diagram showing the relationship between the target auxiliary force Ptg and the opening and closing speed Vdr of the door 14 when the posture of the vehicle 11 is changed in various ways during the closing operation of the door 14.

[0045] like Figure 1A As shown, a vehicle 11 equipped with the door opening and closing assist device 10 according to an embodiment of the present invention has left and right front doors 13, left and right rear doors 15, and left and right lower longitudinal beams 17 on its sides. In addition, in the following description, the front doors 13 and the rear doors 15 are collectively referred to as "door 14" unless there is a need to specifically distinguish them.

[0046] like Figure 1B As shown, the front passenger door 13 (door 14) is mounted relative to the vehicle body 20 via a pair of hinge mechanisms 13A, 13B in a swing manner. A door actuator 19 is provided on the door 14, which is driven in the door opening and closing assist device 10 to assist the opening and closing operation of the door 14.

[0047] like Figure 1B As shown, the door actuator 19 comprises: a main shaft screw 21 with a threaded groove engraved on its outer circumference along the axial direction; and a motor device 25 having a main shaft nut (not shown) with a threaded groove engraved on its inner circumference that engages with the threaded groove, and a rotor (not shown) connected to the main shaft nut via a reduction mechanism (not shown).

[0048] One end of the main shaft screw 21 is pivotally supported via a connecting mechanism 23 provided on the vehicle body 20. The door motor 25 is provided at the other end of the main shaft screw 21. The door motor 25 is fixedly mounted on the inside of the front door 13 (door 14).

[0049] In the door opening and closing assist device 10 of the present invention, when the occupant performs the opening and closing operation of the door 14, the door actuator 19 is activated along with the opening and closing action of the door 14 performed in accordance with the opening and closing operation.

[0050] In other words, suppose an occupant opens the door 14. The door 14 then performs the opening action according to that operation. Accompanying this opening action, the motor 25, located at the free end of the main shaft screw 21, mechanically drives the rotor to rotate. Incidentally, when no power is supplied to the motor 25, it functions as a generator, thus hindering the opening action of the door 14.

[0051] At this time, if the motor device 25 is powered in a manner that causes the door 14 to open, the auxiliary force generated by the power supply is added to the operating force generated by the occupant.

[0052] In the door opening and closing assist device 10 of this embodiment, based on the opening and closing speed Vdr of the door 14, the required assist force, i.e., the standard assist force Psd, to maintain the opening and closing speed Vdr is calculated. The calculated standard assist force Psd is then reduced according to a predetermined rule, and this reduced and corrected standard assist force Psd is set as the target assist force Ptg. Thus, a good tactile feedback for opening and closing the door 14 can be achieved with a simple device configuration. These contents will then be described in detail.

[0053] To achieve the above functions, such as Figure 2 As shown, the door opening and closing assist device 10 of the present invention is configured to have functional units belonging to the input system 27, the information processing system (door ECU) 28, and the output system 29 respectively.

[0054] The functional components of the input system 27 include a Hall sensor 31 and a tilt sensor 32.

[0055] Hall sensor 31 outputs a detection signal including timing information of the rotational position and rotational speed of the rotor associated with door motor 25, which is part of door actuator 19.

[0056] After the output signal of Hall sensor 31 is converted into timing information about the opening and closing speed Vdr and opening degree Odr of door 14, it is sent sequentially to the information acquisition unit 33 of door ECU 28.

[0057] Furthermore, the opening degree Odr of the door 14 is defined by assigning a value of 0 to the fully closed state and a value of 100 to the fully open state (the state opened to the limit), and by establishing a correspondence between appropriate values ​​1 to 99 and the current opening and closing state, thereby representing the current position of the door 14 in the relative coordinate system.

[0058] The tilt sensor 32 serves as the tilt angle in the dual-axis direction. That is, the front-to-back direction and the left-to-right direction (vehicle width direction) of the vehicle 11 on the horizontal plane are respectively taken as the X-axis direction and the Y-axis direction, and respectively output detection signals corresponding to the rotation angle with the X-axis as the rotation axis, i.e., the roll angle, and the rotation angle with the Y-axis as the rotation axis, i.e., the pitch angle.

[0059] After the output signal of the tilt sensor 32 is converted into timing information about the front and rear tilt angles Afb and the left and right tilt angles Alr, it is sent sequentially to the information acquisition unit 33 of the door ECU 28.

[0060] Furthermore, the forward and backward tilt angle Afb can be used to establish a correspondence between a value of 0 and a horizontal state, a positive value and a forward tilt state, and a negative value and a backward tilt state, thereby representing the posture (tilt angle) of the vehicle 11 in the forward and backward direction relative to the coordinate system.

[0061] Similarly, the left and right tilt angles Alr can be correlated by establishing a correspondence between a value of 0 and a horizontal state, a positive value and a tilt state to the left, and a negative value and a tilt state to the right, thereby representing the left and right orientation (tilt angle) of the vehicle 11 in the relative coordinate system.

[0062] The functional units belonging to the information processing system (door ECU) 28 include an information acquisition unit 33, a judgment unit 35, a target auxiliary force calculation unit 37, and a control unit 39.

[0063] The information acquisition unit 33 obtains timing information about the opening and closing speed Vdr and opening degree Odr of the door 14 based on the output signal of the Hall sensor 31, and timing information about the front and rear tilt angle Afb and the left and right tilt angle Alr based on the output signal of the tilt sensor 32.

[0064] The timing information about the opening and closing speed Vdr and opening degree Odr of the door 14, which is acquired by the information acquisition unit 33, and the timing information about the front and rear tilt angle Afb and the left and right tilt angle Alr are sent to the judgment unit 35.

[0065] The judgment unit 35 determines the orientation of the opening and closing operation of the door 14, and determines whether the opening and closing speed Vdr of the door 14 is insufficient for the specified speed threshold Vdrth.

[0066] The orientation of the opening and closing operation of the door 14 can be obtained from the sign of the difference in opening degree Odr that is separated by a certain time interval in the timing information of the opening degree Odr of the door 14.

[0067] The judgment result of the judgment unit 35 regarding the orientation of the opening and closing operation of the door 14 is sent to the target auxiliary force calculation unit 37.

[0068] In addition, the judgment result made by the judgment unit 35 regarding whether the opening and closing speed Vdr of the door 14 is insufficient to the prescribed speed threshold Vdrth is sent to the control unit 39.

[0069] If an auxiliary force related to the door actuator 19 is continuously applied before the opening and closing speed Vdr of the door 14 becomes zero, the operator will experience a sense of unease, as if the door 14 moves against its intended inertia.

[0070] Therefore, it is preferable to stop the drive control based on the door actuator 19 at a timing when the opening and closing action of the door 14 is about to end. This can prevent situations that would cause the operator to feel uncomfortable, such as the door 14 moving unintended due to inertia.

[0071] Therefore, as a prescribed speed threshold Vdrth, for example, the opening and closing speed Vdr of the door 14 can be set to a value (other than zero) that is presumed to be the end of the opening and closing action of the door 14.

[0072] Furthermore, the judgment unit 35 can also be configured to determine that the opening and closing speed Vdr of the door 14 is insufficient for a predetermined speed threshold Vdrth for a predetermined duration. If configured in this way, it is expected to avoid the situation where the timing of the end of the opening and closing action of the door 14 is incorrectly determined, leading to premature and incorrect termination of the drive control based on the door actuator 19.

[0073] The target auxiliary force calculation unit 37 calculates the target auxiliary force Ptg used to assist the opening and closing operation of the door 14.

[0074] In detail, the target auxiliary force calculation unit 37 is configured to include: a standard auxiliary force calculation unit 41 that calculates the auxiliary force required to maintain the opening and closing speed Vdr of the door 14 based on the information acquisition unit 33; and a correction unit 43 that performs corrections to reduce the standard auxiliary force Psd calculated by the standard auxiliary force calculation unit 41 according to a prescribed rule.

[0075] The target assist force calculation unit 37 sets the standard assist force Psd, which is reduced and corrected based on the correction unit 43, as the target assist force Ptg. This ensures that the occupant-based opening and closing operation force of the door 14 is not insufficiently assisted. As a result, a good tactile feedback for opening and closing the door 14 can be achieved with a simple device configuration.

[0076] The calculation result of the target auxiliary force calculation unit 37, namely the target auxiliary force Ptg, is sent to the control unit 39.

[0077] Here, the correction that reduces the normative auxiliary force Psd according to the prescribed rules refers to, for example, the following two types of concepts: one is the type of obtaining the target auxiliary force Ptg by multiplying the normative auxiliary force Psd by a prescribed reduction rate (e.g., 3 to 20%), and the other is the type of obtaining the target auxiliary force Ptg by subtracting a prescribed value (e.g., a value equivalent to 3 to 20%) from the normative auxiliary force Psd.

[0078] Furthermore, there are no particular limitations on the normative auxiliary force Psd and the target auxiliary force Ptg; for example, they can be obtained using the output duty ratio (%).

[0079] Additionally, the correction unit 43, which belongs to the target auxiliary force calculation unit 37, is compared to, for example... Figure 3A As shown in (a) and (b), the amount of reduction correction when the door 14 is closed is less than the amount of reduction correction when the door 14 is opened.

[0080] Therefore, when the door 14 is opened, it can prevent the door 14 from colliding with adjacent vehicles, and when the door 14 is closed, it can create the feeling that the door 14 is closing quickly.

[0081] Furthermore, the correction unit 43, which belongs to the target assist force calculation unit 37, adjusts the standard assist force Psd and the correction amount (reduction or increase) based on the posture information, including the front-to-back and left-to-right tilt of the vehicle 11.

[0082] If detailed explanation is required, then as follows: Figure 3BAs shown, during the opening operation of the door 14, when a force is applied to the door 14 to hinder its opening state based on the posture change of the vehicle 11 (door rises 17 degrees / tilts forward 17 degrees), a correction is made to increase the target assist force Ptg compared to the case where the vehicle 11 is in a horizontal position. Conversely, when a force is applied to the door 14 to facilitate its opening state based on the posture change of the vehicle 11 (door lowers 17 degrees / tilts forward 17 degrees), a correction is made to decrease the target assist force Ptg compared to the case where the vehicle 11 is in a horizontal position. Furthermore, this correction is achieved by adjusting either the standard assist force Psd or the correction amount (decrease or increase).

[0083] Alternatively, when a correction is made to reduce or increase the target assist force Ptg due to a change in the attitude of the vehicle 11, the correction amount for the front and rear tilt angle Afb and the correction amount for the left and right tilt angle Alr are calculated independently, and then the correction to reduce or increase the target assist force Ptg is made by using the combined correction amount obtained by adding these correction amounts together.

[0084] On the other hand, such as Figure 3C As shown, during the closing operation of the door 14, when a force is applied to the door 14 that hinders the closing state based on the posture change of the vehicle 11 (door lowered by 17 degrees / leaned forward by 17 degrees), a correction is made to increase the target assist force Ptg compared to the case where the vehicle 11 is in a horizontal position. Conversely, when a force is applied to the door 14 that facilitates the closing state based on the posture change of the vehicle 11 (door raised by 17 degrees / leaned forward by 17 degrees), a correction is made to decrease the target assist force Ptg compared to the case where the vehicle 11 is in a horizontal position. Furthermore, this correction is performed by adjusting either the standard assist force Psd or the correction amount (reduction or increase).

[0085] Alternatively, when a correction is made to reduce or increase the target assist force Ptg due to a change in the attitude of the vehicle 11, the correction amount for the front and rear tilt angle Afb and the correction amount for the left and right tilt angle Alr are calculated independently, and then the correction to reduce or increase the target assist force Ptg is made by using the combined correction amount obtained by adding these correction amounts together.

[0086] When adjusting the auxiliary force Psd and reducing the amount of correction, or any one of these adjustments, in practice, characteristic tables (or conversion formulas) of the target auxiliary force Ptg are prepared in advance. These tables correspond to the operating state (open / closed) of the door 14, the posture changes of the vehicle 11, and the opening and closing speed Vdr of the door 14. The characteristic tables (conversion formulas) corresponding to various situations (e.g., door 14 is in the open operating state / door 14 is in the raised position / the posture of the vehicle 11 is tilted forward, etc.) should be switched and used accordingly.

[0087] Therefore, a good sense of operation can be achieved in opening and closing the car door 14 through a simple device configuration.

[0088] In this way, the correction unit 43, belonging to the target assist force calculation unit 37, adjusts the standard assist force Psd and reduces the amount of correction based on the posture information, including the forward and backward and left and right tilt of the vehicle 11. This allows the door actuator 19 to be driven using a target assist force Ptg whose magnitude corresponds to the posture change of the vehicle 11. As a result, even when the posture of the vehicle 11 changes, a good tactile feedback for opening and closing the door 14 can be achieved with a simple device configuration.

[0089] However, when changes in posture occur in the vehicle 11, including forward and backward tilting and left and right tilting, the magnitude of the gravity acting on the door 14 will also vary depending on the opening degree Odr of the door 14. That is, there is a close relationship between the opening degree Odr of the door 14 and the tactile feedback of opening and closing the door 14.

[0090] Therefore, the following configuration can also be adopted: the correction unit 43 belonging to the target assist force calculation unit 37 performs corrections on both or either the standard assist force Psd and the amount of correction, based on the posture information including the front-to-back and left-to-right tilt of the vehicle 11 and the opening degree Odr of the door 14.

[0091] With this configuration, when a change in posture occurs within the vehicle 11, the influence of the posture change of the vehicle 11 on the tactile feedback of opening and closing the door 14 can be suppressed, and the influence of the opening degree Odr of the door 14 at that time on the tactile feedback of opening and closing the door 14 can also be suppressed. As a result, the tactile feedback of opening and closing the door 14 can be improved.

[0092] The control unit 39 performs drive control related to the door actuator 19 based on the calculation result of the target auxiliary force calculation unit 37, namely the target auxiliary force Ptg. Thus, a good sense of operation is achieved in opening and closing the door 14 with a simple device configuration.

[0093] Furthermore, when the opening / closing speed Vdr of the door 14 is less than the predetermined speed threshold Vdrth, the control unit 39 controls the drive related to the door actuator 19 to stop. Thus, when the opening / closing speed Vdr of the door 14 is less than the predetermined speed threshold Vdrth, the drive related to the door actuator 19 is stopped, thereby suppressing any unpleasant sensation to the operator, such as the door 14 moving against its intended inertia.

[0094] [Operation of the door opening and closing assist device 10 according to an embodiment of the present invention]

[0095] Next, refer to the appropriate Figure 4 The operation of the door opening and closing assist device 10 according to an embodiment of the present invention will be explained. Figure 4 This is a flowchart illustrating the operation of the door opening and closing assist device 10 used in embodiments of the present invention.

[0096] As a premise, assume that the door 14 of the vehicle 11 is in the open operation state, the door 14 is in the raised position (for example, the right door when the vehicle 11 is tilted to the left), and the posture of the vehicle 11 is tilted forward (relative to the slope facing the uphill direction).

[0097] Figure 4 In step S11 shown, the information acquisition unit 33 belonging to the door ECU 28 obtains timing information about the opening and closing speed Vdr and opening degree Odr of the door 14 based on the output signal of the Hall sensor 31, and timing information about the front and rear tilt angle Afb and the left and right tilt angle Alr based on the output signal of the tilt sensor 32.

[0098] In step S12, the judgment unit 35 of the door ECU 28 determines whether the opening and closing speed Vdr of the door 14 is insufficient for the specified speed threshold Vdrth.

[0099] If the result of the judgment in step S12 is that the opening and closing speed Vdr of the door 14 is above the specified speed threshold Vdrth, the door ECU 28 will proceed the processing flow to the subsequent step S13.

[0100] On the other hand, if the result of the judgment in step S12 is that the opening and closing speed Vdr of the door 14 is less than the specified speed threshold Vdrth, the door ECU28 will jump the processing flow to step S17.

[0101] In step S13, the standard auxiliary force calculation unit 41 in the target auxiliary force calculation unit 37 of the door ECU 28 calculates the auxiliary force required to maintain the opening and closing speed Vdr of the door 14 based on the opening and closing speed Vdr obtained by the information acquisition unit 33.

[0102] In step S14, the correction unit 43 in the target assist force calculation unit 37 of the door ECU 28 takes into account the door opening degree Odr / forward and backward tilt angle Afb / left and right tilt angle Alr to correct the standard assist force Psd.

[0103] In step S15, the target assist force calculation unit 37 of the door ECU 28 sets the modified standard assist force Psd from step S14 as the target assist force Ptg. In this embodiment, the target assist force calculation unit 37 takes into account the above-mentioned preconditions and sets the modified standard assist force Psd as the target assist force Ptg.

[0104] In step S16, the control unit 39 of the door ECU 28 performs drive control related to the door actuator 19 based on the calculation result of the target assist force calculation unit 37, i.e., the target assist force Ptg. Thus, a good tactile feedback for opening and closing the door 14 can be achieved with a simple device configuration.

[0105] After the processing in step S16 is completed, the door ECU28 returns the processing flow to step S11 and repeats the subsequent processing.

[0106] In step S17, the control unit 39 of the door ECU 28 controls the drive related to the door actuator 19 to stop when the opening / closing speed Vdr of the door 14 is less than the predetermined speed threshold Vdrth. Therefore, when the opening / closing speed Vdr of the door 14 is less than the predetermined speed threshold Vdrth, the drive related to the door actuator 19 is stopped, thereby suppressing a situation where the operator experiences a feeling of unease, such as the door 14 moving against its intended inertia.

[0107] After the processing in step S17 is completed, the door ECU28 returns the processing flow to step S11 and repeats the subsequent processing.

[0108] [The effect of the door opening and closing assist device 10 according to the embodiment of the present invention]

[0109] Next, the effects of the door opening and closing assist device 10 according to the embodiment of the present invention will be explained.

[0110] The door opening and closing assist device based on the first viewpoint is based on the premise of a door opening and closing assist device 10 that assists in the opening and closing operation of the door 14 of the vehicle 11.

[0111] The door opening and closing assist device 10 based on the first viewpoint includes: an information acquisition unit 33 that acquires information about the opening and closing speed Vdr of the door 14; a door actuator 19 that performs drive for assisting the opening and closing operation of the door 14; a target assist force calculation unit 37 that performs calculation of a target assist force Ptg for assisting the opening and closing operation of the door 14; and a control unit 39 that performs drive control related to the door actuator 19 based on the target assist force Ptg.

[0112] The following configuration is adopted: the target auxiliary force calculation unit 37 calculates the auxiliary force required to maintain the opening and closing speed Vdr of the door 14 obtained by the information acquisition unit 33, i.e. the standard auxiliary force Psd, based on the opening and closing speed Vdr obtained by the information acquisition unit 33, performs a correction to reduce the calculated standard auxiliary force Psd according to a prescribed rule, and sets the reduced and corrected standard auxiliary force Psd as the target auxiliary force Ptg.

[0113] In the door opening and closing assist device 10 based on the first viewpoint, the target assist force calculation unit 37 calculates the assist force required to maintain the opening and closing speed Vdr of the door 14, i.e., the standard assist force Psd, based on the opening and closing speed Vdr of the door 14 obtained by the information acquisition unit 33. It then performs a correction to reduce the calculated standard assist force Psd according to a prescribed rule, and sets the reduced and corrected standard assist force Psd as the target assist force Ptg. When the occupant performs the opening and closing operation of the door 14, based on the controlled assist force, as a real tactile resistance, they can feel that the opening and closing action of the door 14 is performed in accordance with their intention.

[0114] According to the door opening and closing assist device 10 based on the first viewpoint, the standard assist force Psd is calculated based on the opening and closing speed Vdr of the door 14, and the calculated standard assist force Psd is reduced according to the prescribed rules. The reduced and corrected standard assist force Psd is set as the target assist force Ptg. Thus, a good sense of operation for opening and closing the door 14 can be achieved with a simple device configuration.

[0115] Alternatively, the door opening and closing assist device 10 based on the second viewpoint can also be configured as follows: In the door opening and closing assist device 10 based on the first viewpoint, there is also a determination unit 35 for determining the direction of the opening and closing operation of the door 14, and a target assist force calculation unit 37 for making the reduction correction amount when the door 14 is closed less than the reduction correction amount when the door 14 is opened.

[0116] In the door opening and closing assist device 10 based on the second viewpoint, for example, compared to Figure 3A As shown in (a) and (b), the amount of reduction correction when the door 14 is closed is less than the amount of reduction correction when the door 14 is opened.

[0117] According to the door opening and closing assist device 10 based on the second viewpoint, the amount of reduction correction when the door 14 is closed is less than the amount of reduction correction when the door 14 is opened. As a result, when the door 14 is opened, the situation of collision between the door 14 and adjacent vehicles can be suppressed, and when the door 14 is closed, the feeling of the door 14 closing quickly can be performed.

[0118] Alternatively, the door opening and closing assist device 10 based on the third viewpoint can also be configured as follows: In the door opening and closing assist device 10 based on the first or second viewpoint, the determination unit 35 further determines whether the opening and closing speed Vdr of the door 14 is insufficient to the predetermined speed threshold Vdrth, and the control unit 39 performs control to stop the drive related to the door actuator 19 when the opening and closing speed Vdr of the door 14 is insufficient to the predetermined speed threshold Vdrth.

[0119] If an auxiliary force related to the door actuator 19 is continuously applied before the opening and closing speed Vdr of the door 14 becomes zero, the door 14 will give a sense of incongruity, as if it moves inertially against the occupants' intentions.

[0120] Therefore, in the door opening and closing assist device 10 of the third viewpoint, the control unit 39 performs control to stop the drive related to the door actuator 19 when the opening and closing speed Vdr of the door 14 is less than the prescribed speed threshold Vdrth (other than zero).

[0121] According to the door opening and closing assist device 10 based on the third point of view, when the opening and closing speed Vdr of the door 14 is less than the prescribed speed threshold Vdrth, the drive related to the door actuator 19 is stopped, thereby preventing a situation from causing the occupants to feel uncomfortable, such as the door 14 moving involuntarily against its intended purpose.

[0122] The door opening and closing assist device 10 based on the fourth viewpoint can also be configured as follows: In the door opening and closing assist device 10 based on the first or second viewpoint, the door is a swing door 14 that is pivotally supported on the body 20 of the vehicle 11 and opened and closed by hinge mechanisms 13A and 13B. The information acquisition unit 33 also acquires posture information including the front-to-back and left-to-right tilt of the vehicle 11. The target assist force calculation unit 37 adjusts the standard assist force Psd and the amount of reduction correction based on the posture of the vehicle 11, and performs corrections on both or either one of them.

[0123] According to the door opening and closing assist device 10 based on the fourth viewpoint, the target assist force calculation unit 37 adjusts the standard assist force Psd and the amount of reduction correction based on the posture of the vehicle 11, thereby reliably suppressing the influence of the posture change on the operation of opening and closing the door 14 even if a change in posture occurs in the vehicle 11.

[0124] Alternatively, the door opening and closing assist device 10 based on the fifth viewpoint can also be configured as follows: In the door opening and closing assist device 10 based on the first or second viewpoint, the door is a swing door 14 that is pivotally supported on the body 20 of the vehicle 11 and opened and closed by hinge mechanisms 13A and 13B. The information acquisition unit 33 also acquires information on the posture of the vehicle 11, including its front-to-back and left-to-right tilt, and information on the opening degree Odr of the door 14. The target assist force calculation unit 37 adjusts the standard assist force Psd and the amount of reduction correction, or either one of them, based on the posture of the vehicle 11 and the opening degree Odr of the door 14.

[0125] According to the door opening and closing assist device 10 based on the fifth viewpoint, the target assist force calculation unit 37 adjusts the standard assist force Psd and the amount of reduction correction, or either one, based on information about the posture of the vehicle 11 and the opening degree Odr of the door 14. Therefore, even if a change in posture occurs in the vehicle 11, the influence of this posture change on the tactile feedback of opening and closing the door 14 can be reliably suppressed, and the influence of the opening degree Odr of the door 14 on the tactile feedback of opening and closing the door 14 can also be suppressed. This results in a better tactile feedback of opening and closing the door 14.

[0126] [Other Implementation Methods]

[0127] The various embodiments described above are examples of manifestations of the present invention. Therefore, they are not intended to limit the scope of the invention. The present invention can be practiced in various ways without departing from its gist or main features.

Claims

1. A door opening and closing assist device, which assists in the opening and closing operation of the doors of the vehicle, characterized in that, The door is a swing-type front or rear door that is pivotally supported on the vehicle body and opened and closed by a hinge mechanism, and is operated by the occupants. The door opening and closing auxiliary device has the following features: An information acquisition unit that acquires information about the opening and closing speed of the vehicle door; A door actuator that performs a drive to assist in the opening and closing of the door; A target auxiliary force calculation unit that performs calculations of the target auxiliary force used to assist in the opening and closing operation of the vehicle door; and The control unit performs drive control related to the door actuator based on the target auxiliary force. The target auxiliary force calculation unit calculates the auxiliary force, i.e. the standard auxiliary force, required to maintain the opening and closing speed of the door based on the opening and closing speed obtained by the information acquisition unit. It then performs a correction to reduce the calculated standard auxiliary force according to a prescribed rule and sets the reduced and corrected standard auxiliary force as the target auxiliary force. If the opening and closing speed of the door is less than a predetermined speed threshold other than zero, the control unit stops the drive associated with the door actuator.

2. The door opening and closing auxiliary device according to claim 1, characterized in that, It also includes a determination unit for determining the orientation of the opening and closing operation of the vehicle door. The target auxiliary force calculation unit performs a correction such that the amount of reduction correction when the door is closed is less than the amount of reduction correction when the door is opened.

3. The door opening and closing auxiliary device according to claim 1 or 2, characterized in that, The information acquisition unit also acquires posture information, including the vehicle's forward and backward tilt and left and right tilt. The target assist force calculation unit adjusts either or both of the standard assist force and the amount of reduction correction based on the vehicle's posture.

4. The door opening and closing auxiliary device according to claim 1 or 2, characterized in that, The information acquisition unit also acquires information including the vehicle's posture (front-to-back and left-to-right tilt) and the opening degree of the doors. The target assist force calculation unit adjusts either or both of the standard assist force and the amount of reduction correction based on the vehicle's posture and the door opening.

Images