Opening and closing system for tailgates

Abstract

The opening and closing system of the tailgate of the present application has a control device that controls an opening and closing device that opens and closes a tailgate disposed at a rear portion of a vehicle. The opening and closing system of the tailgate has a measurement device disposed at a portion of the rear portion that is lower than the tailgate in a closed state, and sequentially acquires distance data that is data of a distance to an object present at a position that is further rearward than the rear portion. The control device performs the following processes: a data process that, based on a plurality of distance data acquired continuously by the measurement device, confirms an entering action of the object into a trigger region within a measurement range of the measurement device and an exiting action of the object from the trigger region; and a control process that, based on a combination of the confirmed entering action and exiting action, opens and closes the tailgate by the opening and closing device.

Description

Technical Field

[0001] The present invention relates to a tailgate opening and closing system, and more specifically, to an opening and closing system for opening and closing a tailgate located at the rear of a vehicle via an opening and closing device. Background Technology

[0002] It is desirable to be able to open and close the tailgate, located at the rear of the vehicle, without using one's hands when putting luggage in or taking luggage out of the trunk. In this regard, various devices for opening and closing the tailgate without using one's hands have been proposed (for example, see Patent Documents 1 and 2).

[0003] Existing technical documents

[0004] Patent documents

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-196798

[0006] Patent Document 2: Japanese Patent Application Publication No. 2020-128637 Summary of the Invention

[0007] The problem the invention aims to solve

[0008] In the invention described in Patent Document 1, the door is moved from a closed position to an open position by detecting a pre-defined action by the vehicle operator based on images from a camera. This pre-defined action must be a specific movement that involves significant leg movement, such as a kicking motion, detectable through image analysis of the image data. However, such a specific action may be an unstable posture, and may need to be maintained until the unstable posture is detected. Therefore, while this invention can open the tailgate at the desired time, it forces the vehicle operator to perform a specific action. Furthermore, the tailgate cannot be opened for users with limited leg movement, such as those using walkers, canes, or wheelchairs.

[0009] In the invention described in Patent Document 2, if it is determined that the same person has entered the movement range of the tailgate as captured by the camera for a certain period of time, the tailgate will be closed if the person leaves the movement range. This invention does not force the person to perform any special actions as described in Patent Document 1, but the tailgate may close at an unexpected time. For example, during the loading of multiple pieces of luggage into the trunk, the tailgate will close whenever the operator moves out of the camera's field of view.

[0010] As mentioned above, there is room for improvement in opening and closing the tailgate at the desired time without requiring the operator to make any special movements. Furthermore, the inventions described in Patent Documents 1 and 2 both include a camera and a sensor in the tailgate, and are limited to either opening or closing the tailgate. Even assuming a combination of these two inventions, the opening and closing control of the tailgate becomes complex because the actions for opening and closing the tailgate are different. Moreover, the operator may become confused during opening and closing, resulting in operability issues. There is also room for improvement in this regard.

[0011] The purpose of this disclosure is to provide a tailgate opening and closing system that enables the tailgate to be opened and closed at the operator's desired time through a simple operation.

[0012] Solution to the problem

[0013] One aspect of the tailgate opening and closing system disclosed herein, which achieves the aforementioned objectives, is a tailgate opening and closing system equipped with a control device that controls an opening and closing mechanism for opening and closing a tailgate located at the rear of a vehicle. This tailgate opening and closing system is characterized by having a measuring device disposed in a portion of the rear section of the vehicle that is lower than the tailgate in its closed state, and sequentially acquiring distance data, which is data on the distance to an object located further rear of the rear section. The control device performs the following processing: based on a series of consecutive distance data acquired by the measuring device, data processing to confirm an entry action of the object into a trigger area and an exit action of the object from the trigger area, the trigger area being a region spaced apart from the rear section within the measuring range of the measuring device; and control processing to open and close the tailgate via the opening and closing mechanism based on the confirmed combination of the entry and exit actions.

[0014] Invention Effects

[0015] In one aspect of this disclosure, the actions of entering and exiting the trigger area can be easily performed by walking, stepping out of the leg, or moving forward or backward using a walker, cane, wheelchair, etc. Furthermore, by combining the actions of entering and exiting the trigger area, regular movements can be used as signals to indicate opening and closing. Therefore, according to one aspect of the present invention, the tailgate can be opened and closed at the operator's desired time using simple movements. Attached Figure Description

[0016] Figure 1 This is an explanatory diagram illustrating an implementation method for the tailgate opening and closing system.

[0017] Figure 2 Yes Figure 1 An explanatory diagram illustrating the measuring device and the central mode of the trigger area.

[0018] Figure 3 Yes Figure 1 The diagram illustrates the left and right modes of the measuring device and the trigger area.

[0019] Figure 4 Yes Figure 1 The diagram illustrates another example of the measuring device and the left-right mode of the trigger area.

[0020] Figure 5 This is a flowchart illustrating the data processing method in the tailgate opening and closing process.

[0021] Figure 6 This is an explanatory diagram illustrating footwork actions that do not conform to the permitted pattern.

[0022] Figure 7 This is an explanatory diagram illustrating footwork actions that do not conform to the permitted pattern.

[0023] Figure 8 This is an explanatory diagram illustrating footwork actions that do not conform to the permitted pattern.

[0024] Figure 9 This is an explanatory diagram illustrating footwork actions that do not conform to the permitted pattern.

[0025] Figure 10 This is an explanatory diagram illustrating footwork actions that do not conform to the permitted pattern.

[0026] Figure 11 This is an explanatory diagram illustrating footwork actions that do not conform to the permitted pattern.

[0027] Explanation of reference numerals in the attached figures

[0028] 1 tailgate

[0029] 2 vehicles

[0030] 3. Back face

[0031] 4 Opening and closing devices

[0032] 5 Locking device

[0033] 6 Notification Device

[0034] 10 Opening and Closing Systems

[0035] 11 Measuring Devices

[0036] 12 control devices

[0037] 13 Trigger Areas

[0038] 14 Start-up Areas Detailed Implementation

[0039] The tailgate opening and closing system will now be described based on the embodiment shown in the figures. In the figures, the left-right direction (width direction) of the vehicle 2 is designated as the X direction, the front-back direction (forward and backward direction) of the vehicle 2 is designated as the Y direction, and the vertical direction is designated as the Z direction. It should be noted that in this disclosure, the... Figure 1 The operator who controls the opening and closing of the tailgate 1 shown in the diagram is the driver of vehicle 2. In addition, the operator carries a portable device (remote key) 31, which locks and unlocks the doors of vehicle 2, including the tailgate 1, via wireless communication.

[0040] Figure 1 The tailgate 1 shown is located at the rear end 3 of the vehicle 2. The tailgate 1 can be any structure that opens and closes via an opening and closing device 4, and various known electric tailgates can be used. A locking device 5 and a notification device 6 are provided on the tailgate 1. As the notification device 6, an example is shown that includes an audible generator and a light source capable of informing the operator of the opening and closing status of the tailgate 1.

[0041] The opening and closing system 10 is implemented as a system that operates on one of three actions corresponding to the opening and closing states of the tailgate 1: opening the tailgate 1, closing the tailgate 1, and stopping these opening and closing actions. The opening and closing system 10 includes a measuring device 11 and a control device 12. The opening and closing system 10 performs the following processes through the control device 12: data processing to confirm the operator's entry into the trigger area 13 and exit from the trigger area 13 based on multiple consecutive distance data acquired by the measuring device 11; and control processing to open and close the tailgate 1 through the opening and closing device 4 based on the combination of the entry and exit actions.

[0042] Entry and exit actions are simple movements performed by the operator, such as walking, stepping forward with one leg, or retracting the leg. Furthermore, entry and exit actions can be performed even by individuals who have difficulty walking or stepping forward (e.g., wheelchair users). In other words, entry and exit actions are movements that can be performed even with both feet on the ground, without causing instability, and are accessible to all.

[0043] When the distance data measured by the measuring device 11 is applied to the operator's legs, the combination of entering and exiting actions is determined by the operator's leg movements. Hereinafter, this combination of entering and exiting actions based on the operator's leg movements will be referred to as "foot movements." In this embodiment, as an example, the following structure will be described: the control device 12 confirms the foot movements through data processing, and performs the opening and closing actions of the tailgate 1 based on these foot movements through control processing.

[0044] The measuring device 11 sequentially acquires distance data, which represents the distance to an object located further rearward in the Y direction than the rear section 3. Various known rangefinders, such as ultrasonic sensors, two-dimensional scanning optical distance sensors, and three-dimensional distance sensors, can be used as the measuring device 11. The measuring device 11 is positioned on the rear section 3, below the lower end of the tailgate 1 when closed. In addition to the tailgate 1, the rear section 3 also includes a rear bumper (not shown), taillights, and turn signals, but the measuring device 11 is preferably positioned on the rear bumper. By positioning the measuring device 11 on the rear section 3, below the lower end of the tailgate 1, the measuring device 11 can perform measurements regardless of whether the tailgate 1 is open or closed. Furthermore, by positioning the measuring device 11 on the lower rear bumper of the rear section 3, the object of the distance data measured by the measuring device 11 can be set to the operator's legs.

[0045] Various known computers can be used as the control device 12. The control device 12 has a central processing unit, a main storage unit, an auxiliary storage unit, and an input / output unit. The control device 12 is connected to the measuring device 11, the opening / closing control device 20, and the vehicle body control device 30 via the input / output unit. Similarly, various known computers can be used as the opening / closing control device 20 and the vehicle body control device 30. The opening / closing control device 20 controls the opening / closing device 4, the locking device 5, and the notification device 6. The vehicle body control device 30 is a higher-level control device than the opening / closing control device 20, managing and controlling the locking and unlocking of all doors of the vehicle 2, including the tailgate 1. The vehicle body control device 30 can wirelessly communicate with a portable device 31 carried by the operator. The vehicle body control device 30 receives and authenticates the inherent information from the portable device 31 to manage and control the locking and unlocking of all doors of the vehicle 2, including the tailgate 1. The power supply to the control device 12 is turned on and off by the vehicle body control device 30.

[0046] Figures 2-4 A more specific example of the measuring device 11 is shown. Additionally, an example of the trigger region 13 used in the data processing performed by the control device 12 is also shown.

[0047] While the measuring device 11 can be composed of a single rangefinder, it is preferable to consist of multiple rangefinders arranged in the X direction along the rear section 3. More specifically, it is preferable that the measuring device 11 consists of two rangefinders positioned on the left and right sides, separated by the centerline (the dashed line in the figure) in the X direction of the vehicle 2. When the measuring device 11 consists of a single rangefinder, only the operator's movement in the Y direction can be monitored. However, when the measuring device 11 consists of multiple rangefinders arranged in the X direction, by processing the distance data from each rangefinder, the operator's movement in the X direction can also be monitored. This allows for wider utilization of the area further rear of the rear section 3, further increasing convenience. Furthermore, by monitoring the operator's movement in the X direction, it is possible to distinguish between the operator's foot movements and actions performed by someone other than the operator. Examples of actions performed by someone other than the operator include actions such as crossing behind the rear section 3. Therefore, by composing the measuring device 11 with multiple rangefinders, erroneous operation of the tailgate 1 can be prevented.

[0048] In this embodiment, the measuring device 11 comprises two ultrasonic sensors. When the measuring device 11 comprises multiple rangefinders, the distance data includes distance data measured by each of the multiple rangefinders. Furthermore, when the measuring device 11 comprises multiple rangefinders, the measurement period (sampling period) of each of the multiple rangefinders is of the same length. While the measurement periods of each rangefinder can be synchronous, it is preferable to set them asynchronously, so that the time at which the distance data is measured by each rangefinder is different. When there are two ultrasonic sensors, it is preferable to set the measurement periods asynchronously, so that the ultrasonic waves oscillate alternately. In this way, by setting the measurement periods of each of the multiple rangefinders asynchronously, the continuity of distance data measurement is increased, which is beneficial for action confirmation based on distance data.

[0049] The measuring range of the rangefinder is shaped as follows: when viewed along the Z-direction, it is a fan-shaped area facing the rear of vehicle 2 with its center located at the rear end of the rangefinder. Preferably, the measuring ranges of each of the multiple rangefinders overlap near the centerline of vehicle 2; more preferably, the shape of the overlapping portion is symmetrical about the centerline. The lengths between the multiple rangefinders and the central angles of the fan-shaped areas of their respective measuring ranges can be appropriately selected within the range where the measuring ranges of the multiple rangefinders overlap. By adjusting the lengths between the multiple rangefinders and the central angles of their respective measuring ranges, the distances between the trigger area 13, the activation area 14 and the rear face 3, as well as the width of each area in the X-direction, can be adjusted. The measuring range of the rangefinder when viewed along the X-direction is not particularly limited, as long as at least the operator's legs are the object of measurement. It should be noted that all distance data outside the measuring range of the rangefinder is set to a fixed value. The fixed value can be set to be equal to the long distance H described later.

[0050] The trigger area 13 and the activation area 14 are specific areas stored in the main storage section or auxiliary storage section of the control device 12, and are set at positions spaced rearward from the rear face 3 within the measurement range of the measuring device 11. The trigger area 13 and the activation area 14 are set based on the near distance L, the medium distance M, and the far distance H, which are distances from the rear end of the rangefinder. The near distance L is the shortest, the far distance H is the longest, and the medium distance M is the length between the near distance L and the far distance H. Preferably, the area between the near distance L and the medium distance M is the area where the operator can operate the locking device 5 for manually opening and closing the tailgate 1, and preferably, the area between the medium distance M and the far distance H is the area where the operator will not come into contact with the tailgate 1 being opened and closed.

[0051] The trigger area 13 and the activation area 14 have three modes, each with a different arrangement and shape. Switching between modes is based on the distance difference between the two rangefinders. The three modes are distinguished as follows: a central mode where all areas are arranged in the Y direction (see reference...). Figure 2 ), and the left or right pattern (i.e., left-right pattern) of each region arranged in the X direction (see reference). Figure 3 , Figure 4 It should be noted that, in Figure 3 and Figure 4 The example below illustrates the right mode; for the left mode, since it is... Figure 3 and Figure 4 The state after left-right reversal is shown in the diagram, so it is omitted. The difference in distance data is the value obtained by subtracting the distance data of the other rangefinder from the distance data of one rangefinder. When the difference in distance data falls within the range from the negative mode reference value to the positive mode reference value (including both negative and positive mode reference values), it is the center mode; when the difference in distance data is less than the negative mode reference value or exceeds the positive mode reference value, it is the left or right mode. Furthermore, the mode reference value can be appropriately set based on the overlap of the measurement ranges of the two rangefinders.

[0052] Figure 2 In the central mode illustrated, the trigger area 13 is formed by the overlap of fan-shaped annular areas within the measurement ranges of the two rangefinders, extending from near distance L to mid distance M. The activation area 14 of the central mode is also formed by the overlap of fan-shaped annular areas within the measurement ranges of the two rangefinders, extending from mid distance M to far distance H. In the central mode, the activation area 14 and trigger area 13 are arranged in the order of activation area 14 and trigger area 13, moving from rear to front in the Y direction, with the area of ​​activation area 14 being larger than that of trigger area 13.

[0053] Figure 3The trigger area 13 of the right mode illustrated in the diagram is a fan-shaped annular area within the measurement range of one party's rangefinder, extending from a near distance L to a medium distance M. The activation area 14 of the right mode is the fan-shaped area within the measurement range of the other party's rangefinder, extending from a far distance H to a distance H, minus the area overlapping with the trigger area 13. In the right mode, the activation area 14 and the trigger area 13 are arranged in the order of right to left in the X direction, with the area of ​​the activation area 14 being larger than that of the trigger area 13.

[0054] Figure 4 The activation region 14 in the right mode illustrated in the example is the region within the fan-shaped annular area of ​​the rangefinder of the other party, ranging from a near distance of L to a far distance of H, minus the area overlapping with the trigger region 13. As described above, the range of the activation region 14 can also be changed in the left and right modes. Furthermore, in the left and right modes, it is also possible to use [the appropriate method] during the entry action from the activation region 14 to the trigger region 13. Figure 3 The right mode illustrated in the example uses the exit action from trigger area 13 to start area 14. Figure 4 The right-side pattern is shown in the example.

[0055] The switching between the central mode and the left / right mode can be achieved by determining the stationary or moving state of the detected object based on the distance data acquired by the measuring device 11. If the detected object is stationary, the device switches to the left / right mode. For example, if there is a wall behind a vehicle parked in a parking lot, the measuring device 11 detects the wall, and since the detected object is stationary, the device switches to the left / right mode. Thus, by switching between the central mode and the left / right mode based on the stationary or moving state of the detected object, when there is a wall behind the vehicle, making it impossible to approach from behind, and the tailgate 1 cannot be opened or closed in the central mode, the left / right mode can be used to open and close the tailgate 1.

[0056] The action reference value is used to confirm the foot movement based on multiple consecutive distance data acquired by the measuring device 11. For example, in the center mode, the distance data at the following moment from the multiple consecutive distance data of the left and right rangefinders is the distance data at the end of the foot movement, which is the moment when the displacement in the multiple distance data becomes above the action reference value. Similarly, in the right mode, the distance data at the following moment from the multiple consecutive distance data of the left rangefinder is the distance data at the end of the foot movement, which is the moment when the displacement in the multiple distance data becomes above the action reference value. It should be noted that the distance data outside the measuring range is treated as a fixed value in the rangefinder's distance data. Therefore, if the distance data becomes a fixed value before its displacement becomes above the action reference value, the fixed value is the distance data at the end of the foot movement. The end of the foot movement is also the starting point of the next foot movement. The action reference value can be set appropriately, but it is preferable to set it to a value less than or equal to the length in the Y direction of the trigger area 13, that is, less than or equal to the difference between the near distance L and the medium distance M.

[0057] There are various combinations of actions to enter and exit the trigger area 13. For the combined permission mode used to perform control processing, a simple mode is required. Therefore, preferably, the number of entry and exit actions in the permission mode is more than two and less than six.

[0058] Furthermore, the order in which the entry and exit actions are confirmed is preferably used as a condition for the permission mode. The permission mode of this embodiment is only valid if it is a combination where the entry and exit actions are confirmed in that order; otherwise, it is invalid. Therefore, the following combination is invalid: a combination where an entry action from the starting area 14 to the trigger area 13 is confirmed, followed by an exit action from the trigger area 13 to a location other than the starting area 14. The permission mode is only required to be based on the order in which the entry and exit actions are confirmed, and is not limited to a mode where the exit action is confirmed after the entry action. For example, the permission mode could also be a mode where the entry action is confirmed after the exit action. Alternatively, it could be a mode where the mode where the entry action is confirmed after the exit action is repeated multiple times. Furthermore, the permission mode could be appropriately changed by the driver of vehicle 2. It should be noted that the permission mode illustrated in this embodiment is one with fewer actions among regular modes, thus simplifying foot movements and improving the operability of opening and closing the tailgate 1.

[0059] Figures 2-4The diagram illustrates an example of footwork actions that correspond to the permission patterns (A to D). A represents an entry action to the starting area 14, B represents an entry action from the starting area 14 to the trigger area 13, C represents an exit action from the trigger area 13 to the starting area 14, and D represents an exit action from the starting area 14. The condition for this permission pattern (footwork actions A to D) is the order in which the entry and exit actions are confirmed, with the following condition regarding the order: the entry action (B) is confirmed first, followed by the exit action (C).

[0060] Alternatively, only trigger area 13 can be used, with the permission mode consisting of two actions: entering the trigger area 13 (B) and exiting the trigger area 13 (C). However, if only trigger area 13 is used, even an entry action from the front of trigger area 13 or an action traversing trigger area 13 in the X direction will establish the permission mode, and the opening and closing control will be executed. Thus, if the permission mode is established by a simple action, even minor actions by people, animals, or objects other than the operator will cause the opening and closing control to be executed, and opening and closing operations will occur frequently. Therefore, preferably, both trigger area 13 and start area 14 are used, with the permission mode consisting of four actions: entering the start area 14 (A), entering the trigger area 13 from the start area 14 (B), exiting the trigger area 13 from the start area 13 to the start area 14 (C), and exiting the start area (D). Thus, by using the trigger region 13 and the activation region 14, the permission mode becomes more complex while still allowing for simple establishment of conditions, which helps prevent the tailgate 1 from opening and closing unexpectedly. In the following data processing steps, it is assumed that... Figures 2-4 The license model shown.

[0061] Figure 5 The diagram illustrates an example of the data processing steps in the opening and closing method of the tailgate 1. First, the vehicle control device 30 determines whether the conditions for permissible power supply to the control device 12 are met. If the conditions are met, power supply to the control device 12 is initiated, and the opening and closing method is started. Next, the measuring device 11 acquires distance data (S110). Next, based on the multiple consecutive distance data acquired by the measuring device 11, data processing is performed to confirm the entry and exit actions (S120 to S180). Based on the footstep action confirmed through this data processing step, the opening and closing process of opening and closing the tailgate 1 via the opening and closing device 4 is performed. The steps for permissible power supply to the control device 12 and the contents of each step (S110 to S180) are described in detail below.

[0062] In the step of permitting power supply to the control device 12 before the start of the opening / closing method, the vehicle body control device 30 determines whether a pre-set condition is met. If the vehicle body control device 30 determines that the condition is met, power supply to the control device 12 is permitted; if the condition is not met, power supply to the control device 12 is not permitted. The condition for permitting power supply is met when it is certain that the vehicle 2 will not depart and the inherent information of the carrier 31 has been authenticated. For example, when the carrier 31 is outside the vehicle 2, the condition is met when the vehicle body control device 30 has authenticated the inherent information of the carrier 31 outside the vehicle 2. Additionally, the condition is met when it is confirmed that the vehicle 2 will not depart while the engine of the vehicle 2 is running. The state where the engine of the vehicle 2 is running is the state after the inherent information of the carrier 31 has been authenticated. In an automatic transmission vehicle, it can be confirmed that the vehicle 2 will not depart based on the gear lever being in P gear or the parking brake being engaged; in a manual transmission vehicle, it can be confirmed that the vehicle 2 will not depart based on the gear lever being in N gear. It is permissible to stop supplying power to the control device 12 if the brake pedal is depressed, even if the conditions for permissible power supply are met. It should be noted that the conditions for permissible power supply may be appropriately modified to ensure the safety of vehicle 2 and to ensure safety even when the tailgate 1 is opened or closed.

[0063] In the step of acquiring distance data (S110), the measuring device 11 acquires the distance data. More specifically, the two rangefinders of the measuring device 11 alternately measure the distance data according to their respective measurement cycles that are not synchronized with each other. The operating state of the measuring device 11 is not always constant, and can be changed according to the state of the vehicle 2 or the movement state of an object further behind the rear of the vehicle 3. For example, during a predetermined period after the power supply to the control device 12 is permitted, the measuring device 11 operates at a predetermined measurement cycle; if distance data cannot be acquired until the predetermined period has elapsed, the measuring device 11 operates at a slower cycle than the predetermined measurement cycle. In addition, if the vehicle 2 has already departed or the power supply to the vehicle 2's accessories remains disconnected for a period longer than the predetermined period, the measuring device 11 is set to a rest state. This helps to suppress the power consumption of the opening and closing system 10.

[0064] In the data processing steps (S120-S170), the control device 12 performs the following data processing: based on multiple consecutive distance data acquired by the measuring device 11, it confirms the entry and exit actions and compares them with the permission mode. The data processing step can be performed at fixed intervals, processing multiple consecutive distance data for each fixed period, or it can be performed whenever the rangefinder measures distance data, and finally, comparing the multiple consecutive distance data with the permission mode. In this embodiment, the latter method is used. In the latter method, if the entry action is confirmed first, a flag is raised (flag: raised), and if the exit action is confirmed later, the raised flag is lowered (flag: lowered). More specifically, the permission mode is conditional on the order in which the entry and exit actions are confirmed, and in the flowchart, it is a mode that is established after (S130: Yes) and (S160: Yes).

[0065] In the step of confirming the entry action (S130), the control device 12 performs the following data processing: based on the acquired distance data, it confirms the operator's entry action towards the trigger area 13. More specifically, the control device 12, in one of three modes, confirms the operator's entry action towards the trigger area 13 after confirming the operator's entry action towards the activation area 14. Figure 2 In the central mode, first, the entry action to the activation area 14 is confirmed (A). Next, the entry action from the activation area 14 to the trigger area 13 is confirmed (B). Figure 3 Similarly, in the right mode, the entry action towards the start area 14 is confirmed (A). Next, the entry action from the start area 14 to the trigger area 13 is confirmed (B). Depending on the mode, the direction of the entry action (B) from the start area 14 to the trigger area 13 is different. In the center mode, it is roughly from the rear to the front in the Y direction, and in the right mode, it is roughly from the right to the left in the X direction. If the entry action is confirmed in the step of confirming the entry action (S130: Yes), the flag is raised (S140) and the process proceeds to the next step (S150). If the entry action is not confirmed in this step, the process returns to the beginning.

[0066] In the notification process (S150), the control device 12 performs the following control process, in which the notification device 6 informs the user of the following situation: first, it is confirmed that the entry action has been completed and the flag has been erected; based on the footwork action, the condition of the permission mode up to the middle has been met. At this time, the notification by the notification device 6 only needs to beep or flash at least once.

[0067] In the step of confirming the exit action (S160), the control device 12 performs the following data processing: based on the acquired distance data, it confirms the operator's exit action from the trigger area 13. More specifically, the control device 12, in the mode confirmed during the entry action, after confirming the operator's exit action from the trigger area 13 to the activation area 14, confirms the exit action from the activation area 14. Figure 2 In the central mode, confirm the exit action (C) from trigger area 13 to start area 14. Next, confirm the exit action (D) from start area 14. In this... Figure 3 Similarly, in right mode, the exit action (C) from trigger area 13 to start area 14 is confirmed. Next, the exit action (D) from start area 14 is confirmed. The direction of the exit action (C) is roughly the opposite of the direction of the entry action; in center mode, it is roughly from front to back in the Y direction, and in right mode, it is roughly from left to right in the X direction. If the exit action is confirmed in the step of confirming the exit action (S160: Yes), the flag is lowered (S170) and the process proceeds to the next step. If the exit action is not confirmed in this step, the process returns to the beginning.

[0068] In the notification process (S180), the control device 12 performs the following control process, in which the notification device 6 notifies the user of the state that is established after (S130: Yes) (S160: Yes), that is, the foot movement conforms to the permission mode. Preferably, the number of beeps or flashes of the notification made by the notification device 6 at this time is different from that in the notification process (S150). Through the above processing, the data processing process is completed.

[0069] In the opening and closing process, based on the combination of actions confirmed in the data processing process and its conformity with the permitted pattern, the control device 12 performs the following control processing, in which it instructs the opening and closing control device 20 to open and close the tailgate 1 via the opening and closing device 4. In this process, corresponding to the opening and closing state of the tailgate 1 before the control processing, one of the following actions is performed: opening the tailgate 1, closing the tailgate 1, or stopping these opening and closing actions. If the foot movement conforms to the permitted pattern when the tailgate 1 is fully closed, the tailgate 1 is opened. If the foot movement conforms to the permitted pattern when the tailgate 1 is fully open, the tailgate 1 is closed. If the foot movement conforms to the permitted pattern during the opening and closing of the tailgate 1, the opening and closing of the tailgate 1 is stopped. Furthermore, preferably, when the tailgate 1 is opened via the opening and closing device 4 based on foot movement, the carrier 31 is authenticated after confirming that the foot movement conforms to the permitted pattern. This helps ensure safety.

[0070] While the order in which the entry and exit actions are confirmed could be used as the condition for the permission mode, if only the order is considered, it may not be sufficient to confirm the operator's intention in opening and closing the tailgate 1. Furthermore, if only the order is considered, it may not be sufficient to confirm whether the actions confirmed as footsteps were actually performed by the operator. Therefore, it is preferable to add at least one of the following to the conditions of the permission mode: the standby time in each area, the respective direction of the entry and exit actions, the range of motion, the distance of motion, the speed of motion, and the duration of motion. Additionally, it is preferable to also add the operation of the locking device 5 as a condition. While the permission mode can be a combination of several conditions, it is more preferable to add all of them as conditions. Details of these conditions will be explained below.

[0071] Figure 6 This is an example of a footstep action that does not conform to the permitted mode when the standby time in each area is used as a condition for the permitted mode. In this example, after confirming an entry action (A) towards the central mode activation area 14, an entry action (B) from the activation area 14 to the trigger area 13 is confirmed. Then, regarding the standby time tb in the trigger area 13, it is confirmed that a time exceeding a preset standby time threshold t has elapsed. In this case, it can be considered that there is no intention to open or close the tailgate 1, and the footstep action does not conform to the permitted mode. Such a footstep action may be a luggage loading or unloading operation performed by the operator with the tailgate 1 open. The standby time in each area is not limited to the standby time tb in the trigger area 13, but may also be the standby time in the activation area. For example, when an exit action from the trigger area 13 to the activation area 14 is confirmed, if the standby time in the activation area 14 is confirmed to have elapsed to the standby time threshold, it can be considered that there is no intention to open or close the tailgate 1. The standby time threshold t is just the time it takes to confirm whether there is an intention to open or close the tailgate 1; it can be a short time of less than five seconds.

[0072] Figure 7 This is an example of a footwork action that does not conform to the permission mode when the directions of the entry and exit actions are used as conditions for the permission mode. In this example, after an entry action (A) to the right-facing activation area 14 is confirmed, an entry action (B) from the activation area 14 to the trigger area 13 is confirmed. Then, an exit action (C) from the trigger area 13 to the activation area 14 is confirmed. The entry action (B) crosses the centerline of the vehicle 2 in the X direction, while the exit action (C) does not cross this centerline. In this case, the consistency between the directions of the entry and exit actions is low, therefore the footwork action does not conform to the permission mode. Such a footwork action might be a lateral movement behind the rear section 3.

[0073] Figure 8 This is an example of a footwork movement that does not conform to the permitted mode when the respective ranges of the entry and exit actions are used as conditions for the permitted mode. In this example, after an entry action (A) towards the starting area 14 of the central mode is confirmed, an entry action (B) from the starting area 14 towards the trigger area 13 is confirmed. Next, an exit action (C) from the trigger area 13 towards the starting area 14 is confirmed. The exit action (C) exceeds the measurement range of the rangefinder on the right. Therefore, the endpoint of the exit action (C) is the intersection point P of the distance data of the rangefinder on the left and the fixed value (far distance H). The intersection point P is outside the range of the starting area 14. In this case, the footwork movement does not conform to the permitted mode because the range of the exit action is large. Such a footwork movement might be a traversal behind the rear section 3.

[0074] Figure 9 This is an example of a footwork movement that does not conform to the permitted mode when the respective movement distances of the entry and exit actions are used as conditions for the permitted mode. In this example, after an entry action (A) towards the starting area 14 of the central mode is detected, an entry action (B) from the starting area 14 towards the trigger area 13 is detected. Next, an exit action (C) from the trigger area 13 towards the starting area 14 is detected. In the exit action (C), the length Lbc in the X direction from the starting point of the exit action (C) (the ending point of the entry action (B)) to the ending point of the exit action (C) is longer than a preset movement distance threshold L. In this case, the footwork movement does not conform to the permitted mode because the movement distance of the exit action is long. Such a footwork movement may be a traversal behind the rear section 3. The movement distance threshold L only needs to be a value that can determine a traversal movement behind the rear section 3.

[0075] Figure 10This is an example of a footstep movement that does not conform to the permitted mode when the respective movement speeds of the entry and exit actions are used as conditions for the permitted mode. In this example, after an entry action (A) towards the start area 14 of the central mode is confirmed, an entry action (B) from the start area 14 to the trigger area 13 is confirmed. Then, after a standby action (C) within the trigger area 13 is confirmed, an exit action (D) from the trigger area 13 to the start area 14 is confirmed. In the exit action (D), the movement speed Vcd from the start point of the exit action (D) (the end point of the standby action (C)) to the end point of the exit action (D) is above a pre-set movement speed threshold V. In this case, the footstep movement does not conform to the permitted mode because the movement speed of the exit action is fast. Such a footstep movement may be as follows: when the operator throws luggage in, the movement of the luggage is detected as the entry action (B) and the standby action (C), but the luggage is lost after that, and the operator is detected as the end point of the exit action (D). Alternatively, it could be that during the operator's work, a small animal crawls under vehicle 2 from the rear to the front. The action speed threshold V is set to a speed faster than the average action speed when the permitted mode is active.

[0076] Figure 11 This is an example of a footstep action that does not conform to the permitted mode when the respective action times of the entry and exit actions are used as conditions for the permitted mode. In this example, after an entry action (A) towards the central mode's activation area 14 is confirmed, an entry action (B) from the activation area 14 towards the trigger area 13 is confirmed. In the entry action (B), the action time Tab taken from its start point to its end point is greater than or equal to a pre-set action time threshold T. In this case, the footstep action does not conform to the permitted mode because the action time of the entry action (B) is long. For such a footstep action, it can be determined that there is no intention to open or close the tailgate 1. The action time threshold T is the same as the standby time threshold t, which is the time that can confirm whether there is an intention to open or close the tailgate 1.

[0077] When using the operation of the locking device 5 as a condition for the permission mode, if the locking state of the locking device 5 changes during the confirmation of foot movements, the comparison between the foot movements and the permission mode is interrupted. The locking state of the locking device 5 changes when the tailgate 1 is opened or closed manually, or when the tailgate 1 is opened or closed by the vehicle control device 30 due to an operation from the driver's seat. In such cases, it is preferable not to open or close the tailgate 1 based on foot movements, thus interrupting the comparison between the foot movements and the permission mode.

[0078] If the footwork does not match the permitted mode, it is necessary to exit the starting area 14 again and re-enter the trigger area 13 from the starting area 14. However, by setting more footwork inconsistencies with the permitted mode as illustrated above, it is helpful to prevent the tailgate 1 from malfunctioning.

[0079] Preferably, when the footwork does not conform to the permitted pattern, the control device 12 performs the following control process, in which the notification device 6 informs the operator of the situation where the footwork does not conform to the permitted pattern. Thus, the notification device 6 informs the operator of three states: the footwork conforms to the permitted pattern up to the middle; the footwork conforms to the permitted pattern; and the footwork does not conform to the permitted pattern, allowing the operator to have a detailed understanding of the operation of the tailgate 1. However, if the notification device 6 informs the operator of all inconsistent footwork patterns, the notifications may become too frequent. Therefore, the patterns for informing the operator of inconsistent footwork patterns can be limited to: a pattern where, after an exit action from the trigger area 13 to the start area 14, no exit action from the start area 14 is confirmed within a specified period; and a pattern where, after an entry action from the start area 14 to the trigger area 13, an exit action from the trigger area 13 to a further forward area is confirmed, etc. Informing about actions such as crossing behind the rear face 3 can sometimes be annoying, so it is preferable not to inform them.

[0080] As described above, according to this embodiment, the action of entering the trigger area 13 and the action of exiting the trigger area 13 can be easily performed by walking or stepping out with the legs, or by forward or backward movements of a walker, walking cane, wheelchair, etc. Furthermore, by combining the action of entering the trigger area 13 and the action of exiting the trigger area 13, a simple signal is generated that can indicate the opening and closing of the tailgate 1 at the operator's desired time. Therefore, according to this embodiment, the tailgate can be opened and closed at the operator's desired time with a simple action.

[0081] Furthermore, according to this embodiment, the measuring device 11 is disposed on the rear part 3, which is lower than the lower end of the tailgate 1. Therefore, the measuring device 11 can perform measurements regardless of whether the tailgate 1 is opened or closed. As a result, the tailgate 1 can be opened and closed using the same foot movement pattern, which improves the operability of opening and closing the tailgate 1. In addition, the opening and closing action of the tailgate 1 can be stopped during the opening and closing process, which is even more convenient.

[0082] Furthermore, according to this embodiment, the entry and exit actions are actions that can be performed even by people who have difficulty walking or taking steps (e.g., wheelchair users). Therefore, during the opening and closing of the tailgate 1, the operator will not adopt an unstable posture, nor will they need to perform actions such as moving significantly outside the camera's field of view. This allows for barrier-free operation. Additionally, when manually opening and closing the tailgate 1, the operator performs actions to approach and move away from the tailgate 1. The entry and exit actions are similar to those performed when manually opening and closing the tailgate 1. Therefore, by incorporating actions similar to those performed when manually opening and closing the tailgate 1 into the signal indicating the opening and closing of the tailgate 1, the complexity of footwork can be avoided, thereby reducing the cumbersomeness of footwork.

[0083] In this embodiment, by providing notification via notification device 6 during data processing, when the footwork matches the portion of the permitted pattern up to the middle, or when it fully matches the permitted pattern, the progress of the footwork can be appropriately indicated. For example, if there is no intention to open or close the tailgate 1, even if the action performed behind the rear section 3 matches the portion of the permitted pattern up to the middle, an action inconsistent with the permitted pattern can be performed to prevent the tailgate 1 from opening or closing. Furthermore, when there is an intention to open or close the tailgate 1, notification via notification device 6 helps to avoid repeatedly performing footwork inconsistent with the permitted pattern.

[0084] The embodiments of this disclosure have been described above. However, the tailgate opening and closing system and method of this disclosure are not limited to specific embodiments and can be modified and changed in various ways within the scope of the key points of this disclosure.

[0085] Alternatively, the measuring device 11 may consist of a single rangefinder. In this case, the trigger area 13 is a fan-shaped annular area within the rangefinder's measuring range, extending from a near distance L to a medium distance M. The activation area 14 is also a fan-shaped annular area within the rangefinder's measuring range, extending from a medium distance M to a far distance H. Alternatively, the measuring device 11 may consist of two or more rangefinders. For example, in the case of three rangefinders, the measuring ranges of the rangefinders positioned on the left and right may overlap with the measuring range of the rangefinder positioned in the center. It should be noted that the measuring ranges of the rangefinders positioned on the left and right may not overlap.

[0086] Alternatively, a hysteresis region can be set between the trigger region 13 and the start region 14. The hysteresis region is an area where distance data measured will not be used for data processing. By setting a hysteresis region, the boundary between the trigger region 13 and the start region 14 is wider. This, while requiring more explicit actions to be made for entering from the start region 14 to the trigger region 13 and exiting from the trigger region 13 to the start region 14, avoids incorrect confirmation of actions.

[0087] The trigger area 13 and the activation area 14 can be spaced further away from the rear face 3 by making the X-direction length between the two rangefinders longer or their respective measurement ranges larger. Conversely, the trigger area 13 and the activation area 14 can be brought closer to the rear face 3 by making the X-direction length between the two rangefinders shorter or their respective measurement ranges narrower. In other words, the area can be set to be more suitable for the user of the vehicle 2.

Claims

1. A tailgate opening and closing system, comprising a control device for controlling an opening and closing mechanism for a tailgate located at the rear of a vehicle, characterized in that... The device includes a measuring device positioned in the rear section below the tailgate in its closed state, and sequentially acquires distance data, which is the distance to an object located further behind the rear section. The measuring device consists of multiple rangefinders arranged in the width direction of the vehicle. The control device stores a central mode in which the trigger area and the start area are arranged in the longitudinal direction of the vehicle, and a left-right mode in which the trigger area and the start area are arranged in the width direction of the vehicle. It is configured to switch between the central mode and the left-right mode. When the difference between the distance data acquired by the plurality of rangefinders is within a preset range, it switches to the central mode; when the difference is outside the range, it switches to the left-right mode. In both the central mode and the left-right mode, the following processing is performed: data processing to confirm the entry action of an object from the start area to the trigger area and the exit action of an object from the trigger area to the start area based on the continuous plurality of distance data acquired by the measuring device, wherein the start area and the trigger area are areas separated from the rear face within the measuring range of the measuring device; and control processing to open and close the tailgate via the opening and closing device based on the confirmed combination of the entry action and the exit action.

2. The tailgate opening and closing system as described in claim 1, wherein, When the object is the operator's leg located further back than the rear face, the combination of the entry and exit actions is a footwork movement performed by the operator's leg.

3. The tailgate opening and closing system as described in claim 1, wherein, In the executed control process, the tailgate is opened, closed, or stopped in accordance with the opening or closing state of the tailgate before the execution of the control process.

4. The tailgate opening and closing system as described in claim 1, wherein, The control process is executed if the combination matches a permission mode that is conditional on the order in which the entry and exit actions are confirmed.

5. The tailgate opening and closing system as described in claim 4, wherein, In addition to the aforementioned order, the standby time of the object within the trigger area is also used as a condition for the permission mode. If the standby time is above the standby time threshold, it does not conform to the permission mode.

6. The tailgate opening and closing system as described in claim 4, wherein, During the data processing in the execution process, if the combination matches the portion of the licensed mode up to the middle, the control device performs the following control processing, in which a notification device disposed on the tailgate or the rear of the vehicle is used to inform the user that the combination matches the portion of the licensed mode up to the middle.

7. A tailgate opening and closing system, comprising a control device for controlling an opening and closing mechanism for a tailgate located at the rear of a vehicle, the tailgate opening and closing system being characterized in that... The device includes a measuring device positioned in the rear section below the tailgate in its closed state, and sequentially acquires distance data, which is the distance to an object located further behind the rear section. The measuring device consists of multiple rangefinders arranged in the width direction of the vehicle. The control device stores a central mode in which the trigger and start areas are arranged in the longitudinal direction of the vehicle, and a left-right mode in which the trigger and start areas are arranged in the width direction of the vehicle. It is configured to switch between the central mode and the left-right mode. Based on the distance data acquired by each of the plurality of rangefinders, it determines whether the object is stationary or moving. When the object is stationary, it switches to the left-right mode. In both the central mode and the left-right mode, it performs the following processing: data processing to confirm the object's entry action from the start area to the trigger area and the object's exit action from the trigger area to the start area based on a series of consecutive distance data acquired by the measuring device; the start area and the trigger area are located within the measuring range of the measuring device and are spaced apart from the rear face; and control processing to open and close the tailgate via the opening and closing device based on the confirmed combination of the entry and exit actions.

8. The tailgate opening and closing system as described in claim 7, wherein, When the object is the operator's leg located further back than the rear face, the combination of the entry and exit actions is a footwork movement performed by the operator's leg.

9. The tailgate opening and closing system as described in claim 7, wherein, In the executed control process, the tailgate is opened, closed, or stopped in accordance with the opening or closing state of the tailgate before the execution of the control process.

10. The tailgate opening and closing system as described in claim 7, wherein, The control process is executed if the combination matches a permission mode that is conditional on the order in which the entry and exit actions are confirmed.

11. The tailgate opening and closing system as described in claim 10, wherein, In addition to the aforementioned order, the standby time of the object within the trigger area is also used as a condition for the permission mode. If the standby time is above the standby time threshold, it does not conform to the permission mode.

12. The tailgate opening and closing system as described in claim 10, wherein, During the data processing in the execution process, if the combination matches the portion of the licensed mode up to the middle, the control device performs the following control processing, in which a notification device disposed on the tailgate or the rear of the vehicle is used to inform the user that the combination matches the portion of the licensed mode up to the middle.

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