Door opening / closing assist device

Abstract

Provided is a door opening / closing assist device capable of holding a door in the vicinity of a desired position in a state in which opening / closing operation of the door can be easily performed while reducing cost. A control device (30) of a door opening / closing assist device (100) is capable of setting and releasing door balance control in which the output of a three-phase DC motor (7) is controlled so as to balance the output with a component in the opening / closing direction of the dead weight of a rear door (2) and thereby make the rear door (2) stationary, and power assist control in which the output of the three-phase DC motor (7) is controlled so as to balance with the component in the opening / closing direction of the dead weight of the rear door (2). The output of the three-phase DC motor (7) is controlled to generate an assist force in the opening / closing direction of the rear door (2). In a state in which the door balance control is set, when a state in which the opening / closing acceleration (a) of the tailgate (2) is equal to or greater than a third threshold value (a3) continues for a first predetermined time (t1) or greater, the door balance control is switched to the power assist control.

Description

Technical Field

[0001] The present invention relates to a door opening and closing assisting device for assisting an operating force when opening and closing a door of a vehicle. Background Art

[0002] In the past, a door opening and closing assist device for assisting the operating force when opening and closing a vehicle door is known. Patent document 1 describes a door opening and closing assist device as follows: for the purpose of improving the convenience of opening and closing assistance, an angular velocity sensor provided on the door and a sensor provided on the drive unit are used to detect manual operation, thereby generating an assist force in the operating direction. In addition, patent document 2 describes a door opening and closing assist device as follows: for the purpose of generating an appropriate assist force according to the inclination of the vehicle, assist control is started with a handle switch as the starting point, and assist control is performed while correcting the inclination according to the stored opening.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent No. 6409212

[0006] Patent Document 2: Japanese Patent Application Publication No. 2022-190503 Summary of the invention

[0007] Problem that the invention aims to solve

[0008] However, although the door opening and closing assisting device described in Patent Document 1 uses an angular velocity sensor to detect manual operation of exiting the door, the angular velocity sensor is difficult to detect inclination, and thus it is difficult to generate appropriate assisting force according to the inclination of the vehicle. On the other hand, although the door opening and closing assisting device described in Patent Document 2 can generate appropriate assisting force according to the inclination of the vehicle, a handle switch is required when assisting, and thus there is a problem in terms of cost.

[0009] The present invention provides a door opening and closing assisting device capable of keeping a door near a desired position in a state where the door opening and closing operation can be easily performed while reducing costs.

[0010] Solutions for solving problems

[0011] A first aspect of the present invention is a door opening and closing assistance device comprising:

[0012] a three-phase DC motor that generates power for assisting an operating force of a door, wherein the door is supported on the vehicle body so as to be openable and closable; and

[0013] a control device for controlling the three-phase DC motor,

[0014] The control device can set and release the door balance control and power assist control.

[0015] In the door balance control, the output of the three-phase DC motor is controlled so that the output in the opening and closing direction of the door is balanced with the component of the door's own weight in the opening and closing direction, thereby making the door stationary.

[0016] In the power assist control, the output of the three-phase DC motor is controlled to generate an assist force in the opening and closing direction of the door.

[0017] In a state where the door balance control is set, when the state where the opening and closing acceleration of the door is equal to or greater than a third threshold value continues for a predetermined time or longer, the control device switches from the door balance control to the power assist control.

[0018] A second aspect of the present invention is a door opening and closing assistance device comprising:

[0019] a three-phase DC motor that generates power for assisting an operating force of a door, wherein the door is supported on the vehicle body so as to be openable and closable; and

[0020] a control device for controlling the three-phase DC motor,

[0021] The control device can set and release the pre-power assist control and the power assist control.

[0022] In the pre-power assist control, the output of the three-phase DC motor is controlled so that the resultant force of the output in the opening and closing direction of the door and the opening and closing direction component of the gravitational acceleration of the door becomes a predetermined magnitude in the direction opposite to the opening and closing direction component of the gravitational acceleration, thereby causing the door to move.

[0023] In the power assist control, the output of the three-phase DC motor is controlled to generate an assist force in the opening and closing direction of the door.

[0024] In a state where the pre-power assist control is set, when the door opening and closing acceleration is greater than or equal to a third threshold value for a predetermined time or longer, the control device switches from the pre-power assist control to the power assist control.

[0025] Effects of the Invention

[0026] According to the present invention, the door can be held near a desired position in a state where the door opening and closing operations can be easily performed, so the door can be held near a desired position in a state where the door opening and closing operations can be easily performed while reducing costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a rear perspective view of a vehicle equipped with the door opening and closing assistance device according to the first embodiment of the present invention.

[0028] Figure 2 yes Figure 1 Left side view of the rear of the vehicle.

[0029] Figure 3 It is a cross-sectional view of a main part of the actuator in the door opening and closing assistance device according to the first embodiment of the present invention.

[0030] Figure 4 This is a block diagram of a control device in the door opening and closing assistance device according to the first embodiment of the present invention.

[0031] Figure 5 This is a diagram showing an example of a two-phase energization state of a three-phase DC motor in the door opening and closing assistance device according to the first embodiment of the present invention.

[0032] Figure 6 This is a diagram showing an example of the relationship between the phases energized by the door holding control and the rotational position of the rotor RT in the door opening and closing assistance device according to the first embodiment of the present invention.

[0033] Figure 7 This is a flowchart for explaining the processing in the assist control executed by the control device of the door opening and closing assist device according to the first embodiment of the present invention.

[0034] Figure 8 It is a left side view showing a side door of a vehicle equipped with a door opening and closing assistance device according to a second embodiment of the present invention.

[0035] Fig. 9 This is a flowchart for explaining a process in assist control executed by a control device of a door opening and closing assist device according to a second embodiment of the present invention. DETAILED DESCRIPTION

[0036] The various embodiments of the door opening and closing assist device of the present invention are described based on the accompanying drawings. In addition, the accompanying drawings are assumed to be views observed in the marked directions. In addition, in this specification, etc., in order to make the description simple and clear, the front and rear, left and right, and up and down directions are recorded according to the direction from the driver of the vehicle equipped with the door opening and closing assist device. In the accompanying drawings, the front of the vehicle is represented as Fr, the rear is represented as Rr, the left is represented as L, the right is represented as R, the top is represented as U, and the bottom is represented as D.

[0037] [First embodiment]

[0038] First, as a first embodiment of the door opening and closing assistance device of the present invention, referring to Figures 1 to 5A door opening and closing assisting device 100 for assisting an operating force when opening and closing a rear door (Japanese: バックドア) of a vehicle V will be described.

[0039] like Figure 1 and Figure 2 As shown, a rear tailgate 2 as a pop-up hinged door is supported at the rear of the vehicle body 1 of the vehicle V so as to be able to be opened and closed in the vertical direction. A pair of left and right door hinges 3 are provided at the upper end of the rear tailgate 2. The rear tailgate 2 is connected to the upper rear portion of the vehicle body 1 via the door hinges 3 and can be rotated in the vertical direction around a rotation axis 4 of the door hinges 3 in the left and right directions. The rear tailgate 2 can be opened and closed from the rear of the vehicle body 1. Figure 2 The fully closed position shown by the solid line in Figure 2 The rear tailgate 2 can be rotated in the opening direction from the intermediate position indicated by the two-dot chain line to the fully open position also indicated by the two-dot chain line. In addition, the rear tailgate 2 can also be rotated in the opposite direction, that is, the closing direction.

[0040] A latch device DL is provided at the front end portion 2a of the rear tailgate 2 on the opposite side to the upper end portion, and the latch device DL is used to hold the rear tailgate 2 in the fully closed position by engaging with a striker (not shown) on the vehicle body side. In addition, a release switch 21 is provided on the rear surface of the rear tailgate 2, and the release switch 21 is operated when the engagement between the latch device DL and the striker is released and the rear tailgate 2 is manually opened.

[0041] Gas springs 22 for urging the tailgate 2 in the opening direction are provided at both sides of the rear end of the vehicle body 1. A temperature sensor 19 for detecting the ambient temperature of the gas spring 22 is provided at or near the gas spring 22.

[0042] In addition, if Figure 2 As shown, the force of the gas spring 22 acting on the rear tailgate 2 is set as follows: when the rear tailgate 2 is in the opening direction region R1 including the fully open position, the force of the gas spring 22 acting on the rear tailgate 2 is a force that can lift the rear tailgate 2 to the fully open position; when the rear tailgate 2 is in the closing direction region R2 including the fully closed position, the force is a force that can move the rear tailgate 2 in the closing direction due to its own weight; when the rear tailgate 2 is in the middle region R3 between the opening direction region R1 and the closing direction region R2, the force is a force that is balanced with the force that moves the rear tailgate 2 in the closing direction due to its own weight. Thus, the operating force when manually opening and closing the rear tailgate 2 is reduced.

[0043] A door opening and closing assistance device 100 is mounted on the rear portion of the vehicle body 1 .

[0044] The door opening and closing assisting device 100 includes an actuator 5 provided at the upper rear portion of the vehicle body 1, and a control device 30 (see FIG. 1 ) which can be mounted at any position of the vehicle V. Figure 4 ), and a door front end sensor 20 installed on the rear tailgate 2.

[0045] The door front end sensor 20 is mounted on the front end portion 2a of the rear tailgate 2 on the side opposite to the upper end portion. The door front end sensor 20 is a sensor that obtains a detection value for calculating at least one of the acceleration (opening and closing acceleration), speed (opening and closing speed), and moving distance of the opening and closing movement of the rear tailgate 2. The door front end sensor 20 can be, for example, an angular velocity sensor of a single-axis analog gyroscope, but any structure can be used as long as it can obtain a detection value for accurately calculating at least one of the acceleration (opening and closing acceleration), speed (opening and closing speed), and moving distance of the opening and closing movement of the rear tailgate 2 at the front end portion 2a of the rear tailgate 2.

[0046] By installing the door front end sensor 20 at the front end portion 2a on the side opposite to the upper end portion of the rear tailgate 2 in this manner, the movement amount of the door front end sensor 20 becomes larger when the rear tailgate 2 is opened or closed. As a result, the door front end sensor 20 can obtain a detection value of at least one of the acceleration (opening and closing acceleration), speed (opening and closing speed), and movement distance for calculating the opening and closing movement of the rear tailgate 2 with higher accuracy.

[0047] The actuator 5 is disposed in the roof 1a of the vehicle body 1. The structure of the actuator 5 is not directly related to the present invention, so only the parts related to the present invention and the general overall structure will be described, and other detailed descriptions will be omitted.

[0048] like Figure 3 As shown, the actuator 5 includes a cylindrical housing 6 oriented in the left-right direction.

[0049] A three-phase DC motor 7, a first planetary gear mechanism 8, a second planetary gear mechanism 9, and a third planetary gear mechanism 10 are sequentially arranged in the housing 6 of the actuator 5 to generate power for assisting the operating force of the rear tailgate 2. Moreover, the rotational force of the rotating shaft 11 of the three-phase DC motor 7 is sequentially transmitted to the intermediate shaft 12 and the output shaft 13 arranged on the same axis as the rotating shaft 11 after being sequentially decelerated by the first planetary gear mechanism 8, the second planetary gear mechanism 9, and the third planetary gear mechanism 10. An arm 14 is fixed to the front end of the output shaft 13. A connecting rod 15 is connected to the front end of the arm 14. Moreover, the output shaft 13 of the actuator 5 is connected to the middle part of the left door hinge 3 via the arm 14 and the connecting rod 15.

[0050] The actuator 5 drives the three-phase DC motor 7 to rotate the rotating shaft 11 in a predetermined direction, thereby assisting the operating force used to open the rear tailgate 2 toward the fully open position. The actuator 5 rotates the rotating shaft 11 in the opposite direction, thereby assisting the operating force used to close the rear tailgate 2 toward the fully closed position.

[0051] A magnetic ring 16 is externally embedded on the intermediate shaft 12 of the actuator 5 so as to rotate integrally with the intermediate shaft 12 together with other gears. The magnetic ring 16 is obtained by arranging one or more permanent magnets (not shown) at appropriate intervals (in the case of multiple magnets) in the circumferential direction.

[0052] In the housing 6, a sensor substrate 17 having a sensor portion (not shown) such as a Hall element is disposed so as to be fixedly disposed in a manner opposed to the magnetic ring 16 and integrally with the housing 6, and the sensor substrate 17 and the magnetic ring 16 constitute an in-unit sensor 18 for generating pulses corresponding to the opening and closing movement of the rear tailgate 2. In addition, the in-unit sensor 18 may also be a rotary encoder.

[0053] Next, refer to Figure 4 The configuration of the control device 30 will be described.

[0054] The control device 30 includes: a main control unit 31, which is composed of a microprocessor that performs a series of control processes according to the instructions of the control program stored in the internal memory; a PWM control unit 32, which controls the voltage applied to the three-phase DC motor 7 based on the PWM (Pulse Width Modulation) control indicated by the main control unit 31; and a relay output unit 33, which can be switched based on the instructions from the main control unit 31, so that the three-phase DC motor 7 can be driven in the forward direction and the reverse direction.

[0055] The in-unit sensor 18, the temperature sensor 19, the door front end sensor 20, and the release switch 21 for detecting that an operation is performed by the operator are electrically connected to the main control unit 31 of the control device 30. Furthermore, the signals generated by the in-unit sensor 18, the temperature sensor 19, the door front end sensor 20, and the release switch 21 are input to the main control unit 31 of the control device 30. In addition, the three-phase DC motor 7 is electrically connected to the PWM control unit 32 and the relay output unit 33 of the control device 30.

[0056] The main control unit 31 includes: a state acquisition unit 311, which acquires the state of the rear tailgate 2; a control mode setting unit 312, which sets the control mode of the rear tailgate 2; a driving force calculation unit 313, which determines the duty cycle of the PWM control; and a motor circuit switching unit 314, which controls the relay output unit 33 to be turned on and off.

[0057] The state acquisition unit 311 acquires information related to the state of the rear tailgate 2 based on the detection signals received from the in-unit sensor 18, the temperature sensor 19, the door front end sensor 20, and the release switch 21. The state acquisition unit 311 acquires at least one of the acceleration (opening and closing acceleration), speed (opening and closing speed), and moving distance of the opening and closing movement of the rear tailgate 2 based on the detection signals received from the in-unit sensor 18, the temperature sensor 19, the door front end sensor 20, and the release switch 21. The detection signal from the door front end sensor 20 is calculated based on the number, width, interval, etc. of pulse signals output from the in-unit sensor 18, thereby detecting the position, angle, moving direction, acceleration, speed, and moving distance of the rear tailgate 2. In addition, for example, on the premise that the three-phase DC motor 7 is currently stopped, when the in-unit sensor 18 continuously generates a pulse signal with a width shorter than a predetermined number of times (for example, four or more) or when the door front end sensor 20 generates a signal of angle change, it is determined that the rear tailgate 2 is manually operated.

[0058] In this way, in the status acquisition unit 311, by acquiring information related to the status of the tailgate 2 based on the detection signals received from the in-unit sensor 18, the temperature sensor 19, the door front end sensor 20 and the release switch 21, information related to the status of the tailgate 2 can be acquired with a simple structure.

[0059] The control mode setting unit 312 sets the control mode of the rear tailgate 2 based on the information related to the state of the rear tailgate 2 acquired by the state acquisition unit 311. In the present embodiment, the control modes set by the control mode setting unit 312 include a door holding control mode, a door balance control mode, and a power assist control mode. The control device 30 can set and release the door holding control, the door balance control, and the power assist control based on the control mode set by the control mode setting unit 312. The details of the door holding control, the door balance control, and the power assist control will be described later.

[0060] The driving force calculation unit 313 determines the duty cycle of PWM control of the three-phase DC motor 7 based on the information related to the state of the tailgate 2 obtained by the state acquisition unit 311 and the control mode set by the control mode setting unit 312, and outputs the control signal based on the determined duty cycle to the PWM control unit 32.

[0061] The motor circuit switching unit 314 outputs a control signal for turning on and off the relay output unit 33 to the relay output unit 33 based on the information on the state of the tailgate 2 acquired by the state acquiring unit 311 and the control mode set by the control mode setting unit 312 .

[0062] Next, each of the door holding control, the door balance control, and the power assist control will be described in detail.

[0063] First, refer to Figure 5 and Figure 6 Door hold control is explained.

[0064] The door holding control is a control for generating a holding force for holding the open / closed position of the tailgate 2 as a driving force of the three-phase DC motor 7 by controlling the three-phase DC motor 7 to be in a two-phase energized state.

[0065] Figure 5 is a diagram showing an example of a two-phase energization state. Figure 5 As shown, the three-phase DC motor 7 is a three-phase two-pole three-slot brushless motor, comprising a stator ST and a two-pole rotor RT, wherein the stator ST has three independent coils L1, L2, and L3 (i.e., three-phase coils), and the two-pole rotor RT is configured to be rotatable relative to the stator ST.

[0066] The two-phase energized state is a state in which the rotation of the rotor RT relative to the stator ST is braked, for example, a state in which currents of equal magnitude and opposite directions flow through two coils (i.e., two phases) among the three coils of the stator ST in order not to generate a rotating magnetic field. Figure 5 The figure shows a two-phase energization state when currents of equal magnitude and opposite directions flow through coils L1 and L3. By setting the three-phase DC motor 7 to such a two-phase energization state, the rotor RT attempts to maintain a state of being stopped at a predetermined rotational position relative to the stator ST by magnetic force, thereby generating the above-mentioned holding force.

[0067] However, even if the three-phase DC motor 7 is set to a two-phase energized state, when a user operating the tailgate 2 (hereinafter also referred to as "user") inputs an operating force exceeding the holding force to the tailgate 2, the tailgate 2 can be opened and closed by the operating force, and accordingly, the rotor RT can also rotate relative to the stator ST.

[0068] If the phase energized during door holding control (i.e., when the three-phase DC motor 7 is set to a two-phase energized state) is set to a constant phase, then when the rotor RT is rotated by inputting an operating force exceeding the holding force, the holding force takes the next maximum value after the rotor RT rotates 360 degrees in electrical angle. Therefore, if the phase energized during door holding control is set to a constant phase, there is a concern that even if the user operates the rear tailgate 2 with a constant operating force during door holding control, the movement of the rear tailgate 2 is intermittent, and the operability of the rear tailgate 2 during door holding control is reduced.

[0069] Therefore, when the control device 30 sets the three-phase DC motor 7 to a two-phase energized state during door holding control, the control device 30 sets the two phases to be energized according to the circumferential position of the rotor RT relative to the stator ST.

[0070] Figure 6 : is a diagram showing an example of the relationship between the phase energized by the gate holding control and the circumferential position of the rotor RT. Figure 6 As shown, in the door holding control, the control device 30 sets the two phases to be energized according to the circumferential position of the rotor RT relative to the stator ST, thereby setting the three-phase DC motor 7 to a two-phase energized state. In this way, the holding force can be maximized every time the rotor RT rotates 120° in electrical angle. As a result, the intermittent feeling of the action of the rear tailgate 2 in the door holding control can be reduced, and the operability of the rear tailgate 2 in the door holding control can be improved.

[0071] The control device 30 is configured to be able to obtain the rotational position of the rotor RT based on the detection signal from the sensor 18 in the unit. In addition, when the three-phase DC motor 7 is set to a two-phase energized state by gate holding control, the PWM control unit 32 refers to the information to energize the two phases corresponding to the rotational position of the rotor RT. For example, the control device 30 may also store in advance information indicating which phase is energized according to the rotational position of the rotor RT.

[0072] Next, refer to Figure 2 The door balance control is described.

[0073] The door balance control is a control that controls the output of the three-phase DC motor 7 by PWM control so as to balance the output with the component of the weight of the rear tailgate 2 in the opening and closing directions, thereby making the rear tailgate 2 stationary.

[0074] like Figure 2 As shown, from the left and right directions, if the angle of the rear tailgate 2 with the hinge axis of the door hinge 3 as the center relative to the vertical direction is set as angle θ, the mass of the rear tailgate 2 is set as mass m [kg], and the acceleration due to gravity is set as g [m / s ^ 2], a force of m·g [N] acts vertically downward on the rear tailgate 2 due to its own weight. At this time, the component of the rear tailgate 2's own weight in the opening and closing direction is m·g·sinθ [N].

[0075] In the door balance control, at this time, the three-phase DC motor 7 is controlled by PWM control to generate an output of m·g·sinθ[N] in the direction opposite to the component of the self-weight of the rear tailgate 2 in the opening and closing direction. As a result, the component of the self-weight of the rear tailgate 2 in the opening and closing direction is balanced with the driving force output from the three-phase DC motor 7, and the rear tailgate 2 becomes stationary.

[0076] Next, the power assist control will be described.

[0077] The power assist control is a control in which, when the rear tailgate 2 is manually opened or closed by the user, a driving force is output from the three-phase DC motor 7 so as to provide a predetermined assist force in the operation direction of the rear tailgate 2 .

[0078] Regarding the power assist control, the three-phase DC motor 7 may be controlled by PWM control based on the opening position of the rear tailgate 2 acquired by the state acquisition unit 311, so as to provide a predetermined assist force in the operation direction of the rear tailgate 2. For example, when the rear tailgate 2 moves in the middle area R3, PWM control may be performed in a manner that reduces the duty cycle, so as to gradually weaken the assist force.

[0079] In addition, regarding the power assist control, the three-phase DC motor 7 may be controlled by PWM control based on the opening and closing operation speed of the rear tailgate 2, so that a predetermined assist force is applied to the operation direction of the rear tailgate 2. For example, PWM control may be performed in the following manner: the faster the manual opening and closing speed of the rear tailgate 2 is, the greater the duty ratio is, and the slower the manual opening and closing speed of the rear tailgate 2 is, the less the duty ratio is. In this way, an assist force corresponding to the manual opening and closing speed of the rear tailgate 2 can be applied, so that an assist control with high followability can be performed, and the rear tailgate 2 can be manually operated through natural operation.

[0080] In addition, regarding the power assist control, the duty ratio may be determined according to the vehicle posture when the vehicle V is parked, that is, the angle of the rear tailgate 2 when it is in the fully closed position, and initial assist control for moving the rear tailgate 2 from the fully closed position to the opening direction may be performed based on the duty ratio. In addition, the angle of the rear tailgate 2 when it is in the fully closed position may be detected by, for example, the door front end sensor 20. For example, when the parking posture of the vehicle V is high at the front and low at the rear, the initial operating force for moving the rear tailgate 2 from the closed position to the opening direction is greater than the operating force when the parking posture is horizontal, and therefore PWM control may be performed in such a way that the duty ratio is higher than a predetermined value.

[0081] Alternatively, PWM control may be performed so that the duty ratio is gradually increased or decreased in order to eliminate a sense of discomfort in manual opening and closing operations immediately after switching to power assist control and immediately after power assist control is released.

[0082] Next, refer to Figure 7 The assist control when the rear tailgate 2 is opened or closed will be described.

[0083] In the auxiliary control, first, the control device 30 enters step S101, and determines whether the rear tailgate 2 is in the middle position between the fully closed position and the fully open position based on the signal from the door front end sensor 20 in the state acquisition unit 311. When the rear tailgate 2 is not in the middle position between the fully closed position and the fully open position (step S101: "No"), that is, when the rear tailgate 2 is in the fully closed position or the fully open position, a series of controls are terminated and the process returns to the beginning. When the rear tailgate 2 is in the middle position between the fully closed position and the fully open position (step S101: "Yes"), the control device 30 enters step S102.

[0084] In step S102 , the control device 30 determines in the state acquisition unit 311 whether the opening and closing speed v of the tailgate 2 is equal to or less than a first threshold value v1 based on the signal from the door front end sensor 20 .

[0085] If it is determined in step S102 that the opening and closing speed v of the rear tailgate 2 is not less than the first threshold value v1 (step S102: No), that is, if it is determined that the opening and closing speed v of the rear tailgate 2 exceeds the first threshold value v1, the process proceeds to step S301 described later. If it is determined in step S102 that the opening and closing speed v of the rear tailgate 2 is less than the first threshold value v1 (step S102: Yes), the process proceeds to step S201. In addition, if it is determined in step S102 that the opening and closing speed v of the rear tailgate 2 is greater than the first threshold value v1 (step S102: No), the process proceeds to step S302 if the opening and closing acceleration is greater than the third threshold value, and proceeds to step S203 if the opening and closing acceleration is less than the third threshold value.

[0086] In step S201, control device 30 sets the control mode to door holding control in control mode setting unit 312. Then, control device 30 starts door holding control and the process proceeds to step S202.

[0087] In step S202, the control device 30 determines in the state acquisition unit 311 based on the signal from the door front end sensor 20 whether an operating force exceeding the holding force of the rear tailgate 2 obtained by the door holding control is input to the rear tailgate 2 so that the opening and closing acceleration a of the rear tailgate 2 becomes greater than the second threshold a2.

[0088] If the opening and closing acceleration a of the rear door 2 is not equal to or greater than the second threshold a2 in step S202 , the system enters a standby state in step S202 until the opening and closing acceleration a of the rear door 2 becomes equal to or greater than the second threshold a2 (step S202 : NO loop).

[0089] Furthermore, when the opening and closing acceleration a of the rear tailgate 2 becomes greater than the second threshold a2 in step S202 (step S202: Yes), the process proceeds to step S203, and the control device 30 switches the control mode from the door holding control to the door balance control in the control mode setting unit 312. Then, the control device 30 starts the door balance control and proceeds to step S301.

[0090] In step S301, the control device 30 determines in the state acquisition unit 311 based on the signal from the door front end sensor 20 whether the tailgate 2 is manually operated and the operating force is input to the tailgate 2 so that the opening and closing acceleration a of the tailgate 2 is greater than the third threshold value a3 for more than the first specified time t1.

[0091] In step S301, when the state in which the opening and closing acceleration a of the tailgate 2 is greater than the third threshold value a3 does not continue for more than the first prescribed time t1, the state becomes a standby state in step S301 until the state in which the opening and closing acceleration a of the tailgate 2 is greater than the third threshold value a3 continues for more than the first prescribed time t1 (step S301: "No" loop).

[0092] Furthermore, when the opening and closing acceleration a of the rear tailgate 2 is greater than or equal to the third threshold a3 for a period of time greater than or equal to the first predetermined time t1 in step S301 (step S301: Yes), the process proceeds to step S302, and the control device 30 sets the control mode to the power assist control in the control mode setting unit 312. Then, the control device 30 starts the power assist control and returns to step S101.

[0093] Therefore, when the door balance control is set in the control mode setting unit 312 and the opening and closing acceleration a of the tailgate 2 is greater than or equal to the third threshold a3 for more than the first predetermined time t1, the door balance control is switched to the power assist control.

[0094] By controlling the rear tailgate 2 in this way, when the rear tailgate 2 is manually operated when it is stopped in the middle position, the manual operation of the rear tailgate 2 is quickly detected and the door holding control based on two-phase power supply is released, and door balance control is performed to avoid the rear tailgate 2 from opening and closing due to its own weight. Therefore, the rear tailgate 2 can be maintained in a desired position in a state where the opening and closing operations of the rear tailgate 2 can be easily performed while reducing costs.

[0095] Furthermore, even when the tailgate 2 is opened or closed while the vehicle V is parked on an inclined surface, the inclination can be handled without a switch for detecting the operation, thereby enabling convenient assist control that operates according to the intention of the person operating the tailgate 2.

[0096] [Second Embodiment]

[0097] Next, as a second embodiment of the door opening and closing assistance device of the present invention, referring to Figure 8 and Fig. 9 The following describes a door opening and closing assist device for assisting the operating force when opening and closing a side door of a vehicle. In addition, in order to explain the pre-power assist control described later, Figure 8 The state in which the vehicle V is located on a downhill slope is shown.

[0098] The door opening and closing assist device 100 of the present embodiment assists the operating force when the side door D supported by the left side portion of the vehicle body 1 of the vehicle V is opened and closed.

[0099] like Figure 8 As shown, the side door D is a hinged door supported on the left side of the vehicle body 1 of the vehicle V. The side door D is supported on the left side of the vehicle body 1 of the vehicle V in a manner that allows it to be opened and closed in the left-right direction. A pair of upper and lower door hinges DH are provided at the front end of the side door D. The side door D is connected to the left side of the vehicle body 1 via the door hinges DH, and can be rotated in the left-right direction around the rotation axis of the door hinge DH provided at the front end of the side door D in the up-down direction.

[0100] A latch device DL is provided at a front end portion D1 of the side door D on the opposite side to the front end portion. The latch device DL is used to hold the side door D in a fully closed position by engaging with a striker (not shown) on the vehicle body side.

[0101] The door front end sensor 20 similar to the first embodiment is provided at the front end D1 of the side door D. The door front end sensor 20 acquires a detection value for calculating at least one of acceleration (opening and closing acceleration), speed (opening and closing speed), and movement distance of the opening and closing movement of the side door D.

[0102] By installing the door front end sensor 20 at the front end portion D1 on the side opposite to the front end portion of the side door D in this way, the movement amount of the door front end sensor 20 becomes larger when the side door D is opened and closed. As a result, the detection value of at least one of the acceleration (opening and closing acceleration), speed (opening and closing speed) and moving distance for calculating the opening and closing movement of the side door D can be obtained with higher accuracy in the door front end sensor 20.

[0103] The same actuator 5 as that of the first embodiment is provided at the front portion of the side door D. The door opening and closing assistance device 100 of the present embodiment applies an assist force to the opening and closing operation of the side door D by activating the actuator 5 .

[0104] Furthermore, in the side door D, the gas spring 22 is preferably omitted.

[0105] An outside handle OH is provided on the left side surface of the side door D. The outside handle OH is operated when the side door D is manually opened to release the engagement between the latch device DL and the striker.

[0106] In the present embodiment, in the main control unit 31 of the control device 30, the state acquisition unit 311 acquires the state of the side door D, and the control mode setting unit 312 sets the control mode of the side door D based on the information related to the state of the side door D acquired by the state acquisition unit 311. In the present embodiment, the control modes set by the control mode setting unit 312 include a door holding control mode, a pre-power assist control mode, and a power assist control mode. The control device 30 can set and cancel the door holding control, the pre-power assist control, and the power assist control based on the control mode set by the control mode setting unit 312.

[0107] In the present embodiment, the door holding control is a control in which a holding force for holding the open and closed position of the side door D is generated as a driving force of the three-phase DC motor 7 by controlling the three-phase DC motor 7 to be in a two-phase energized state.

[0108] Pre-power assist control is the following control: the output of the three-phase DC motor 7 is controlled through PWM control, so that a driving force is generated in the direction opposite to the opening and closing direction of the side door D's own weight, and a prescribed force is added to the force that balances the component in the opening and closing direction of the side door D's own weight, thereby causing the side door D to move at a slight speed in the direction opposite to the opening and closing direction of the side door D's own weight.

[0109] like Figure 8 As shown, from the left and right directions, if the angle of the hinge axis of the door hinge DH relative to the vertical direction is set to angle φ, the mass of the side door D is set to mass m [kg], and the acceleration due to gravity is set to g [m / s ^ 2], a force of m·g [N] acts vertically downward on the side door D due to its own weight. At this time, the component of the self-weight of the side door D in the opening and closing direction is m·g·sinφ [N].

[0110] In the pre-power assist control, at this time, the three-phase DC motor 7 is controlled by PWM control to generate an output of m·g·sinφ+α[N] in the direction opposite to the component of the self-weight of the side door D in the opening and closing direction. As a result, the resultant force of the component of the self-weight of the side door D in the opening and closing direction and the driving force output from the three-phase DC motor 7 puts the side door D in a state where the driving force of α moves in the direction opposite to the opening and closing direction of the self-weight of the side door D.

[0111] In the pre-power assist control, the driving force α applied to the side door D in the direction opposite to the opening and closing direction of the side door D due to its own weight is smaller than the driving force applied to the side door D in the power assist control.

[0112] The power assist control is a control in which, when the side door D is manually opened or closed by the user, a driving force is output from the three-phase DC motor 7 so that a predetermined assist force is applied to the operation direction of the side door D.

[0113] Next, refer to Fig. 9 The auxiliary control when the side door D is opened and closed will be described.

[0114] In the auxiliary control, first, the control device 30 enters step S501, and the control device 30 determines whether the side door D is in the middle position between the fully closed position and the fully open position based on the signal from the door front end sensor 20 in the state acquisition unit 311. When the side door D is not in the middle position between the fully closed position and the fully open position (step S501: "No"), that is, when the side door D is in the fully closed position or the fully open position, a series of controls are ended and the process returns to the beginning. When the side door D is in the middle position between the fully closed position and the fully open position (step S501: "Yes"), the control device 30 enters step S502.

[0115] In step S502 , the control device 30 determines in the state acquisition unit 311 whether the opening and closing speed v of the side door D is equal to or less than a first threshold value v1 based on the signal from the door front end sensor 20 .

[0116] If it is determined in step S502 that the opening and closing speed v of the side door D is not less than the first threshold value v1 (step S502: "No"), that is, if it is determined that the opening and closing speed v of the side door D exceeds the first threshold value v1, the process proceeds to step S701 described later. If it is determined in step S502 that the opening and closing speed v of the side door D is less than the first threshold value v1 (step S502: "Yes"), the process proceeds to step S601. In addition, if it is determined in step S502 that the opening and closing speed v of the side door D is greater than the first threshold value v1 (step S502: "No"), the process proceeds to S702 if the opening and closing acceleration is greater than the third threshold value, and proceeds to step S603 if the opening and closing acceleration is less than the third threshold value.

[0117] In step S601, control device 30 sets the control mode to door holding control in control mode setting unit 312. Then, control device 30 starts door holding control and the process proceeds to step S602.

[0118] In step S602, the control device 30 determines in the state acquisition unit 311 based on the signal from the door front end sensor 20 whether an operating force exceeding the holding force of the side door D obtained by the door holding control is input to the side door D so that the opening and closing acceleration a of the side door D becomes greater than the second threshold a2.

[0119] If the opening and closing acceleration a of the side door D is not equal to or greater than the second threshold a2 in step S602, the system enters a standby state in step S602 until the opening and closing acceleration a of the side door D becomes equal to or greater than the second threshold a2 (step S602: No loop).

[0120] Furthermore, when the opening and closing acceleration a of the side door D becomes greater than the second threshold a2 in step S602 (step S602: "Yes"), the process proceeds to step S603, and the control device 30 switches the control mode from the door holding control to the pre-power assist control in the control mode setting unit 312. Then, the control device 30 starts the pre-power assist control and proceeds to step S701.

[0121] In step S701, the control device 30 determines in the state acquisition unit 311 based on the signal from the door front end sensor 20 whether the side door D is manually operated and the operating force is input to the side door D so that the opening and closing acceleration a of the side door D is greater than the third threshold value a3 for more than the first specified time t1.

[0122] In step S701, when the state in which the opening and closing acceleration a of the side door D is greater than the third threshold value a3 does not continue for more than the first prescribed time t1, a standby state is entered in step S701 until the state in which the opening and closing acceleration a of the side door D is greater than the third threshold value a3 continues for more than the first prescribed time t1 (step S701: "No" loop).

[0123] Furthermore, when the opening and closing acceleration a of the side door D is above the third threshold a3 for a period of time t1 or longer in step S701 (step S701: Yes), the process proceeds to step S702, and the control device 30 sets the control mode to power assist control in the control mode setting unit 312. Then, the control device 30 starts power assist control and returns to step S301.

[0124] Therefore, when the opening and closing acceleration a of the side door D is greater than or equal to the third threshold a3 for more than the first predetermined time t1 when the pre-power assist control is set in the control mode setting unit 312 , the pre-power assist control is switched to the power assist control.

[0125] By controlling the side door D in this way, when the side door D is manually operated while it is stopped at the intermediate position, the manual operation of the side door D is quickly detected, the door holding control based on the two-phase energization is released, and the pre-power assist control is performed to prevent the side door D from opening and closing due to its own weight, so that the side door D can be easily opened and closed while reducing costs, and the side door D can be maintained near the desired position in a state where the opening and closing operation of the side door D can be easily performed. In addition, during the pre-power assist control, the side door D can be moved at a slight speed in the direction opposite to the opening and closing direction of the side door D due to its own weight, so that the user can easily recognize that the pre-power assist control is being performed, and the operability is good.

[0126] Furthermore, even when the side door D is opened or closed while the vehicle V is parked on an inclined surface, the inclination can be handled without a switch for detecting the operation, thereby enabling convenient assist control that operates according to the intention of the person operating the side door D.

[0127] Above, various embodiments of the present invention have been described with reference to the accompanying drawings, but it is self-evident that the present invention is not limited to the embodiments. As long as one skilled in the art can understand, it is obvious that various variations or modifications can be thought of within the scope described in the claims, and these variations or modifications certainly also belong to the technical scope of the present invention. In addition, the various constituent elements in the above-mentioned embodiments can also be arbitrarily combined within the scope of the gist of the invention.

[0128] For example, the door front end sensor 20 may be built into the door latch device DL. Thus, the door front end sensor 20 can be installed at the front end 2a of the rear door 2 or the front end D1 of the side door D without having to secure a separate installation location.

[0129] In addition, for example, the door holding control is used to control the three-phase DC motor to a two-phase energized state, but the door can also be held by energizing the three phases.

[0130] In addition, for example, in the first embodiment, it is set that the door holding control is switched to the door balance control when the opening and closing acceleration a of the tailgate 2 becomes greater than the second threshold value a2, but it may also be that the door holding control is switched to the door balance control when at least one of the opening and closing acceleration, opening and closing speed and moving distance of the tailgate 2 becomes greater than the second threshold value.

[0131] Similarly, in the second embodiment, it is set that the door holding control is switched to the pre-power assist control when the opening and closing acceleration a of the side door D becomes greater than the second threshold value a2, but it may also be that the door holding control is switched to the pre-power assist control when at least one of the opening and closing acceleration, opening and closing speed and moving distance of the side door D becomes greater than the second threshold value.

[0132] In addition, for example, the door opening and closing assisting device 100 of the first embodiment is used to assist the operating force when opening and closing the rear tailgate 2, but it can also be used to assist the operating force when opening and closing the side door D. That is, the control device 30 of the door opening and closing assisting device 100 for assisting the operating force when opening and closing the side door D can set and release the door balance control.

[0133] Similarly, the door opening and closing assisting device 100 of the second embodiment is used to assist the operating force when opening and closing the side door D, but it can also be used to assist the operating force when opening and closing the rear tailgate 2. That is, the control device 30 of the door opening and closing assisting device 100 for assisting the operating force when opening and closing the rear tailgate 2 can set and release the pre-power assist control.

[0134] In addition, for example, the door opening and closing assisting device 100 of the first embodiment is used to assist the operating force when the rear tailgate 2 is opened and closed. However, if the angle of the vehicle up and down direction relative to the vertical direction is set to angle ψ, the mass of the sliding door is set to mass m [kg], and the acceleration due to gravity is set to g [m / s ^ 2], a force of m·g[N] acts vertically downward on the sliding door due to its own weight. At this time, it is considered that the component of the sliding door's own weight in the opening and closing direction is m·g·sinψ[N], and thus the door opening and closing assistance device 100 can also be used to assist the operating force when the sliding door is opened and closed. That is, the control device 30 of the door opening and closing assistance device 100 for assisting the operating force when the sliding door is opened and closed can set and release the door balance control.

[0135] Similarly, the door opening and closing assisting device 100 of the second embodiment is used to assist the operating force when the side door D is opened and closed. However, if the angle of the vehicle up and down direction relative to the vertical direction is set to angle ψ, the mass of the sliding door is set to mass m [kg], and the acceleration due to gravity is set to g [m / s ^ 2], a force of m·g[N] acts vertically downward on the sliding door due to its own weight. At this time, it is considered that the component of the sliding door's own weight in the opening and closing direction is m·g·sinψ[N], and thus the door opening and closing assistance device 100 can also be used to assist the operating force when the sliding door is opened and closed. That is, the control device 30 of the door opening and closing assistance device 100 for assisting the operating force when the sliding door is opened and closed can set and release the pre-power assistance control.

[0136] At least the following matters are described in this specification. In parentheses, corresponding components and the like in the above-mentioned embodiment are shown as examples, but the present invention is not limited to these.

[0137] (1) A door opening and closing assistance device (door opening and closing assistance device 100) comprising:

[0138] A three-phase DC motor (three-phase DC motor 7) that generates power for assisting an operating force of a door (rear tailgate 2) supported by the vehicle body (vehicle body 1) so as to be openable and closable; and

[0139] a control device (control device 30) for controlling the three-phase DC motor,

[0140] The control device can set and release the door balance control and power assist control.

[0141] In the door balance control, the output of the three-phase DC motor is controlled so that the output in the opening and closing direction of the door is balanced with the component of the door's own weight in the opening and closing direction, thereby making the door stationary.

[0142] In the power assist control, the output of the three-phase DC motor is controlled to generate an assist force in the opening and closing direction of the door.

[0143] In the state where the door balance control is set, when the opening and closing acceleration of the door (opening and closing acceleration a) is above a third threshold value (third threshold value a3) for a period of time (first specified time t1) or longer, the control device switches from the door balance control to the power assist control.

[0144] According to (1), the door can be held near a desired position in a state where the door opening and closing operation can be easily performed, so the door can be held near a desired position in a state where the door opening and closing operation can be easily performed while reducing costs.

[0145] (2) A door opening and closing assistance device (door opening and closing assistance device 100), comprising:

[0146] a three-phase DC motor (three-phase DC motor 7) that generates power for assisting an operating force of a door (side door D) supported by the vehicle body (vehicle body 1) so as to be openable and closable; and

[0147] a control device (control device 30) for controlling the three-phase DC motor,

[0148] The control device can set and release the pre-power assist control and the power assist control.

[0149] In the pre-power assist control, the output of the three-phase DC motor is controlled so that the resultant force of the output in the opening and closing direction of the door and the opening and closing direction component of the gravitational acceleration of the door becomes a predetermined magnitude in the direction opposite to the opening and closing direction component of the gravitational acceleration, thereby causing the door to move.

[0150] In the power assist control, the output of the three-phase DC motor is controlled to generate an assist force in the opening and closing direction of the door.

[0151] In the state where the pre-power assist control is set, when the opening and closing acceleration of the door (opening and closing acceleration a) is above a third threshold value (third threshold value a3) for a period of time (first prescribed time t1) or longer, the control device switches from the pre-power assist control to the power assist control.

[0152] According to (2), the door can be held near a desired position in a state where the door opening and closing operations can be easily performed, so the door can be held near a desired position in a state where the door opening and closing operations can be easily performed while reducing costs.

[0153] (3) The door opening and closing assistance device according to (1), wherein:

[0154] The control device is capable of setting and releasing the door holding control for energizing at least two phases of the three-phase DC motor for maintaining the position of the door, and the control device sets the phase to be energized according to the circumferential position of the rotor (rotor RT) of the three-phase DC motor relative to the stator (stator ST).

[0155] When the opening and closing speed of the door (opening and closing speed v) is less than a first threshold value (first threshold value v1), the control device sets the door holding control.

[0156] When the door holding control is set, the control device switches from the door holding control to the door balance control when at least one of the opening and closing acceleration, opening and closing speed, and moving distance of the door becomes greater than a second threshold value (second threshold value a2).

[0157] According to (3), the holding force can be maximized every time the rotor RT rotates 120 degrees in electrical angle. This can reduce the intermittent feeling of the door movement during the door holding control, thereby improving the operability of the door during the door holding control.

[0158] (4) The door opening and closing assistance device according to (2), wherein:

[0159] The control device is capable of setting and releasing the door holding control for energizing at least two phases of the three-phase DC motor for maintaining the position of the door, and the control device sets the phase to be energized according to the circumferential position of the rotor (rotor RT) of the three-phase DC motor relative to the stator (stator ST).

[0160] When the opening and closing speed of the door (opening and closing speed v) becomes less than a first threshold value (first threshold value v1), the control device sets the door holding control.

[0161] When the door holding control is set, the control device switches from the door holding control to the pre-power assist control when at least one of the opening and closing acceleration, opening and closing speed, and moving distance of the door becomes greater than a second threshold value (second threshold value a2).

[0162] According to (4), the holding force can be maximized every time the rotor RT rotates 120 degrees in electrical angle. This can reduce the intermittent feeling of the door movement during the door holding control, thereby improving the operability of the door during the door holding control.

[0163] (5) The door opening and closing assistance device according to any one of (1) to (4), wherein:

[0164] The door opening and closing assisting device further includes a sensor (door front end sensor 20) mounted on the door.

[0165] The control device acquires at least one of an opening and closing acceleration, an opening and closing speed, and a moving distance of the door based on a detection value of the sensor.

[0166] According to (5), at least one of the door's opening and closing acceleration, opening and closing speed, and moving distance is obtained based on the detection value of the sensor installed on the door, so that at least one of the door's opening and closing acceleration, opening and closing speed, and moving distance can be obtained with a simple structure.

[0167] (6) The door opening and closing assistance device according to (5), wherein:

[0168] The door opening and closing assisting device is connected to the vehicle body via a door hinge (door hinge 3, door hinge DH) provided at one end, and assists the opening and closing operation of a hinged door (rear tailgate 2, side door D) that can rotate around a rotation axis of the door hinge.

[0169] The sensor is attached to the other end portion (front end portion 2a, front end portion D1) of the hinged door on the opposite side to the one end portion.

[0170] According to (6), a sensor is installed at the other end of the door opposite to the side where the door hinge is provided, so that the movement amount of the sensor becomes larger when the door is opened and closed. As a result, the detection value for calculating at least one of the opening and closing acceleration, opening and closing speed, and moving distance of the door can be obtained in the sensor with higher accuracy.

[0171] (7) The door opening and closing assistance device according to (6), wherein:

[0172] The sensor is built into a latch device (latch device DL) of the hinged door.

[0173] According to (7), there is no need to separately secure a location for installing the sensor, and the sensor can be installed at the other end of the door on the side opposite to the side where the door hinge is provided.

[0174] Description of Reference Numerals

[0175] 1: vehicle body; 2: rear tailgate (door, hinged door); 2a: front end (the other end); 3: door hinge; 7: three-phase DC motor; 20: door front end sensor (sensor); 30: control device; 100: door opening and closing auxiliary device; D: side door (door, hinged door); D1: front end (the other end); DH: door hinge; DL: latch device; RT: rotor; ST: stator; a: opening and closing acceleration; a2: second threshold; a3: third threshold; t1: first specified time (specified time); v: opening and closing speed; v1: first threshold.

Claims

1. A door opening and closing auxiliary device, comprising: A three-phase DC motor generates power for assisting the operating force of the door, wherein The door is supported on the vehicle body so as to be openable and closable; and a control device for controlling the three-phase DC motor, The control device can set and release the door balance control and power assist control. In the door balance control, the output of the three-phase DC motor is controlled so that the output in the opening and closing direction of the door is balanced with the component of the door's own weight in the opening and closing direction, thereby making the door stationary. In the power assist control, the output of the three-phase DC motor is controlled to generate an assist force in the opening and closing direction of the door. In a state where the door balance control is set, when the state where the opening and closing acceleration of the door is equal to or greater than a third threshold value continues for a predetermined time or longer, the control device switches from the door balance control to the power assist control.

2. The door opening and closing assistance device according to claim 1, wherein: The control device is capable of setting and releasing the door holding control for energizing at least two phases of the three-phase DC motor for maintaining the position of the door, and the control device sets the phase to be energized according to the circumferential position of the rotor of the three-phase DC motor relative to the stator. When the opening and closing speed of the door is below a first threshold, the control device sets the door holding control. In a state where the door holding control is set, when at least one of the opening and closing acceleration, the opening and closing speed, and the moving distance of the door becomes equal to or greater than a second threshold, the control device switches from the door holding control to the door balance control.

3. A door opening and closing auxiliary device, comprising: A three-phase DC motor generates power for assisting the operating force of the door, wherein The door is supported on the vehicle body so as to be openable and closable; and a control device for controlling the three-phase DC motor, The control device can set and release the pre-power assist control and the power assist control. In the pre-power assist control, the output of the three-phase DC motor is controlled so that the resultant force of the output in the opening and closing direction of the door and the opening and closing direction component of the gravitational acceleration of the door becomes a predetermined magnitude in the direction opposite to the opening and closing direction component of the gravitational acceleration, thereby causing the door to move. In the power assist control, the output of the three-phase DC motor is controlled to generate an assist force in the opening and closing direction of the door. In a state where the pre-power assist control is set, when the door opening and closing acceleration is greater than or equal to a third threshold value for a predetermined time or longer, the control device switches from the pre-power assist control to the power assist control.

4. The door opening and closing assistance device according to claim 3, wherein: The control device is capable of setting and releasing the door holding control for energizing at least two phases of the three-phase DC motor for maintaining the position of the door, and the control device sets the phase to be energized according to the circumferential position of the rotor of the three-phase DC motor relative to the stator. When the opening and closing speed of the door becomes less than a first threshold, the control device starts the door holding control. In a state where the door holding control is set, when at least one of the opening and closing acceleration, the opening and closing speed, and the moving distance of the door becomes equal to or greater than a second threshold, the control device switches from the door holding control to the pre-power assist control.

5. The door opening and closing assistance device according to any one of claims 1 to 4, wherein: The door opening and closing assisting device further includes a sensor mounted on the door. The control device acquires at least one of an opening and closing acceleration, an opening and closing speed, and a moving distance of the door based on a detection value of the sensor.

6. The door opening and closing assistance device according to claim 5, wherein: The door opening and closing assisting device is connected to the vehicle body via a door hinge provided at one end, and assists the opening and closing operation of a hinged door that can rotate around a rotation axis of the door hinge. The sensor is installed at the other end portion of the hinged door on the side opposite to the one end portion.

7. The door opening and closing assistance device according to claim 6, wherein: The sensor is built into the latch device of the hinged door.

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