Opposite-by-site door opening and closing system of vehicle and control method thereof

Abstract

The invention relates to a split door opening and closing system of a vehicle and a control method thereof. An exemplary opposite-opening door opening and closing system for a vehicle includes a pair of opposite-opening doors having a first door and a second door configured to open outwardly from the vehicle toward a get-on and get-off structure, and a controller configured to assign the first door and the second door as an initial operating door and a subsequent operating door, and control a first door motor of the first door and a second door motor of the second door to perform an opening operation of an initial operating door, and in an opening operation of a subsequent operating door after the opening operation of the initial operating door, the opening operation of the subsequent operating door is performed with a time delay.

Description

Technical Field

[0001] The invention relates to an opening and closing system for a vehicle's side doors. Background Art

[0002] Generally, doors installed on buses are classified into any of a swing door, a sliding door, and a folding door according to their opening and closing methods.

[0003] For example, in the above-mentioned swing doors, outwardly openable bi-directional doors that open outward from the interior of the bus are provided, so that the bi-directional doors (i.e., the left door and the right door) are opened toward gates installed on a boarding / disembarking structure (e.g., gates of the bus), so that passengers can board / disembark conveniently without being exposed to the outside when the bus is stopped. In this case, the gates refer to the boarding / disembarking doors of the structure.

[0004] In particular, the outward-opening double doors should be configured so that when the doors swing, the left door and the right door open / close at symmetrical angles at the center of the gate, thereby ensuring the stability of the door opening and closing. To this end, the vehicle needs to be parked at the boarding / exiting structure so that the outward-opening double doors are located at the center of the gate.

[0005] Therefore, an unmanned autonomous driving vehicle or an advanced cruise control (ACC) adapted vehicle can use the above-mentioned outwardly openable double doors.

[0006] However, even if the double doors applied to autonomous vehicles or ACC-compatible vehicles operate in a state of center alignment with the gate of the boarding / exiting structure, the opening of the doors may be hindered due to the difference between the door width and the gate width or external objects (which act as obstacles placed around the gate).

[0007] Therefore, the double-door opening can ensure different path widths during the docking process between the right door and the left door that can be opened simultaneously and the gate, so that especially when one of the left door and the right door operated by the motor is stuck, overcurrent (i.e., stall current) may be generated to cause damage to the motor and shorten the service life of the motor. Summary of the Invention

[0008] The present invention relates to a vehicle side door opening and closing system. Certain embodiments relate to such a vehicle side door opening and closing system and a control method thereof, wherein a first initially operated door and a second subsequently operated door are operated with a delay so that any door jamming occurring during the opening of the first door is reflected in the opening operation of the second door, thereby protecting the motor of the second door from overcurrent.

[0009] An embodiment of the present invention provides a double-door opening and closing system for a vehicle and a control method thereof, wherein a first initial operation door and a second subsequent operation door are operated with a time delay, and an obstacle door jam that may occur during the opening process of the first initial operation door or a structural wall door jam that may occur at the end of the opening of the first initial operation door is regarded as an estimated time of the second door jam, and motor damage caused by overcurrent is prevented or motor power consumption is reduced by reducing the door speed or driving current of the second subsequent operation door, and in particular, damage to the frequently operated first door motor and second door motor is reduced by alternating the operation sequence of the first initial operation door and the second subsequent operation door.

[0010] In an embodiment of the present invention, a double-door opening and closing system for a vehicle includes: a pair of double-doors and a controller, the pair of double-doors having a first door and a second door, the first door and the second door opening outward from the vehicle toward a boarding / exiting structure, the controller being configured to assign the first door and the second door as an initial operation door and a subsequent operation door, and controlling a first door motor of the first door and a second door motor of the second door to perform an opening operation of the initial operation door, and in an opening operation of the subsequent operation door after the opening operation of the initial operation door, performing the opening operation of the subsequent operation door with a time delay.

[0011] Preferably, the time delay may be set to a reference Hall count of Hall sensors respectively installed at the first door motor and the second door motor.

[0012] Preferably, the controller can be configured to: reduce the opening speed of subsequent operating doors when a detection point of obstacle door jamming occurs during the initial operation of opening the door or a detection point of structural wall door jamming occurs at the end of the initial operation of opening the door, wherein the detection point of obstacle door jamming or the detection point of structural wall door jamming is identified by an overcurrent of the driving current of the current sensors respectively installed on the first door motor and the second door motor.

[0013] Preferably, the controller can be configured to: when no obstacle door jam is detected for the subsequent operation door at the detection point of the obstacle door jam of the initial operation door, restore the opening speed of the subsequent operation door to the opening speed before reducing the opening speed of the subsequent operation door until the detection point of the structural wall door jam of the subsequent operation door.

[0014] Preferably, the controller can be configured to: if the subsequent operation door is not detected to be stuck with the structural wall door at the detection point of the structural wall door jam of the initial operation door, restore the opening speed of the subsequent operation door to the opening speed before reducing the opening speed of the subsequent operation door until the detection point of the structural wall door jam of the subsequent operation door.

[0015] Preferably, the controller can be configured to terminate the operation of the subsequent operation door when an obstacle door jam is detected in the subsequent operation door during the opening operation of the initial operation door and the subsequent operation door, and the controller can be configured to terminate the opening operation of the initial operation door at the detection point of the structural wall door jam.

[0016] Preferably, the controller may be configured to determine the center position of the boarding / exiting structure using a door sensor of the vehicle and supply drive current to the first door motor and the second door motor in response to a docking command signal from a button or a mobile device.

[0017] Preferably, the controller may be configured to swap the assignment of the initial operation door and the subsequent operation door for a second operation of the door following the first operation of the door.

[0018] In another embodiment of the present invention, a method for controlling a vehicle's double-door opening and closing system using a controller when an advanced cruise control (ACC)-adapted vehicle is parked includes: operating the first door or the second door of the double-door as the initial operating door; when an obstacle door jam of the initial operating door is detected during the opening of the initial operating door, reducing the door speed of the subsequent operating door from a reference speed; and terminating the operation of the subsequent operating door at a reduced door opening speed or at a restored set door opening speed depending on whether an obstacle door jam of the subsequent operating door is detected during the opening of the subsequent operating door.

[0019] Preferably, the controller can be configured to: determine the position of the double doors using a door sensor that detects the center position of the boarding / exiting structure, and start the initial operation of the door by supplying motor driving current in response to a docking command signal from a button or mobile device.

[0020] Preferably, the controller can be configured to: after detecting the obstacle door jam of the initial operation door, after detecting the obstacle door jam of the initial operation door, after completing the opening of the initial operation door, reduce the opening speed of the subsequent operation door and start the opening of the subsequent operation door at the reduced opening speed until the Hall count of the Hall sensor on the side of the initial operation door when the obstacle door jam is detected is reached.

[0021] Preferably, the controller can be configured to: during the opening of the subsequent operating door, after the count value of the Hall sensor on the subsequent operating door side reaches the count value of the Hall sensor when the initial operating door detects the obstacle door jam, check whether the obstacle door jam of the subsequent operating door occurs; if the obstacle door jam of the subsequent operating door is detected, immediately terminate the opening of the subsequent operating door; or if the obstacle door jam of the subsequent operating door is not detected, terminate the opening of the subsequent operating door after restoring the reduced opening speed of the subsequent operating door to the reference speed until the structural wall door jam of the subsequent operating door in the maximum angle opening state of the subsequent operating door is detected.

[0022] Preferably, the controller may be configured to swap the assignment of the initial operation door and the subsequent operation door for the second operation of the double-door following the first operation of the double-door.

[0023] In a further embodiment of the present invention, a method for controlling a vehicle's double-door opening and closing system using a controller when an advanced cruise control (ACC)-adapted vehicle is parked includes: operating a first door or a second door of the double-door as an initial operation door; when an obstacle door jam of the initial operation door is not detected during the opening operation of the initial operation door, performing an opening operation of a subsequent operation door when a reference Hall count of a Hall sensor on the initial operation door side has passed; when a door jam detected during the opening operation of the initial operation door and the subsequent operation door is caused by an obstacle door jam of the initial operation door, terminating the opening operation of the subsequent operation door at a reduced opening speed, or terminating the opening operation of the subsequent operation door at a restored set opening speed; when a door jam detected during the opening operation of the initial operation door and the subsequent operation door is caused by an obstacle door jam of the subsequent operation door, terminating the opening operation of the initial operation door when a structural wall door jam of the initial operation door is detected after the opening operation of the subsequent operation door is terminated.

[0024] Preferably, the controller can be configured to: determine the position of the double doors using a door sensor that detects the center position of the boarding / exiting structure, and start the initial operation of the door by supplying motor driving current in response to a docking command signal from a button or mobile device.

[0025] Preferably, the controller can be configured to: in the case of detecting an obstacle door jam of the initial operation door, after the opening operation of the initial operation door is completed, apply a reduced door opening speed to the subsequent operation door until the Hall count of the Hall sensor on the side of the initial operation door when the obstacle door jam is detected is reached; during the opening operation of the subsequent operation door, after the count value of the Hall sensor on the side of the subsequent operation door reaches the count value of the Hall sensor on the side of the initial operation door when the obstacle door jam is detected, terminate the opening operation of the subsequent operation door by detecting the obstacle door jam of the subsequent operation door, thereby immediately performing the termination of the opening operation of the subsequent operation door when the obstacle door jam of the subsequent operation door is detected, or when the obstacle door jam of the subsequent operation door is not detected, perform the termination of the opening operation of the subsequent operation door after restoring the reduced opening speed of the subsequent operation door to the reference speed until the structural wall door jam of the subsequent operation door is detected.

[0026] Preferably, the controller can be configured to: identify the structural wall door jamming detected in the initial operation door as the maximum angle opening state of the initial operation door, and exchange the allocation of the initial operation door and the subsequent operation door for the second operation of the door after the first operation of the door.

[0027] According to the vehicle's double-door opening and closing system and control method thereof, the staggered opening operation of the left door and the right door solves the problem of differences in docking paths caused by the door widths of the gates or differences in door opening and closing angles caused by obstacles around the gates, especially the staggered opening operation that alternates the initial or subsequent movements of the left door and the right door, thereby reducing damage to the two motors of the left door and the right door.

[0028] In addition, according to the vehicle's double-door opening and closing system and control method thereof, when the door jam of the initial operating door is confirmed by the staggered opening operation of Scheme 1, the overcurrent of the motor is avoided by reducing the driving speed of the subsequent operating door, or when the door jam of the initial operating door is expected by the staggered opening operation of Scheme 2, the current values ​​of the two motors used for the initial operating door and the subsequent operating door are reduced, and this overcurrent avoidance and current reduction avoids damage to the motors of the initial operating door and the subsequent operating door and a reduction in the service life of the motors. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a block diagram illustrating a vehicle side door opening and closing system according to an embodiment of the present invention;

[0030] Figure 2 is a flowchart illustrating a method of controlling a side door opening and closing system of a vehicle according to an embodiment of the present invention;

[0031] Figure 3 is a schematic diagram illustrating an operating state of a controller when a vehicle according to an embodiment of the present invention is parked at a boarding and getting-off structure;

[0032] Figure 4 is a schematic diagram illustrating opening operations of a first door and a second door of a double-door opening and closing system according to an embodiment of the present invention in a staggered opening operation of Scheme 1; and

[0033] Figure 5 2 is a schematic diagram illustrating opening operations of a first door and a second door of a side-by-side door opening and closing system according to an embodiment of the present invention in a staggered opening operation of Scheme 2. DETAILED DESCRIPTION

[0034] Embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which are illustrative and not limited to the embodiments described herein, as the illustrated embodiments can be implemented in many different forms by one of ordinary skill in the art to which the present invention pertains.

[0035] refer to Figure 1 The double door opening and closing system 1 includes a double door 10 as an entrance to a vehicle 100, a controller 70, and a docking input device 80. In this case, the vehicle 100 includes an unmanned autonomous vehicle or an advanced cruise control (ACC)-compatible commercial vehicle, such as a passenger car or a bus.

[0036] Specifically, the double-door 10 includes a first door 20A, a second door 20B, a swing mechanism 30 for actuating the first door 20A and the second door 20B, a door motor 40, and a door sensor 50. The first door 20A is a gate 210 (for example, a bus gate) installed on a boarding / disembarking structure 200 (see FIG. Figure 3 ) is a right-hand door that opens outward (y-axis of xy coordinates) from the right-hand side of the gate (x-axis of xy coordinates), and the second door 20B is a left-hand door that opens outward (y-axis of xy coordinates) from the left-hand side of the gate (x-axis of xy coordinates).

[0037] Thus, opening the doors 10 so that the maximum angle at which each of the first door 20A and the second door 20B can be opened is limited by opposite sides of the gate 210 installed on the boarding / exiting structure 200, so that each of the first door 20A and the second door 20B has the same maximum actuation angle.

[0038] In this example, the swing mechanism 30 includes a right swing mechanism and a left swing mechanism, which are respectively connected to the first door 20A and the second door 20B to open the first door 20A to the right and the second door 20B to the left. In this case, the components and operating conditions of the swing mechanism 30 are the same as those of the swing mechanism of the double doors used in conventional buses.

[0039] In this example, door motor 40 includes a first door motor 40A and a second door motor 40B. First door motor 40A is used to operate a right swing mechanism for opening first door 20A to the right, and second door motor 40B is used to operate a left swing mechanism for opening second door 20B to the left. Each of first door motor 40A and second door motor 40B is equipped with a motor sensor 41. Motor sensor 41 detects the motor's operating status when receiving an operating command from a circuit formed with controller 70. In this case, the installation locations of first door motor 40A and second door motor 40B are the same as those of two motors associated with the swing mechanism of the double doors of conventional buses.

[0040] To this end, the motor sensor 41 includes a current sensor 41a, which detects a driving current value of each of the first door motor 40A and the second door motor 40B and transmits the current value to the controller 70, and a hall sensor 41b, which detects the number of rotations of each of the first door motor 40A and the second door motor 40B as a hall count and transmits the number of rotations to the controller 70. In this case, the driving current value includes an overcurrent.

[0041] In the example, the door sensor 50 is installed at a door position of either the first door 20A or the second door 20B of the double doors 10 of the vehicle 100. When the vehicle 100 is parked at the gate 210 of the boarding / exiting structure 200 (refer to FIG. Figure 3 ) detects the position of the double-door 10 relative to the center of the boarding / exiting structure 200 and sends the detected position to the controller 70.

[0042] Thus, the door sensor 50 enables the controller 70 to determine the center position of the opening door 10 and output a driving command.

[0043] To this end, the door sensor 50 may be any one of a radar sensor, a lidar sensor, and an ultrasonic sensor, and the door sensor 50 may transmit a detected position signal to a vehicle controller of the vehicle 100 .

[0044] Specifically, the controller 70 executes Scheme 1 or Scheme 2. In Scheme 1, the first door 20A and the second door 20B for opening the vehicle door 10 are operated with a time delay as the initial operation door and the subsequent operation door, so that overcurrent of the motor of the subsequent operation door can be avoided based on the detection of the jamming of the initial operation door. In Scheme 2, the current values ​​of the two motors used for the initial operation door and the subsequent operation door can be reduced based on the expectation of the jamming of the initial operation door.

[0045] To this end, the controller 70 includes a memory, a central processing unit, a docking signal input unit, a door sensor input unit, a motor sensor input unit, and a door motor driving unit.

[0046] In the example, the memory stores the double door opening and closing system control logic as a program, and the central processing unit uses the sensor detection value to drive and control the first door motor 40A and the second door motor 40B when the control starts by docking signal recognition. The docking signal input unit receives the docking signal from the docking input device 80, the door sensor input unit receives the detection value of the door sensor 50, the motor sensor input unit receives the detection value of the current sensor 41a and the Hall sensor 41b, and the door motor drive unit outputs a drive instruction to make the first door motor 40A and the second door motor 40B operate respectively.

[0047] Specifically, the controller 70 outputs the operation command of the door motor driving unit in a pulse width modulation (PWM) manner.

[0048] Specifically, the docking input device 80 transmits a docking instruction signal to the controller 70, so that the controller 70 can output a driving instruction to the first door motor 40A and the second door motor 40B of the vehicle 100 located at the center of the boarding / exiting structure 200. In this case, the docking instruction signal can be transmitted via a signal line leading to the controller 70, or the docking instruction signal can be transmitted as a radio frequency (RF) signal.

[0049] To this end, the docking input device 80 uses a button 80A or a mobile device 80B, wherein the button 80A is installed inside / outside the vehicle 100 or inside the boarding / exiting structure 200 to send a docking instruction signal to the controller 70, and the mobile device 80B can be a smartphone with an application that sends the docking instruction signal to the controller 70.

[0050] on the other hand, Figure 21 is a flowchart showing a method for controlling a double-door opening and closing system of a vehicle 100, the method including: operations S10 to S40 of opening an initial operation door when the vehicle is parked, control of step S50 for a staggered opening operation of a subsequent operation door based on scheme 1, or control of step S100 for a staggered opening operation of a subsequent operation door based on scheme 2, and alternately controlling the initial operation door and the subsequent operation door in step S70.

[0051] Hereinafter, the control subject is the controller 70 and the control object is the first door motor 40A and the second door motor 40B of the double-door door 10, and reference will be made to Figures 3 to 5 Describe the control operation.

[0052] In addition, the first door 20A is operated as the initial operation door, and the second door 20B is operated as the subsequent operation door. The staggered opening operation is the operation of the second door 20B following the operation of the first door 20A at a time interval. The jamming of the initial operation door or the jamming of the subsequent operation door means that the first door 20A and the second door 20B are prevented from opening to their maximum angles due to contact with external objects, or the first door 20A and the second door 20B are opened to their maximum angles and contact the wall of the boarding / exiting structure 200 (or the two doors of the gate 210).

[0053] Specifically, the initial door opening operation steps S10 to S40 when the vehicle is stopped are performed by: ACC activation in step S10, vehicle parking based on sensors in step S20, docking signal in step S30, and initial door operation at a set speed in step S40. In this case, ACC refers to adaptive cruise control, ACC activation means that the vehicle 100 is automatically driven without driver intervention, and the initial door set speed is the normal speed at which the first door 20A opens in an unobstructed state.

[0054] refer to Figure 3 The vehicle 100 uses a double door 10 in which the first door 20A and the second door 20B open to the right and the left respectively. The controller 70 operates either the first door 20A or the second door 20B as the initial operation door in the staggered opening operation, and then operates the other as the subsequent operation door.

[0055] In the example, the ACC enabling step S10 indicates that the vehicle 100 is automatically driven using the advanced cruise control (ACC) function without driver intervention, and the sensor-based vehicle parking step S20 indicates parking the vehicle 100 at the center position of the boarding / exiting structure 200 by providing information about the center position of the boarding / exiting structure 200 to the controller 70 (i.e., the door sensor input unit / central processor), the information being provided by the door sensor 50 of the vehicle 100 approaching the boarding / exiting structure 200.

[0056] Specifically, the vehicle 100 includes a gate seal 110 on the edge of the double door 10, which is in close contact with the edge portion of the gate 210 at the center of the boarding / exiting structure 200. In this case, the gate seal 110 is made of a rubber material such as a sealing strip.

[0057] In the example, the docking signal step S30 sends the docking signal from the button 80A or the mobile device 80B serving as the docking input device 80 to the controller 70 (i.e., the docking signal input unit / central processing unit), and the step S40 of initially operating the door at a set speed is executed by the controller 70 (i.e., the central processing unit / door motor drive unit), and the controller 70 receives the docking signal and outputs a drive instruction to the first door motor 40A of the first door motor 40A and the second door motor 40B to open the first door 20A of the first door 20A and the second door 20B.

[0058] As described above, when the vehicle 100 is parked at the gate 210 of the boarding / exiting structure 200, the first door 20A of the first door 20A and the second door 20B of the pair of opening doors 10 is operated as the initial operation door, thereby performing opening of the initial operation door in steps S10 to S40 when the vehicle is parked.

[0059] Then, during the opening operation of the initial operation door, in the opening operation of the subsequent operation door with a time difference of the delay time (t), step S50 of controlling the staggered opening operation based on scheme 1 for the subsequent operation door is implemented, and the step S50 is executed by the following steps: step S51 of detecting the jamming of the initial operation door, steps S52 to S54 of controlling the variable operation of the subsequent operation door, steps S55 to S56 of controlling the setting operation of the subsequent operation door, and step S57 of terminating the operation of the subsequent operation door.

[0060] refer to Figure 3, the controller 70 (ie, the motor sensor input unit / CPU) checks normal current and overcurrent based on the current detection value input from the current sensor 41a of the motor sensor 41, and checks the motor speed based on the Hall count value input from the Hall sensor 41b.

[0061] refer to Figure 4 , the motor driving current value versus motor driving time line graph illustrates that the initial operation door jam is detected (step S51 is yes). In this case, the motor driving time is calculated by counting the Hall sensors 41b of the first door motor 40A and the second door motor 40B.

[0062] As shown in the figure, the staggered operation control step S50 based on scheme 1 for the subsequent operation door is performed, so that when the first door 20A (i.e., the initial operation door) of the first door 20A and the second door 20B docked with the boarding / exiting structure 200 is opened first and the second door 20B (i.e., the subsequent operation door) is subsequently opened with a time difference of delay time t, when an overcurrent of the current sensor 41a is detected due to contact with the obstacle K during the opening operation of the first door 20A (i.e., the initial operation door), it is recognized that obstacle door jam has occurred so that the first door 20A (i.e., the initial operation door) stops, and the time when the obstacle door jam occurs due to the stop of the first door 20A (i.e., the initial operation door) is assumed to be the expected time when the obstacle door jam occurs, and the second door 20B (i.e., the subsequent operation door) reduces the door driving speed from the door driving speed of the first door 20A (i.e., the initial operation door) after a predetermined time T.

[0063] This enables the second door 20B (i.e., the subsequent operating door) to avoid the effects of overcurrent experienced by the first door 20A (i.e., the initial operating door) when the obstacle door is jammed in the first door 20A (i.e., the initial operating door) during the opening operation, to restore the door drive speed to normal speed during the opening operation after the obstacle door jam time, and to stop and fully open when the structural wall door is jammed.

[0064] In an example, when overcurrent is confirmed based on monitoring of the driving current of the current sensor 41 a for the driving current value of the first door motor 40A, the obstacle initial operation door jam detecting step S51 is identified as the occurrence of obstacle door jam.

[0065] Therefore, the controller 70 (i.e., the central processing unit) continues with step S50 of controlling the opening of the subsequent operating doors in the staggered opening operation according to Scheme 1 when the initial operation door jam is detected (yes), and switches to step S101 of the process of checking the reference Hall count when the initial operation door jam is not detected (no). In this case, the initial operation door jam detection being yes indicates that the first door 20A, which is the initial operation door, is blocked from opening due to contact with the obstacle K and therefore does not open to the maximum angle.

[0066] Specifically, the subsequent operation door variable operation control steps S52 to S54 are subsequent operation door opening speed deceleration performed during the opening of the subsequent operation door with a time difference t from the initial operation door. The subsequent operation door variable operation control steps S52 to S54 are implemented as: step S52 of reflecting the Hall count of the initial operation door motor to the subsequent operation door, step S53 of decelerating the opening speed of the subsequent operation door, and step S54 of detecting expected jamming after the Hall count of the subsequent operation door motor.

[0067] In the example, in step S52 of reflecting the Hall count of the initial operation door motor to the subsequent operation door, after the operation is terminated due to the jamming of the initial operation door, the number of revolutions (i.e., speed) of the first door motor 40A of the initial operation door is checked using the Hall count value of the Hall sensor 41b for the initial operation door, and a driving current value at which the opening speed of the subsequent operation door is reduced from the opening speed of the initial operation door is determined based on the Hall count of the initial operation door. In this case, the Hall count of the initial operation door is the Hall count value of the Hall sensor 41b on the initial operation door side during the obstacle door jamming detection step S51.

[0068] Then, the subsequent operation door opening speed reduction step S53 causes the subsequent operation door to start operating at a reduced speed due to the reduction in current and torque of the second door motor 40B which receives a PWM drive instruction having a drive current value reduced from a set value.

[0069] Then, in the jam anticipation detection step S54 after the Hall count of the subsequent operation door motor, a predetermined Hall count calculated value for anticipating the obstacle door jam of the subsequent operation door when the obstacle door jam of the initial operation door occurs is set as a predetermined time T. In this case, the predetermined time T is determined as the Hall count value monitored by the Hall sensor 41 b during the opening operation of the subsequent operation door.

[0070] As a result, when the jam of the subsequent operating door is detected after the time T (yes), the subsequent operating door has an obstacle door jam like the initial operating door, so the step switches to step S60 for terminating the operation control of the subsequent operating door to stop the second door motor 40B, and when the jam of the subsequent operating door is not detected after the time T (no), the subsequent operating door moves and passes the time for the obstacle door jam of the initial operating door, so the step switches to step S55 for restoring to the set speed of the subsequent operating door.

[0071] Specifically, steps S55 to S56 of controlling the operation setting of the subsequent operation door include a step S55 of returning to the set speed of the subsequent operation door and a step S56 of detecting a jam of the subsequent operation door.

[0072] In the example, since step S55 of restoring to the set speed for the subsequent operating door is a step of restoring to the reference speed, which is the normal speed at which the second door 20B opens in an unobstructed state (i.e., the set speed for the subsequent operating door), the driving current value of the second door motor 40B is the same as the driving current value of the first door motor 40A before the initial operating door is stuck.

[0073] In addition, step S56 of detecting the jam of the subsequent operation door indicates the structure wall door jam, in which the second door 20B as the subsequent operation door contacts the wall of the boarding / exiting structure 200 (or both doors of the gate 210) and opens at the maximum angle.

[0074] In the example, step S57 of terminating the operation of the subsequent operation door indicates that the obstacle door blocking step S54 of the subsequent operation door is yes or the structural wall door blocking step S56 of the subsequent operation door is yes, so that when the initial operation door stops during the opening operation, the subsequent operation door stops halfway through opening or opens at the maximum angle to the structural wall door blocking state.

[0075] As described above, in the staggered operation control step S50 based on scheme 1 for subsequent door operation, even if door jamming occurs during the opening of either the first door 20A or the second door 20B in the operation of opening the double doors 10, another door opening operation can be performed without damaging the motor due to overcurrent.

[0076] On the other hand, if jamming of the initial operation door is not detected (No in step S51), during the opening operation of the initial operation door, in the opening operation of the subsequent operation door with a time difference of the delay time t, step S100 is implemented for staggered operation control of the subsequent operation door based on scheme 2. Step S100 is executed by the following steps: step S101 of checking the elapse of the reference Hall count, steps S102 to S104 of detecting jamming of the initial operation door after the subsequent operation door is operated, steps S105 to S107 of controlling the variable operation of the subsequent operation door, steps S108 to S109 of controlling the setting operation of the subsequent operation door, and steps S110 to S112 of continuing to control the operation of the initial operation door.

[0077] refer to Figure 5 The following example shows a line graph of motor drive current value versus motor drive time, showing a state where the initial operation of the door jam detection step S104 is a yes and a state where the initial operation of the door jam detection step S104 is a no. In this case, the motor drive time is calculated by counting the Hall sensors 41b of the first door motor 40A and the second door motor 40B.

[0078] As shown in the figure, the staggered operation control step S100 based on scheme 2 for the subsequent operation door is performed, so that when the first door 20A (i.e., the initial operation door) of the first door 20A and the second door 20B docked with the boarding / exiting structure 200 is opened first and the second door 20B (i.e., the subsequent operation door) is opened subsequently with a time difference of delay time t, the state in which the first door 20A (i.e., the initial operation door) moves forward without being hindered by the obstacle K, hits the wall of the gate 210, and is fully opened and stopped is identified as a structural wall door jam having occurred, the time when the motor of the first door 20A (i.e., the initial operation door) stops due to the occurrence of the structural wall door jam is assumed to be the expected time of the occurrence of the structural wall door jam (i.e., for the second door 20B), and the second door 20B (i.e., the subsequent operation door) reduces the door driving speed from the door driving speed of the first door 20A (i.e., the initial operation door) after a predetermined time T.

[0079] Since the driving current value of the second door motor 40B is small when the second door 20B (i.e., the subsequent operating door) hits the wall of the gate 210 and is fully opened and stopped, the second door 20B (i.e., the subsequent operating door) can consume relatively less electricity. Even if the second door hits the wall, the overcurrent value that causes damage to the motor is small, thereby extending the service life of the motor while consuming less electricity.

[0080] In the example, step S101 of checking the above reference Hall count passing utilizes the delay time t between the initial operation door and the subsequent operation door with the reference Hall count, so that if the Hall count value of the Hall sensor 41b does not pass the reference Hall count, the process returns to the initial operation door opening operation step S51 and waits, and if the Hall count value passes the reference Hall count, the process proceeds to the subsequent operation door operation step S102.

[0081] Specifically, the jamming detection steps S102 to S104 of the initial operation door after the operation of the subsequent operation door are the operating state in which the subsequent operation door is opened with a time difference t from the initial operation door, and the jamming detection steps S102 to S104 of the initial operation door are executed by the following steps: the subsequent operation door operation step S102, the door jamming occurrence detection step S103 and the initial operation door jamming detection step S104.

[0082] In the example, the subsequent operation door operation step S102 is in such a state that the subsequent operation door has a time difference of delay time t with the initial operation door and is opened at a set motor drive speed; the door jam detection step S103 is in such a state that when the initial operation door and the subsequent operation door are opened together, an overcurrent is generated in the current sensor 41a of the first door motor 40A or the second door motor 40B, thereby detecting that the initial operation door or the subsequent operation door is in a door jam state.

[0083] In the example, the initial operation door jam detection step S104 is a structural wall door jam occurrence state, in which the initial operation door moves forward without being hindered by an obstacle K, hits the wall of the gate 210 and is fully opened and stops. When the initial operation door jam is detected (yes), the Hall count of the initial operation door motor is reflected to the subsequent operation door in step S105, and when the initial operation door jam is not detected (no), the subsequent operation door is in the obstacle door jam state of the subsequent operation door, and the step switches to step S110 to terminate the operation of the subsequent operation door.

[0084] Therefore, the subsequent operation door variable operation control steps S105 to S107 are for slowing down the opening speed of the subsequent operation door performed on the subsequent operation door when the initial operation door is fully opened and the motor is stopped. The subsequent operation door variable operation control steps S105 to S107 are implemented as the following steps: step S105 of reflecting the Hall count of the initial operation door motor to the subsequent operation door, step S106 of slowing down the opening speed of the subsequent operation door, and step S107 of detecting the expected jamming after the Hall count of the subsequent operation door motor.

[0085] In the example, step S105 of reflecting the Hall count of the initial operation door motor to the subsequent operation door uses the Hall count value of the Hall sensor 41b to confirm the number of revolutions (i.e., speed) of the first door motor 40A after the drive of the first door motor 40A stops when the structural wall door is stuck in the initial operation door, and determines the driving current value that reduces the opening speed of the subsequent operation door from the speed during the operation of the subsequent operation door based on the Hall count.

[0086] Then, the subsequent operation door opening speed deceleration step S106 outputs PWM so that the driving current value for the second door motor 40B is reduced from the set value when the structural wall door jam of the initial operation door occurs, thereby causing the subsequent operation door to start operating at a speed reduced compared to the initial speed.

[0087] Then, after the Hall start counting of the subsequent operation door motor, the jam anticipation detection step S107 starts from the time when the motor of the initial operation door stops due to the occurrence of the structural wall door jam, takes into account the time difference of the delay time t according to the predetermined time T determined by the Hall count value, and detects the occurrence of the structural wall door jam of the subsequent operation door before reaching the predetermined time T. In this case, the predetermined time T is determined by the Hall count value monitored by the Hall sensor 41b during the opening operation of the subsequent operation door.

[0088] Therefore, in the case where the structural wall door jam of the subsequent operation door is detected (YES in step S107 ), the step proceeds to the subsequent operation door operation control termination step S57 .

[0089] Then, the subsequent operation door setting operation control steps S108 to S109 continue to return to step S108 of setting the speed of the subsequent operation door based on step S106 and step S109 of detecting the jamming of the subsequent operation door.

[0090] In this example, step S108 of restoring the speed of the subsequently operated door to the set speed is a step in which, even if the subsequently operated door has already reduced its speed when the motor of the initial operated door stops due to the occurrence of structural wall door jam, the occurrence of structural wall door jam of the subsequently operated door is not detected until the predetermined time T. This means that, based on the failure to detect the jam of the subsequently operated door in step S107, the reference speed based on step S106 (the speed before the reduction of the door operation speed of the subsequently operated door) is restored, and thus the driving current value of the subsequently operated door is also restored to the previous current value based on step S106, which was not reduced. Therefore, restoring the reference speed and restoring the previous current value mean maintaining the speed and current value corresponding to step S106, which reduced the opening speed of the subsequently operated door.

[0091] In addition, the subsequent operation door jam detection step S109 refers to the state in which the structural wall door jam occurs for the subsequent operation door. In the state, like the initial operation door, the subsequent operation door is also opened at the maximum angle to contact the wall of the boarding / exiting structure 200 (or the two doors of the gate 210), which means that until the subsequent operation door touches the wall of the gate 210 and is fully opened and stopped when the structural wall door is jammed, the driving current value of the second door motor 40B is small, and therefore consumes less power compared to the stop of the initial operation door.

[0092] Therefore, in the case where the structural wall door jamming of the subsequent operation door is detected (YES in step S109 ), the step proceeds to step S57 terminating the operation control of the subsequent operation door.

[0093] As described above, in the case where the obstacle door of the subsequent operation door is stuck (step S107 is yes) or the structural wall door of the subsequent operation door is stuck (step S109 is yes), the staggered operation control step S100 based on scheme 2 for the subsequent operation door also enters the subsequent operation door operation termination step S57. The subsequent operation door operation termination step S57 makes the subsequent operation door stop during the opening operation or open to the maximum angle in the structural wall door stuck state when the initial operation door is opened to the maximum angle.

[0094] Therefore, the staggered operation control step S100 based on scheme 2 for the subsequent operation of the door reduces the driving current value of the second door motor 40B before the subsequent operation of the door is fully opened and stopped, so as to reduce the overcurrent value that causes damage to the motor when the structural wall door is stuck, thereby extending the service life of the motor and consuming relatively less electricity. This is different from the staggered operation control step S50 based on scheme 1 for the subsequent operation of the door in that the latter focuses on protecting the first door motor 40A and the second door motor 40B from the influence of overcurrent.

[0095] In addition, the initial operation door operation continuation control steps S110 to S112 are performed by the following steps: the subsequent operation door operation termination step S110 , the initial operation door jam detection step S111 , and the initial operation door operation termination step S112 .

[0096] In the example, the subsequent door operation termination S110 refers to a state where the door jam detection step S103 is performed due to the obstacle K (refer to Figure 4 ) When an obstacle occurs and the subsequent operation of the door is blocked, the subsequent operation of opening the door is terminated by stopping the drive of the motor.

[0097] In the example, the initial operation door jam detecting step S111 refers to a state in which the occurrence of structural wall door jam of the initial operation door is detected in consideration of a situation in which the initial operation door is opening when the subsequent operation door is stopped.

[0098] In the example, the initial operation door operation termination step S112 means: the structural wall door jamming of the initial operation door is detected (step S111 is yes), so that during the opening period, when the subsequent operation door is stopped, the initial operation door opens to the maximum angle in the structural wall door jamming state.

[0099] Therefore, the initial operation door operation termination step S112 proceeds to the alternating control step S70 of the initial operation door and the subsequent operation door.

[0100] On the other hand, the alternating control step S70 of the initial operation door and the subsequent operation door is performed, so that in the opening cycle of the double-door 10 ended with the subsequent operation door operation termination step S57 and the initial operation door operation termination step S112, the use of the first door 20A of the first door 20A and the second door 20B as the initial operation door is stored as the first door bit 0 (bit = 0) in the memory of the controller 70, and then when the opening cycle of the double-door 10 is performed again, if the first door bit is 0, the second door bit 1 (bit = 1) is set so that the second door 20B of the first door 20A and the second door 20B is operated as the initial operation door. In this case, the second door bit 1 (bit = 1) replaces the first door bit 0 (bit = 0), which was the previous memory storage value of the controller 70.

[0101] This enables the first door 20A and the second door 20B of the double-door 10 to share motor damage to the first door motor 40A and the second door motor 40B by alternating the initial operation door operations by the first door position 0 (bit=0) and the second door position 1 (bit=1).

[0102] As described above, in the vehicle's double door opening and closing system and control method thereof according to the present embodiment, when the controller 70 (which determines that the double door 10 of the vehicle 100 is located at the center of the boarding / exiting structure 200) operates the first door 20A as the initial operating door and operates the second door 20B as the subsequent operating door with a delay time t, the obstacle door jam caused by the obstacle K during the opening operation of the initial operating door is assumed to be the expected time of the obstacle door jam of the subsequent operating door, the door speed of the subsequent operating door is reduced to prevent motor damage due to overcurrent, and the structural wall door jam caused by the boarding / exiting structure 200 when the opening of the initial operating door is completed is assumed to be the expected time of the structural wall door jam of the subsequent operating door, the motor power consumption can be reduced by reducing the driving current of the subsequent operating door, thereby reducing the motor power consumption while protecting the second door motor 40B of the second door 20B operated as the subsequent operating door from the influence of overcurrent.

Claims

1. A vehicle side door opening and closing system, the system comprising: a pair of bi-directional doors having a first door and a second door configured to open outwardly from the vehicle toward the entry and exit structures; and A controller is configured to: assign the first door and the second door as an initial operation door and a subsequent operation door, and control a first door motor of the first door and a second door motor of the second door to perform an opening operation of the initial operation door, and in an opening operation of the subsequent operation door after the opening operation of the initial operation door, perform the opening operation of the subsequent operation door with a time delay.

2. The vehicle side door opening and closing system according to claim 1, wherein: The time delay is set to a reference hall count of hall sensors respectively arranged at the first door motor and the second door motor.

3. The vehicle side door opening and closing system according to claim 1, wherein: The controller is configured to reduce the opening speed of the subsequent door operation at a detection point of an obstacle door jam during the initial door opening operation or a detection point of a structural wall door jam at the end of the initial door opening operation.

4. The vehicle side door opening and closing system according to claim 3, wherein: A detection point of an obstacle door jam or a detection point of a structural wall door jam is identified by an overcurrent with respect to a driving current of current sensors respectively arranged at the first door motor and the second door motor.

5. The vehicle side door opening and closing system according to claim 3, wherein: The controller is configured to: if no obstacle door jam is detected for the subsequent operation door at the detection point of the obstacle door jam of the initial operation door, restore the opening speed of the subsequent operation door to the opening speed before the opening speed of the subsequent operation door is reduced until the detection point of the structural wall door jam of the subsequent operation door.

6. The vehicle side door opening and closing system according to claim 3, wherein: The controller is configured to: if no structural wall door jam is detected for the subsequent operation door at the detection point of the structural wall door jam of the initial operation door, restore the opening speed of the subsequent operation door to the opening speed before the opening speed of the subsequent operation door is reduced until the detection point of the structural wall door jam of the subsequent operation door.

7. The vehicle side door opening and closing system according to claim 1, wherein: The controller is configured as follows: When an obstacle door jam of the subsequent operation door is detected during the opening operation of the initial operation door and the subsequent operation door, terminating the opening operation of the subsequent operation door; The opening operation of the initial operation door is terminated at the detection point of the structural wall door jam.

8. The vehicle side door opening and closing system according to claim 1, wherein: The controller is configured to utilize door sensors of the vehicle to determine the center positions of the boarding and exit structures.

9. The vehicle side door opening and closing system according to claim 1, wherein: The controller is configured to supply a driving current to the first door motor and the second door motor in response to a docking instruction signal from a button or a mobile device.

10. The vehicle side door opening and closing system according to claim 1, wherein: The controller is configured to exchange the assignment of the first door and the second door as the initial operation door and the subsequent operation door for a second operation of opening the door after the first operation of opening the door.

11. A method for controlling a vehicle's side door opening and closing system, the method comprising: controlling the vehicle's side door opening and closing system using a controller when the vehicle is parked and adapted for advanced cruise control; the method comprising: The first door or the second door of the double-door vehicle is operated as the initial operation door; reducing a door opening speed of a subsequent operating door opening opposite the door from a reference speed in response to detecting an obstacle door jam of the initial operating door during opening of the initial operating door; Operation of the subsequent-operation door is terminated at a reduced door opening speed or at a restored set door opening speed depending on whether an obstacle door jam of the subsequent-operation door is detected during opening of the subsequent-operation door.

12. The method according to claim 11, further comprising: The controller determines the position of the opposite door by using a door sensor that detects the center position of the boarding / exiting structure; In response to a docking instruction signal from a button or a mobile device, an initial operation of opening the vehicle door is started by supplying a motor driving current.

13. The method according to claim 11, further comprising: After detecting that the obstacle door is stuck in the initial operation door, after the opening of the initial operation door is completed, the opening speed of the subsequent operation door is reduced and the opening of the subsequent operation door is started at the reduced opening speed until the Hall count value of the Hall sensor on the side of the initial operation door when the obstacle door is stuck is detected is reached).

14. The method according to claim 13, further comprising: During opening of the subsequent operation door, after the count value of the Hall sensor on the subsequent operation door side reaches the count value of the Hall sensor on the initial operation door side when the obstacle door jam is detected, checking whether the obstacle door jam of the subsequent operation door occurs; If an obstacle or door jam is detected during subsequent door operation, the subsequent door opening operation is immediately terminated; or In the absence of an obstacle door jam of the subsequent operating door being detected, the opening of the subsequent operating door is terminated when the reduced opening speed of the subsequent operating door is restored to the reference speed until a structural wall door jam of the subsequent operating door in the maximum angle opening state of the subsequent operating door is detected.

15. The method according to claim 13, further comprising: The assignment of the first door and the second door as the initial operation door and the subsequent operation door is exchanged for a second operation of the double-door following the first operation of the double-door.

16. A method for controlling a vehicle's side door opening and closing system, the method utilizing a controller to control the vehicle's side door opening and closing system when the vehicle is parked and equipped with advanced cruise control, the method comprising: The first door or the second door of the double-door vehicle is operated as the initial operation door; In response to no obstacle door jam of the initial operation door being detected during the opening operation of the initial operation door, performing the opening operation of the subsequent operation door when a reference hall count of the hall sensor on the initial operation door side has passed; terminating the opening operation of the subsequent-operation door at a reduced opening speed or terminating the opening operation of the subsequent-operation door at a restored set opening speed in response to door jam detected during opening operations of the initial-operation door and the subsequent-operation door being caused by an obstacle door jam of the initial-operation door; In response to the door jam detected during the opening operation of the initial operation door and the subsequent operation door being caused by the obstacle door jam of the subsequent operation door, when the structural wall door jam of the initial operation door is detected after the opening operation of the subsequent operation door is terminated, the opening operation of the initial operation door is terminated.

17. The method according to claim 16, further comprising: The position of the double doors is determined by a door sensor that detects the center position of the boarding / exiting structure; in response to a docking command signal from a button or mobile device, the initial operation of opening the doors is started by supplying a motor driving current.

18. The method according to claim 16, further comprising: In a case where an obstacle door jam of the initially operated door is detected, after the opening operation of the initially operated door is completed, applying a reduced door opening speed to the subsequently operated door until the Hall count of the Hall sensor on the initially operated door side at the time when the obstacle door jam was detected is reached; During the opening operation of the subsequent operation door, after the count value of the Hall sensor on the subsequent operation door side reaches the count value of the Hall sensor on the initial operation door side when the obstacle door jam is detected, the opening operation of the subsequent operation door is terminated by detecting the obstacle door jam of the subsequent operation door, thereby immediately performing the opening operation of the subsequent operation door when the obstacle door jam of the subsequent operation door is detected, or when the obstacle door jam of the subsequent operation door is not detected, the opening operation of the subsequent operation door is terminated after the reduced opening speed of the subsequent operation door is restored to the reference speed until the structural wall door jam of the subsequent operation door is detected.

19. The method of claim 16, further comprising: Detection of door jamming of the structural wall of the initial operation door is recognized as a maximum angle opening state of the initial operation door.

20. The method of claim 16, further comprising: The assignment of the first door and the second door as the initial operation door and the subsequent operation door is exchanged for a second operation of the double-door following the first operation of the double-door.

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