Opening / closing control device and opening / closing system

Abstract

To provide an opening / closing control device capable of preventing contact between an opening / closing body and an object, and an opening / closing system.SOLUTION: The opening / closing control device that controls driving of an opening / closing body comprises: an acquisition unit that acquires information indicating that a plurality of sensors have detected an object; and a control unit that determines whether or not adjacent sensors of the plurality of sensors have detected the object, calculates a correction distance having a value smaller than a distance between the opening / closing body and the object calculated based on a detection result of the adjacent sensors when both the adjacent sensors have detected the object, and determines whether or not to drive the opening / closing body based on the correction distance.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present disclosure relates to a switching control device and a switching system. [Background technology]

[0002] 2. Description of the Related Art Vehicles equipped with a power back door function that opens and closes the back door by the power of a motor have been developed.

[0003] For example, Patent Document 1 discloses an automobile in which multiple obstacle sensors are provided on the vehicle's back door to detect obstacles, and when the obstacle sensors detect that the back door is approaching an obstacle, the opening operation of the back door is stopped, thereby preventing the back door from coming into contact with the obstacle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2009-108556 A Summary of the Invention [Problem to be solved by the invention]

[0005] In general, multiple obstacle sensors are arranged so that the detection areas of adjacent obstacle sensors partially overlap each other so that the adjacent obstacle sensors can detect obstacles between them. However, because the viewing angle of the obstacle sensors is less than 180 degrees, a non-detection area in which the adjacent obstacle sensors cannot detect obstacles is created in front of the overlapping detection areas.

[0006] Therefore, although it is possible to detect the distance between the obstacle and the back door until the obstacle enters the non-detection area, once the obstacle enters the non-detection area, it becomes impossible to detect the distance between the obstacle and the back door. Therefore, when an obstacle is in the non-detection area, it is not possible to determine whether the back door should be stopped.

[0007] The present invention is devised to solve such problems, and has an object to provide an opening / closing control device and an opening / closing system that can prevent contact between the opening / closing body and an object. [Means for solving the problem]

[0008] In order to achieve the above-mentioned object, the opening / closing control device of the present invention is an opening / closing control device that controls the driving of an opening / closing body, and is equipped with an acquisition unit that acquires information indicating that multiple sensors have detected an object, and a control unit that determines whether adjacent sensors among the multiple sensors have detected the object, and if both adjacent sensors have detected the object, calculates a correction distance that is smaller than the distance between the opening / closing body and the object calculated based on the detection results of the adjacent sensors, and determines whether to drive the opening / closing body based on the correction distance.

[0009] The opening / closing system of the present invention includes the opening / closing control device described above and a drive unit that drives the opening / closing body. Effect of the Invention

[0010] According to the present disclosure, contact between the opening / closing body and an object can be prevented. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is an external view showing an example of a rear part of a vehicle to which an opening / closing system according to an embodiment of the present invention is applied; [Diagram 2] A diagram showing an example of the configuration of an opening and closing system [Diagram 3] FIG. 1 is a diagram for explaining threshold switching control that is performed when the door is in a stop mode in which the door stops operating. [Figure 4] FIG. 1 is a diagram for explaining thresholds a to d of the distance between a door and an object used for controlling the operation of the door. [Diagram 5] A flowchart for explaining the operation of the opening / closing control device when the door is opened. [Figure 6] A flowchart for explaining the operation of the opening / closing control device when the door is opened. [Figure 7]A diagram for explaining the detection area of ​​a sensor [Figure 8] FIG. 13 is a diagram for explaining correction processing of the opening and closing control device; [Figure 9] FIG. 13 is a diagram for explaining correction processing of the opening and closing control device; [Figure 10] A flowchart for explaining the operation of the opening / closing control device when the door is opened. [Figure 11] A flowchart for explaining the operation of the opening / closing control device when the door is opened. [Figure 12] FIG. 2 is a diagram for explaining the operation of the opening and closing control device; [Figure 13] FIG. 2 is a diagram for explaining the operation of the opening and closing control device; [Figure 14] FIG. 2 is a diagram for explaining the operation of the opening and closing control device; [Figure 15] FIG. 2 is a diagram for explaining the operation of the opening and closing control device; [Figure 16] FIG. 2 is a diagram for explaining the operation of the opening and closing control device; [Figure 17] FIG. 2 is a diagram for explaining the operation of the opening and closing control device; [Figure 18] A flowchart for explaining the operation of the opening / closing control device when closing a door. [Figure 19] A flowchart for explaining the operation of the opening / closing control device when closing a door. [Figure 20] A diagram explaining the limit angle of bending of the lower door relative to the upper door. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. Note that each of the embodiments described below shows a specific example of the present disclosure. Therefore, the components, the arrangement positions and connection forms of the components shown in the following embodiments are merely examples and are not intended to limit the present disclosure. Therefore, among the components in the following embodiments, components that are not described in the independent claims will be described as optional components.

[0013] In addition, each drawing is a schematic diagram and is not necessarily a precise illustration. In each drawing, the same reference numerals are used for substantially the same configurations, and duplicated explanations are omitted or simplified.

[0014] Fig. 1 is an external view showing an example of the rear part of a vehicle 100 to which a door opening / closing system according to an embodiment of the present invention is applied. Fig. 2 is a diagram showing an example of the configuration of the opening / closing system. Note that, in the following, a case where an opening / closing body opened and closed in the opening / closing system is a vehicle door 1 will be described, but the opening / closing body is not limited to this, and the present invention can be applied to any opening / closing body that opens or closes an opening.

[0015] The vehicle 100 is equipped with a door 1 that opens or closes an opening formed at the rear of the vehicle 100, a drive unit 2 that drives the door 1, a group of sensors 3 that detects objects present around the door 1, and an opening / closing control device 4 that controls the drive unit 2.

[0016] The open state is a state in which the opening of the vehicle 100 is opened by the door 1, and luggage and the like can be loaded and unloaded from the vehicle 100 through the opening. The closed state is a state in which the opening of the vehicle 100 is closed by the door 1. The drive unit 2, the sensor group 3, and the opening / closing control device 4 constitute an opening / closing system 200.

[0017] (Door 1) The door 1 is a hinged tailgate that includes an upper door 1a and a lower door 1b that is rotatably connected to the upper door 1a by a hinge or the like.

[0018] The present invention is not limited to a folding tailgate having an upper door 1a and a lower door 1b, but can also be applied to a tailgate consisting of a single door, and can also be applied to a flip-up type boarding and alighting door, etc.

[0019] The upper door 1a is rotatably attached to the vehicle body 101 via an upper hinge (not shown). The lower door 1b is rotatably connected to the upper door 1a via a lower hinge (not shown).

[0020] (Drive unit 2) The drive unit 2 includes a plurality of first drive units 2a that drive the upper door 1a by converting the rotational motion of the motor into linear motion, and a second drive unit 2b that drives the lower door 1b by converting the rotational motion of the motor into linear motion.

[0021] (First driving unit 2a) The upper door 1a moves from a closed position to an open position by the operation of each of the first drive units 2a. The closed position is a position where the opening of the vehicle body 101 is closed, and the open position is a position where the opening of the vehicle body 101 is opened.

[0022] Each of the first drive units 2a may be any one that can open and close the upper door 1a, and there are no particular limitations on its structure, shape, etc. Also, each of the first drive units 2a may be equipped with a motor, or only one of the first drive units 2a may be equipped with a motor.

[0023] (Second driving unit 2b) The second drive unit 2b is a device that changes the angle of the lower door 1b relative to the upper door 1a. By operating the second drive unit 2b, the bending angle of the lower door 1b relative to the upper door 1a can be increased to increase the degree of bending of the lower door 1b relative to the upper door 1a, and the bending angle of the lower door 1b relative to the upper door 1a can be decreased to decrease the degree of bending of the lower door 1b relative to the upper door 1a.

[0024] The second drive portion 2b may be any drive portion capable of opening and closing the lower door 1b, and there are no particular limitations on its structure, shape, etc.

[0025] The door 1 is provided with a sensor group 3 that detects objects present around the door 1. The objects are, for example, another vehicle, a wall, a utility pole, a person, a ceiling, etc. The sensor group 3 includes, for example, a sensor 31, a sensor 32, a sensor 33, and a sensor 34. In the example of Fig. 1, the sensors 31 and 32 are arranged vertically, and the sensors 32 to 34 are arranged horizontally.

[0026] Each of the sensors 31, 32, 33, and 34 is, for example, a sonar that emits ultrasonic waves. Note that each of the sensors 31, 32, 33, and 34 may be a radio wave sensor, an image sensor, or the like that can detect an object other than the ultrasonic sonar.

[0027] When a sonar emits, for example, a pulsed sound wave of a certain frequency, the pulsed sound wave hits objects around the vehicle and is reflected, and a portion of the pulsed sound wave returns to the sonar.

[0028] The longer the distance from the vehicle 100 to the object, the longer the time it takes for a part of the sound pulse to return to the sonar after it is emitted. The sonar measures the round-trip time it takes from when the sound pulse is emitted until the echo reflected by the object returns to the sonar, and estimates the distance to the object by utilizing the above relationship.

[0029] (Sensor 31) The sensor 31 is provided near the center of the upper door 1a in the left-right direction, near the lower edge of the upper door 1a.

[0030] By providing a sensor 31 near the lower edge of the upper door 1a, for example, it is possible to accurately detect the shortest distance from the door 1 to an object (e.g., a ceiling) during the opening operation in the center-folding mode, thereby preventing the door 1 from coming into contact with the object.

[0031] The center-bending mode is a mode in which the entire door 1 is bent by increasing the bending angle of the lower door 1b relative to the upper door 1a while the upper door 1a is operating or while the operation of the upper door 1a is stopped.

[0032] The bending angle of the lower door 1b relative to the upper door 1a is the rotation angle of the lower door 1b relative to the upper door 1a from a state in which the lower door 1b is open relative to the upper door 1a at the same angle as when the door 1 closes the opening of the vehicle body 101, to a state in which the lower door 1b is driven in a direction in which the passenger compartment side surface of the lower door 1b approaches the passenger compartment side surface of the upper door 1a.

[0033] By disposing the sensor 31 on the upper door 1a, the distance from an object (such as a ceiling) located above the upper door 1a to the upper door 1a can be detected without depending on the movement of the lower door 1b. Therefore, even if the lower door 1b rotates, the upper door 1a can be prevented from coming into contact with an object located above the upper door 1a.

[0034] (Sensor 32) The sensor 32 is provided near the center of the lower door 1b in the left-right direction, near the lower edge of the lower door 1b.

[0035] By providing the sensor 32 near the lower edge of the lower door 1b, for example, it is possible to accurately detect the shortest distance from the door 1 to an object during an opening operation in normal mode, and prevent the door 1 from coming into contact with the object.

[0036] The normal mode is a mode in which the door 1 is operated in a state in which the angle of the lower door 1b relative to the upper door 1a is equal to the angle when the door 1 closes the opening of the vehicle body 101.

[0037] (Sensor 33) When the lower door 1b is viewed from the rear to the front of the vehicle 100, the sensor 33 is provided near the right edge of the lower door 1b.

[0038] By providing the sensor 33 near the right edge of the lower door 1b, for example, when an object is present on the right side of the lower door 1b, the shortest distance from the door 1 to the object during the opening operation in the center-folding mode or normal mode can be accurately detected, and the door 1 can be prevented from coming into contact with the object.

[0039] (Sensor 34) When the lower door 1b is viewed from the rear to the front of the vehicle 100, the sensor 34 is provided near the left edge of the lower door 1b.

[0040] By providing a sensor 34 near the left edge of the lower door 1b, for example, when an object is present on the left side of the lower door 1b, the shortest distance from the door 1 to the object during the opening operation in the center-folding mode or normal mode can be accurately detected, and the door 1 can be prevented from coming into contact with the object.

[0041] Next, a configuration example of the door drive system 200 will be described with reference to Fig. 2. The opening / closing system 200 includes a drive unit 2, a sensor group 3, an opening / closing control device 4, and an operating device 5.

[0042] (Opening and closing control device 4) The opening / closing control device 4 is a device that transitions the door 1 from a closed state to an open state, or transitions the door 1 from an open state to a closed state. The opening / closing control device 4 may be incorporated in an ECU (Electronic Control Unit) that controls each part of the vehicle 100, or may be mounted on the drive unit 2.

[0043] The opening and closing controller 4 comprises an acquisition unit 4a, a detection unit 4b, and a control unit 4c.

[0044] (Acquisition part 4a) The acquisition unit 4a acquires information indicating that a plurality of sensors have detected an object. Specifically, the acquisition unit 4a acquires detection state information 3a indicating the detection state of the object by the sensor group 3. The detection state information 3a is, for example, an echo signal reflected by the object and received by the sensor group 3.

[0045] (Detection unit 4b) The detection unit 4b receives an operation signal 5a transmitted from the operating device 5 and detects an open operation signal that switches the door 1 in the standby mode to an open operation mode, or a close operation signal that switches the door 1 in the standby mode or open operation mode to a close operation mode.

[0046] (Control unit 4c) When the detection unit 4b detects an open operation signal or a close operation signal, the control unit 4c controls the drive unit 2 based on the detection status information 3a so that the angle of the upper door 1a relative to the vehicle body 101 can be changed, and further controls the drive unit 2 so that the bending angle of the lower door 1b relative to the upper door 1a can be changed.

[0047] Specifically, the control unit 4c determines whether or not an object is present near the door 1 based on the detection state information 3a, and calculates the distance from the door 1 to the object. Then, based on the result of the determination, the control unit 4c determines whether or not to change the angle of the upper door 1a relative to the vehicle body 101 and whether or not to change the bending angle of the lower door 1b relative to the upper door 1a, and drives the door 1 according to the results of the determination.

[0048] (Operating device 5) The operation device 5 is a remote control key, an operation switch mounted on the vehicle 100, etc. The operation device 5 transmits an operation signal 5a for opening and closing the upper door 1a and the lower door 1b to the control unit 4c. The operation signal 5a is an open operation signal transmitted when an operation to open the door 1 is performed, or a close operation signal transmitted when an operation to close the door 1 is performed.

[0049] Next, a description will be given of threshold switching control that is performed when the door 1 is in a stop mode in which it stops operating. Fig. 3 is a diagram for explaining threshold switching control that is performed when the door 1 is in a stop mode in which it stops operating. In the following description, the door 1 may be either the upper door 1a or the lower door 1b.

[0050] When the door 1 undergoing an opening operation approaches the object 6 and the distance between the door 1 and the object 6 decreases and reaches a threshold value t1 (corresponding to position A in Figure 3), the control unit 4c of the opening / closing control device 4 transitions the operation of the door 1 from the opening operation mode to the stop mode.

[0051] In this state, when the door 1 swings and the distance between the door 1 and the object 6 becomes smaller than the threshold value t1 (corresponding to position B in Figure 3), the control unit 4c maintains the operation of the door 1 in the stop mode. However, when the distance becomes larger than the threshold value t1 (corresponding to position C in Figure 3), if the stop mode is released, the door 1 will resume its opening operation even though the object 6 is still present.

[0052] Then, when the door 1 resumes its opening motion and approaches the object 6, the door 1 stops moving again, and then resumes its opening motion by swinging again. This causes the door 1 to repeatedly open and stop, making the operation of the door 1 awkward.

[0053] Therefore, when the distance between the door 1 and the object 6 increases, the control unit 4c controls the operation of the door 1 to be kept in the stop mode until the distance reaches a threshold value t2 that is greater than the threshold value t1. This makes it possible to prevent the door 1 from flapping as described above.

[0054] Next, the operation of the opening / closing control device 4 when the door 1 is opened will be described with reference to Figs. 4 to 17. Fig. 4 is a diagram for explaining thresholds a to d of the distance between the door 1 and an object 6 used for controlling the operation of the door 1. Figs. 5, 6, 10 and 11 are flow charts for explaining the operation of the opening / closing control device 4 when the door 1 is opened. Fig. 7 is a diagram for explaining the detection area of ​​the sensor. Figs. 8 and 9 are diagrams for explaining the correction process of the opening / closing control device 4. Figs. 12 to 17 are diagrams for explaining the operation of the opening / closing control device 4.

[0055] In Fig. 4, "operation state" indicates whether the door 1 has not yet started opening or is in the middle of opening. "Door portion" indicates the portion of the door that is the object of control (upper door 1a and lower door 1b). "Movement status" indicates whether the distance between the door 1 and the object 6 is decreasing (approaching) or the distance between the door 1 and the object 6 is increasing (moving away).

[0056] The "threshold value of the distance between the door and the object" indicates a threshold value used when determining the action to be taken by the upper door 1a and the lower door 1b. The magnitude relationship of each threshold value a to d is as follows: <b<c<dとなっている。

[0057] For example, before the door 1 starts its opening operation, when the distance between the door 1 and the object 6 is less than the threshold value a, the operation of the upper door 1a and the lower door 1b is not permitted and the opening operation of the upper door 1a and the lower door 1b is not started, but when the distance between the door 1 and the object 6 is equal to or greater than the threshold value a, the operation of the upper door 1a and the lower door 1b is permitted and the opening operation of the upper door 1a and the lower door 1b is started.

[0058] Here, the opening operation of the lower door 1b refers to an operation of reducing the bending angle of the lower door 1b relative to the upper door 1a to the angle when the door 1 closes the opening of the vehicle body 101.

[0059] Also, when the door 1 is in the opening operation, the door 1 is approaching the object 6, and the distance between the door 1 and the object 6 is less than the threshold value a, the operation of the upper door 1a is set to the stop mode, and the operation of the upper door 1a is stopped. In this case, the operation of the lower door 1b is set to the folding operation mode, and the folding operation of the lower door 1b is performed.

[0060] On the other hand, when the door 1 is in the opening operation, the door 1 is approaching the object 6, and the distance between the door 1 and the object 6 is greater than or equal to the threshold value a, the operation of the upper door 1a is set to the opening operation mode, and the opening operation of the upper door 1a is executed.

[0061] When the distance between the door 1 and the object 6 is equal to or greater than threshold value a and less than threshold value b, the operation of the lower door 1b is set to the folding operation mode, and the folding operation of the lower door 1b is executed. When the distance between the door 1 and the object 6 is equal to or greater than threshold value b and less than threshold value c, the operation of the lower door 1b is set to the stop mode, and the operation of the lower door 1b is stopped. When the distance between the door 1 and the object 6 is equal to or greater than threshold value c, the operation of the lower door 1b is set to the open operation mode, and the opening operation of the lower door 1b is executed.

[0062] Also, when the door 1 is in the opening operation, the door 1 is moving away from the object 6, and the distance between the door 1 and the object 6 is less than the threshold value b, the operation of the upper door 1a is set to the stop mode, and the operation of the upper door 1a is stopped. In this case, the operation of the lower door 1b is set to the folding operation mode, and the folding operation of the lower door 1b is performed.

[0063] On the other hand, when the door 1 is in the opening operation, the door 1 is moving away from the object 6, and the distance between the door 1 and the object 6 is greater than or equal to the threshold value b, the operation of the upper door 1a is set to the opening operation mode, and the opening operation of the upper door 1a is executed.

[0064] When the distance between the door 1 and the object 6 is equal to or greater than threshold value b and less than threshold value c, the operation of the lower door 1b is set to the folding operation mode, and the folding operation of the lower door 1b is executed. When the distance between the door 1 and the object 6 is equal to or greater than threshold value c and less than threshold value d, the operation of the lower door 1b is set to the stop mode, and the operation of the lower door 1b is stopped. When the distance between the door 1 and the object 6 is equal to or greater than threshold value d, the operation of the lower door 1b is set to the open operation mode, and the opening operation of the lower door 1b is executed.

[0065] Here, with regard to the upper door 1a during the opening operation, the threshold value b when the door 1 is moving away from the object 6 is greater than the threshold value a when the door 1 is approaching the object 6, in order to prevent the door 1 from flapping, as mentioned above.

[0066] With respect to the lower door 1b during the opening operation, the threshold value d when the door 1 is moving away from the object 6 is greater than the threshold value c when the door 1 is approaching the object 6, similarly in order to prevent the door 1 from flapping.

[0067] In addition, the threshold value c for the lower door 1b when the door 1 is approaching the object 6 is greater than the threshold value a for the upper door 1a when the door 1 is approaching the object 6 in order to prevent the lower door 1b, which protrudes outward more than the upper door 1a, from coming into contact with the object 6.

[0068] Similarly, the threshold value d for the lower door 1b when the door 1 is moving away from the object 6 is greater than the threshold value b for the upper door 1a when the door 1 is moving away from the object 6, in order to prevent the lower door 1b, which protrudes further outward than the upper door 1a, from coming into contact with the object 6.

[0069] In addition, when the door 1 is approaching the object 6 and the distance between the door 1 and the object 6 becomes less than threshold b which is smaller than threshold c, the lower door 1b is set to the center folding operation mode in order to prevent the lower door 1b, which protrudes further outward than the upper door 1a, from coming into contact with the object 6.

[0070] When the door 1 is moving away from the object 6 and the distance between the door 1 and the object 6 becomes less than a threshold c which is smaller than the threshold d, the lower door 1b is put into a center-folding operation mode in order to prevent the lower door 1b, which protrudes further outward than the upper door 1a, from coming into contact with the object 6.

[0071] In addition, the threshold value d for the lower door 1b when the door 1 is moving away from the object 6 is larger than the threshold value c for the lower door 1b when the door 1 is approaching the object 6. This is to prevent the door 1 from flapping due to frequent switching between the folding operation mode and the stop mode when the door 1 swings.

[0072] The operation of switching controller 4 using these thresholds a to d is as follows: As shown in Figure 5, first, control section 4c of switching controller 4 determines whether or not detection section 4b has detected an opening operation signal (step S1).

[0073] In step S1, the vehicle 100 is parked and in a standby state waiting for reception of an operation signal, and the sensors 31 to are in a sleep state in which the power is turned off.

[0074] When the detection unit 4b has not detected the open operation signal (step S1, NO), the control unit 4c repeatedly executes the process of step S1.

[0075] When the detection unit 4b detects an open operation signal (step S1, YES), if the sensors 31-34 are in a sleep state, the control unit 4c cancels the sleep state and executes a correction process to correct the distance detected by the sensors 31-34 depending on whether or not it satisfies a predetermined condition (step S2).

[0076] The correction processes in steps S2, S5, and S12 in Fig. 5 are similar, and will be described in detail later with reference to Figs. 6 to 9. In this correction process, when a condition described later is satisfied, the distance detected by the sensor group 3 is corrected. In the following description, both the distance corrected when the condition is satisfied and the distance not corrected when the condition is not satisfied are simply referred to as the distance.

[0077] Thereafter, the control unit 4c determines whether or not the distance from the door 1 to the object 6 is equal to or greater than the threshold value a (step S3). In this embodiment, it is assumed that the smallest distance among the distances detected by the sensor group 3 is compared with each of the threshold values ​​a to d.

[0078] The threshold value a is a value used to determine, before the opening operation of the door 1 starts, whether or not to permit the opening operation of the door 1 to start (see threshold value a in FIG. 4 and FIG. 12).

[0079] For example, when the door 1 in the closed position starts to open, if the distance detected by the sensor group 3 is less than the threshold value a, the control unit 4c determines that there is a high possibility that the door 1 will come into contact with an object present around the door 1.

[0080] Therefore, when the distance from the door 1 to the object 6 is less than the threshold a (step S3, NO), the control unit 4c ends the series of processes without opening the door 1. This stops the opening operation of the door 1, and prevents the door 1 from coming into contact with the object 6.

[0081] When the distance from the door 1 to the object 6 is equal to or greater than the threshold a (step S3, YES), the control unit 4c transmits an opening operation command 4c1 for the door 1 to the driving unit 2, thereby starting the opening operation of the door 1 (step S4).

[0082] Next, the control unit 4c executes a correction process to correct the distances detected by the sensors 31 to 34 depending on whether or not they satisfy a predetermined condition (step S5), and determines whether or not the distance from the door 1 to the object 6 is equal to or greater than a threshold value d (step S6).

[0083] The threshold value d is a value used to determine whether the door 1 can be opened without being folded in half, whether the door 1 is approaching the object 6 or moving away from the object 6 during the opening operation of the door 1 (see threshold value d in Figure 4 and Figure 13).

[0084] For example, if the distance detected by the sensor group 3 is equal to or greater than the threshold value d, it is determined that the door 1 can be opened without being folded over, since there is no possibility that the door 1 will come into contact with the object 6 during the opening operation (see FIG. 14).

[0085] On the other hand, if the distance is less than the threshold value d, there is a possibility that the door 1 may come into contact with the object 6 during the opening operation, and therefore appropriate control is performed according to the distance, as described below.

[0086] When the distance from the door 1 to the object 6 is equal to or greater than the threshold value d (step S6, YES), the control unit 4c continues the door opening operation in the normal mode (step S7).

[0087] That is, the control unit 4c controls the drive unit 2 so that the door 1 opens while maintaining the angle of the lower door 1b relative to the upper door 1a at the angle when the door 1 is in the closed position.

[0088] This allows the luggage loading / unloading work to proceed without interruption when loading luggage into the vehicle 100 or unloading luggage from the vehicle 100. Also, since the process of driving the lower door 1b to place the door 1 in the center-folded state is omitted, it is possible to suppress an increase in power consumption of the drive unit 2. Also, it is possible to reduce the time required to return the center-folded door 1 to the angle when it is in the closed position.

[0089] In the subsequent normal mode, if the bending angle of the lower door 1b relative to the upper door 1a is greater than the angle when the door 1 is in the closed position, the control unit 4c also executes a process of controlling the drive unit 2 so that the door 1 opens while returning the bending angle of the lower door 1b relative to the upper door 1a to the angle when the door 1 is in the closed position.

[0090] After that, the control unit 4c judges whether the door 1 is in a fully open state (step S8). The fully open state is a state in which the opening degree of the upper door 1a reaches an upper limit and the bending angle of the lower door 1b relative to the upper door 1a is equal to the angle when the door 1 closes the opening of the vehicle body 101.

[0091] If the door 1 is not fully open (step S8, NO), the control unit 4c repeats the processes from step S5 onwards. If the door 1 is fully open (step S8, YES), the control unit 4c ends the series of processes.

[0092] In step S6, if the distance from the door 1 to the object 6 is less than the threshold value d (step S6, NO), the control unit 4c determines whether the distance from the door 1 to the object 6 is increasing based on the results of continuous detection of the distance from the door 1 to the object 6 by the sensor group 3 (step S9).

[0093] When the distance from the door 1 to the object 6 is not increasing but decreasing (step S9, NO), the approaching operation shown in Fig. 10 is executed (step S10). The approaching operation is an operation executed by the upper door 1a and the lower door 1b when the door 1 is approaching the object 6. The approaching operation will be described later with reference to Fig. 10.

[0094] When the distance from the door 1 to the object 6 is increasing (step S9, YES), the separating operation shown in Fig. 11 is executed (step S11). The separating operation is an operation executed by the upper door 1a and the lower door 1b when the door 1 is moving away from the object 6. The separating operation will be described later with reference to Fig. 11.

[0095] After the process of step S10 or step S11, the control unit 4c executes a correction process to correct the distances detected by the sensors 31 to 34 depending on whether or not a predetermined condition is satisfied (step S12), and determines whether or not the distance from the door 1 to the object 6 is equal to or greater than the threshold value a (step S13). If the result of the process of step S10 or step S11 shows that the distance from the door 1 to the object 6 is equal to or greater than the threshold value a (step S13, YES), the process of step S8 and subsequent steps continues.

[0096] If the distance from the door 1 to the object 6 is still less than the threshold a (step S13, NO) even after the process of step S10 or step S11 is performed, the control unit 4c determines that there is a high possibility that the door 1 will come into contact with an object present around the door 1. Therefore, the control unit 4c ends the series of processes without opening the door 1. This interrupts the opening operation of the door 1, and prevents the door 1 from coming into contact with the object 6.

[0097] Next, the distance correction process shown in steps S2, S5 and S12 in Fig. 5 will be described in detail with reference to Fig. 6 to Fig. 9. As shown in Fig. 6, the control unit 4c of the opening and closing control device 4 determines whether or not adjacent sensors among the plurality of sensors 32 to 34 have both detected the object 6 (step S15).

[0098] 7, the sensor detection areas 42-44 of the sensors 32-34 are sector-shaped areas. A dashed line 50 indicates a position corresponding to a stopping threshold of the distance between the door 1 and the object 6. The stopping threshold is a distance threshold for stopping the operation of the door 1 when the object 6 is detected.

[0099] Additionally, the sensor detection areas 42-44 of adjacent sensors have partial overlapping areas 45, 46. Between the overlapping areas 45, 46 and the door 1, triangular non-detection areas 47, 48 are generated where the adjacent sensors cannot detect the object 6.

[0100] That is, when the object 6 is present in the overlapping portion 45 of the sensor detection areas 42, 43, the adjacent sensors 32, 33 can detect the object 6, and when the object 6 is present in the overlapping portion 46 of the sensor detection areas 42, 44, the adjacent sensors 32, 34 can detect the object 6.

[0101] However, when the object 6 moves closer to the door 1 than the overlapping portions 45, 46, the object 6 moves to the non-detection regions 47, 48 and cannot be detected by the sensors 32 to 34. Figure 7 shows positions 51, 52, and 53 of the object 6 changing from the overlapping portion 46 to the non-detection region 47.

[0102] If both adjacent sensors detect the object 6 (step S15, YES), the control unit 4c calculates a correction distance that is smaller than the distance between the door 1 and the object 6 calculated based on the detection results of the adjacent sensors (step S16).

[0103] For example, the control unit 4c calculates the corrected distance by subtracting a predetermined correction value from the distance between the door 1 and the object 6 calculated based on the detection results of the adjacent sensors.

[0104] 8, the correction value X is obtained by subtracting the stop threshold value Z from the distance Y between the door 1 and an intersection 61 of straight line portions in the sector-shaped sensor detection areas 42, 43 of the two sensors 32, 33. That is, the correction value X is expressed as X=YZ.

[0105] On the other hand, if neither of the adjacent sensors detects the object 6 (step S15, NO), the calculation of the correction distance in step S13 is not performed, and the distance correction process ends directly.

[0106] The comparison with the threshold values ​​a to d shown in FIG. 4 is performed with the corrected distance if the corrected distance has been calculated, and with the distances detected by the sensors 32 to 34 if the corrected distance has not been calculated.

[0107] In this way, when adjacent sensors 32 to 34 both detect object 6, a corrected distance is calculated that is smaller than the distance detected by sensors 32 to 34. Therefore, even if object 6 is subsequently positioned within non-detection areas 47, 48, contact between door 1 and object 6 can be prevented by controlling opening and closing of door 1 based on the corrected distance.

[0108] In addition, by calculating the corrected distance by subtracting the above-mentioned correction value X from the distance detected by the sensors 32 to 34, it becomes possible to stop the door 1 at the time when the object 6 enters the non-detection areas 47, 48, and it is possible to more reliably prevent the door 1 from coming into contact with the object 6.

[0109] In addition, when only one of the adjacent sensors 32-34 detects the object 6, when all of the sensors 32-34 detect the object, or when sensors 33 and 34 detect the object, it is possible to detect the distance between the door 1 and the object 6 until the object approaches the door 1 quite closely, and therefore opening and closing of the door 1 is controlled based on the distance detected by the sensors 32-34 rather than a corrected distance.

[0110] An example of such control is shown in Fig. 9. For example, when the actual measured distance of the object 6 is 200 mm, the correction value X is 20 mm, so the corrected distance is 180 mm. Since the stop threshold is 150 mm and the corrected distance is greater than the stop threshold, the control unit 4c determines that the object 6 is not near the door 1 and continues the opening operation of the door 1.

[0111] Furthermore, when the actual measured distance of the object 6 is 160 mm, the correction value X is 20 mm, so the corrected distance is 140 mm. Since the stop threshold is 150 mm and the corrected distance is smaller than the stop threshold, the control unit 4c determines that the object 6 is near the door 1 and stops the opening operation of the door 1. This prevents the door 1 from coming into contact with the object 6.

[0112] Next, the approach operation shown in step S10 of Fig. 5 will be described in detail with reference to Fig. 10. As shown in Fig. 10, the control unit 4c executes a correction process to correct the distances detected by the sensors 31 to 34 depending on whether or not a predetermined condition is satisfied (step S20). This correction process is similar to that described in Fig. 6. Then, the control unit 4c determines whether or not the distance from the door 1 to the object 6 is less than a threshold a (step S21).

[0113] This threshold value a is a value used to determine whether the operation of the upper door 1a is to be put into the stop mode or into the open operation mode when the door 1 is approaching the object 6 (see threshold value a in FIG. 4).

[0114] Here, the threshold value a used for this determination is set to the same value as the threshold value used for determining whether or not to permit the start of the opening operation of the door 1, but may be set to a value different from that threshold value.

[0115] If the distance from the door 1 to the object 6 is less than the threshold a (step S21, YES), the control unit 4c sets the upper door 1a to a stop mode that stops the door (step S22). On the other hand, if the distance from the door 1 to the object 6 is equal to or greater than the threshold a (step S21, NO), the control unit 4c sets the upper door 1a to an open operation mode that opens the door (step S23).

[0116] After the process of step S22 or step S23, the control unit 4c executes a correction process (step S24) to correct the distances detected by the sensors 31 to 34 depending on whether or not a predetermined condition is satisfied, similar to that described in Fig. 6. Then, the control unit 4c determines whether or not the distance from the door 1 to the object 6 is less than a threshold b that is greater than the threshold a (step S25).

[0117] This threshold b is a value used to determine whether the operation of the lower door 1b should be in the folding mode or the stop mode when the door 1 is approaching the object 6 (see threshold b in FIG. 4 and FIG. 16).

[0118] If the distance from the door 1 to the object 6 is less than the threshold b (step S25, YES), the control unit 4c sets the operation of the lower door 1b to the center-folding mode (step S26). This causes the lower door 1b to start the center-folding operation, preventing the lower door 1b from coming into contact with the object 6 (see FIG. 17).

[0119] On the other hand, if the distance from the door 1 to the object 6 is equal to or greater than the threshold b (step S25, NO), the control unit 4c determines whether the distance from the door 1 to the object 6 is less than a threshold c that is greater than the threshold b (step S27).

[0120] This threshold c is a value used to determine whether the operation of the lower door 1b is to be put into the stop mode or into the open operation mode when the door 1 is approaching the object 6 (see threshold c in FIG. 4).

[0121] If the distance is less than the threshold c (step S27, YES), the control unit 4c sets the operation of the lower door 1b to a stop mode (step S28).If the distance is equal to or greater than the threshold c (step S27, NO), the control unit 4c sets the operation of the lower door 1b to an open operation mode (step S29).

[0122] The opening operation mode of the lower door 1b is a mode in which the lower door 1b rotates so that the bending angle of the lower door 1b relative to the upper door 1a becomes the angle when the door 1 is closing the opening of the vehicle body 101.

[0123] After the process of step S26, step S28, or step S29, the process of step S12 and subsequent steps shown in FIG. 5 is continued.

[0124] Next, the operation at the time of separation shown in step S11 of Fig. 5 will be described in detail with reference to Fig. 11. As shown in Fig. 11, the control unit 4c executes a correction process (step S30) to correct the distances detected by the sensors 31 to 34 according to whether or not a predetermined condition is satisfied, similar to that described in Fig. 6. Then, the control unit 4c determines whether or not the distance from the door 1 to the object 6 is less than a threshold value b (step S31).

[0125] This threshold value b is a value used to determine whether the operation of the upper door 1a is to be set to the stop mode or the open operation mode when the door 1 is moving away from the object 6 (see threshold value b in FIG. 4).

[0126] Here, the threshold value b used for this determination is set to the same value as the threshold value used for determining whether the operation of the lower door 1b should be in the folding operation mode or the stop mode when the door 1 is approaching the object 6, but may be set to a value different from that threshold value. However, the threshold value b is set to a value larger than the threshold value a.

[0127] By making the threshold value b when the door 1 is moving away from the object 6 larger than the threshold value a when the door 1 is approaching the object 6, even if the door 1 swings away from the object 6, the opening operation of the upper door 1a is not immediately started, so that it is possible to prevent the door 1 from repeatedly opening and stopping, resulting in awkward operation.

[0128] If the distance from the door 1 to the object 6 is less than the threshold b (step S31, YES), the control unit 4c sets the upper door 1a to a stop mode that stops the door (step S32). On the other hand, if the distance from the door 1 to the object 6 is equal to or greater than the threshold b (step S31, NO), the control unit 4c sets the upper door 1a to an open operation mode that opens the door (step S33).

[0129] After the process of step S32 or step S33, the control unit 4c executes a correction process (step S34) to correct the distances detected by the sensors 31 to 34 depending on whether or not a predetermined condition is satisfied, similar to that described in Fig. 6. Then, the control unit 4c determines whether or not the distance from the door 1 to the object 6 is less than a threshold c that is greater than the threshold b (step S35).

[0130] The threshold value c is a value used to determine whether the operation of the lower door 1b should be in the folding mode or the stop mode when the door 1 is moving away from the object 6 (see threshold value c in FIG. 4).

[0131] If the distance from the door 1 to the object 6 is less than the threshold c (step S35, YES), the control unit 4c sets the operation of the lower door 1b to the center folding mode (step S36). This causes the lower door 1b to start the center folding operation, preventing the lower door 1b from contacting the object 6 (see FIG. 17).

[0132] On the other hand, if the distance from the door 1 to the object 6 is equal to or greater than the threshold c (step S35, NO), the control unit 4c determines whether the distance from the door 1 to the object 6 is less than a threshold d that is greater than the threshold c (step S37).

[0133] This threshold value d is a value used to determine whether the operation of the lower door 1b is to be set to the stop mode or the open operation mode when the door 1 is moving away from the object 6 (see threshold value d in FIG. 4).

[0134] By making the threshold value d when the door 1 is moving away from the object 6 larger than the threshold value c when the door 1 is approaching the object 6, the opening operation of the lower door 1b is not immediately started even when the door 1 swings away from the object 6, so that it is possible to prevent the door 1 from repeatedly opening and stopping, resulting in awkward operation.

[0135] If the distance is less than the threshold d (step S37, YES), the control unit 4c sets the operation of the lower door 1b to a stop mode (step S38).If the distance is equal to or greater than the threshold c (step S37, NO), the control unit 4c sets the operation of the lower door 1b to an open operation mode (step S39).

[0136] After the process of step S36, step S38, or step S39, the process of step S12 and subsequent steps shown in FIG. 5 is continued.

[0137] The control unit 4c stores operation information of the door 1 during the opening operation (whether or not the door 1 is bent, the start position of the bending, the position where the bending is released, etc.) in the storage unit.

[0138] In addition, in the operation of the opening / closing control device 4 described above, when the correction distance becomes smaller than the threshold value t1 as shown in FIG. 3 and the door 1 is switched from the operating mode to the stop mode, and then the correction distance becomes larger, the control unit 4c performs control to maintain the door 1 in the stop mode until the correction distance reaches a threshold value t2 that is larger than the threshold value t1.

[0139] Without being limited to such processing, the control unit 4c may calculate a correction distance when the distance between the door 1 and the object 6 becomes small, and determine whether or not to drive the door 1 based on the correction distance, and may not calculate the correction distance when the distance between the door 1 and the object 6 becomes large, and may determine whether or not to drive the door 1 based on the distance between the door 1 and the object 6 calculated from the detection results of adjacent sensors.

[0140] This is because when the distance between the door 1 and the object 6 becomes large, the possibility that the door 1 will come into contact with the object 6 becomes low, and therefore there is no need to calculate the correction distance.

[0141] In addition, in the operation of the opening and closing controller 4 described above, correction is made to the distances detected by the sensors 32 to 34 arranged on the left and right, but correction may also be made to the distances detected by the sensors 31, 32 arranged above and below.

[0142] Next, the operation of the opening / closing control device 4 when closing the door 1 will be described with reference to Fig. 18 to Fig. 20. Fig. 18 and Fig. 19 are flow charts for explaining the operation of the opening / closing control device 4 when closing the door 1. Fig. 20 is a diagram for explaining the limit angle of bending of the lower door 1b relative to the upper door 1a.

[0143] First, the control unit 4c of the opening / closing controller 4 judges whether or not the detection unit 4b detects a close operation signal (step S40). In the process of step S40, the control unit 4c may detect a signal (e.g., a pulse) of the first drive unit 2a generated when the door 1 is manually moved in the closing direction, instead of detecting the close operation signal.

[0144] When the detection unit 4b has not detected the closing operation signal (step S40, NO), the control unit 4c repeatedly executes the process of step S40.

[0145] When the detection unit 4b detects the closing operation signal (step S40, YES), the control unit 4c determines whether or not the lower door 1b has been folded during the opening operation of the door 1 (step S41).

[0146] If the center-folding operation of the lower door 1b is performed during the opening operation of the door 1 (step S41, YES), the control unit 4c sets the operation of the lower door 1b to a center-folding operation mode and causes the lower door 1b to perform the center-folding operation (step S42).

[0147] Then, the control unit 4c determines whether the bending angle of the door 1, i.e., the bending angle of the lower door 1b relative to the upper door 1a, has reached the maximum angle α (corresponding to the angle α in Figure 20) when the door 1 performs the opening operation (step S43).

[0148] When the bending angle of the door 1 has not reached the maximum angle α (step S43, NO), the control unit 4c repeatedly executes the processes from step S42 onward.

[0149] When the bending angle of the door 1 reaches the maximum angle α (step S43, YES), the control unit 4c causes the upper door 1a to start the closing operation (step S44).

[0150] In this manner, the control unit 4c rotates the lower door 1b to a predetermined angle relative to the upper door 1a to place the door 1 in a folded state, and then controls the upper door 1a to start closing, thereby making it possible to prevent the door 1 from coming into contact with the object 6 during the closing operation of the door 1 with simple control.

[0151] In addition, the control unit 4c rotates the lower door 1b relative to the upper door 1a to the maximum angle α when the door 1 performs an opening operation, placing the door 1 in a folded state, and then controls the start of the closing operation of the upper door 1a, thereby making it possible to minimize the rotation operation of the lower door 1b to a minimum operation that reduces the possibility of contact with the object 6.

[0152] In this embodiment, the control unit 4c causes the lower door 1b to perform the center folding operation until the door 1 reaches the maximum bending angle α when the door 1 performs the opening operation. However, the control unit 4c may cause the lower door 1b to perform the center folding operation until the door 1 reaches the maximum angle β (corresponding to the limit angle β in FIG. 20) at which the door 1 can physically be bent.

[0153] After the process of step S44, the control unit 4c judges whether the bending angle of the door 1 is equal to or smaller than a reference angle D (see the dashed line in FIG. 20) (step S45).

[0154] The reference angle D is a bending angle of the lower door 1b relative to the upper door 1a, which is preset in accordance with the opening angle of the upper door 1a.

[0155] In the region where the opening degree of the upper door 1a is between 0 and less than e, the reference angle D is 0. In the region where the opening degree of the upper door 1a is between e and less than f, the reference angle D increases according to the opening degree of the upper door 1a. In the region where the opening degree of the upper door 1a is between f and g, which is the maximum opening degree of the upper door 1a, the reference angle D is a constant value.

[0156] If the bending angle of the door 1 is equal to or smaller than the reference angle D (step S45, YES), the control unit 4c judges whether the door 1 is in a fully closed state (step S46). The fully closed state is a state in which the opening degree of the upper door 1a reaches a lower limit and the bending angle of the lower door 1b relative to the upper door 1a reaches a minimum angle, that is, a state in which the door 1 closes the opening of the vehicle body 101.

[0157] In the example of FIG. 20, the minimum angle is 0, but the minimum angle is not limited to 0 and may be an angle greater than 0.

[0158] If the door 1 is not fully closed (step S46, NO), the control section 4c repeats the processes from step S45 onwards.

[0159] If the door 1 is fully closed (step S46, YES), the control unit 4c sets the operation of the upper door 1a to a stop mode (step S47), and ends the series of processes.

[0160] In step S41, if the lower door 1b is not being folded during the opening operation of the door 1 (step S41, NO), the control unit 4c causes the upper door 1a to start the closing operation (step S48).

[0161] After that, the control unit 4c judges whether the door 1 is fully closed or not (step S49). If the door 1 is not fully closed (step S49, NO), the control unit 4c repeats the process of step S49. If the door 1 is fully closed (step S49, YES), the process of step S47 is executed.

[0162] In step S45, if the bending angle of the door 1 is greater than the reference angle D (step S45, NO), the control unit 4c executes an angle adjustment operation (step S50). The angle adjustment operation is an operation for adjusting the bending angle of the lower door 1b relative to the upper door 1a to an angle between the limit angle E (see the solid line E in FIG. 20) and the reference angle D.

[0163] The limit angle E is a bending angle of the lower door 1b relative to the upper door 1a, which is preset in accordance with the opening degree of the upper door 1a.

[0164] In the region where the opening degree of the upper door 1a is between 0 and h, the limit angle E is 0. In the region where the opening degree of the upper door 1a is between h and i, the limit angle E increases according to the opening degree of the upper door 1a. In the region where the opening degree of the upper door 1a is between i and g, which is the maximum opening degree of the upper door 1a, the limit angle E is a constant value.

[0165] Here, in the region where the opening degree of the upper door 1a is equal to or larger than h and smaller than f, the limit angle E is larger than the reference angle D, and in the region where the opening degree of the upper door 1a is equal to or larger than f, the limit angle E coincides with the reference angle D.

[0166] The angle adjustment operation in step S50 will be described later with reference to FIG.

[0167] After the angle adjustment operation adjusts the bending angle of the lower door 1b relative to the upper door 1a to an angle between the limit angle E and the reference angle D, the control unit 4c determines whether the bending angle has reached the minimum angle (step S51).

[0168] If the bending angle has not reached the minimum angle (step S51, NO), the process continues from step S45 onwards.

[0169] When the bending angle reaches the minimum angle (step S51, YES), the control unit 4c sets the operation of the lower door 1b to a stop mode and stops the operation of the lower door 1b (step S52). After that, the process from step S46 onwards is continued.

[0170] Next, the angle adjustment operation shown in step S50 in Fig. 18 will be described in detail with reference to Fig. 19. As shown in Fig. 19, when the bending angle of the door 1 is greater than the reference angle D in the process of step S45 in Fig. 18 (step S45, NO), the control unit 4c sets the operation of the lower door 1b to the center folding return mode while keeping the upper door 1a in the closing operation mode (step S53).

[0171] The center folding return mode is a mode in which the folding angle of the lower door 1b relative to the upper door 1a is reduced.

[0172] For example, in step S42 shown in Fig. 18, when the lower door 1b is caused to perform a center folding operation until the door 1 reaches the maximum angle β at which the door 1 can be physically folded, the folding angle of the door 1 is maintained at the maximum angle β until the opening angle of the upper door 1a becomes less than i shown in Fig. 20. This can further reduce the possibility that the door 1 will come into contact with the object 6.

[0173] Next, the control unit 4c determines whether or not the bending angle of the door 1 is equal to or larger than the limit angle E (step S54).

[0174] If the bending angle of the door 1 is not equal to or greater than the limit angle E (step S54, NO), the process continues from step S51 onwards shown in FIG.

[0175] When the bending angle of the door 1 becomes equal to or larger than the limit angle E (step S54, YES), the control unit 4c sets the upper door 1a to a stop mode (step S55). As a result, the upper door 1a stops closing and the lower door 1b continues the center folding return operation.

[0176] By this process, for example, as shown in the vertical line portion of the two-dot chain line F in Fig. 20, the opening degree of the upper door 1a does not change, and the bending angle of the door 1 is controlled to become smaller. Note that, in the example of Fig. 20, for ease of explanation, the angle adjustment operation is repeated twice, but by adjusting the reference angle D, the door 1 can be closed more smoothly.

[0177] After that, the control unit 4c judges whether or not the bending angle of the door 1 reaches a reference angle D which is smaller than the limit angle E (step S56).

[0178] If the bending angle of the door 1 has not reached the reference angle D (step S56, NO), the control unit 4c repeatedly executes the process of step S56 until the bending angle of the door 1 reaches the reference angle D.

[0179] When the bending angle of the door 1 reaches the reference angle D (step S56, YES), the control unit 4c sets the upper door 1a to a closing operation mode (step S57). As a result, the upper door 1a starts a closing operation. After that, the control unit 4c executes the process from step S51 shown in FIG. 18.

[0180] By this process, as shown by the two-dot chain line F in FIG. 20, for example, the bending angle of the door 1 is controlled to become smaller as the opening degree of the upper door 1a becomes smaller.

[0181] In this way, the bending angle of the lower door 1b relative to the upper door 1a is set to an allowable limit angle E. This is to prevent interference between the door 1 and the vehicle body 101 or luggage loaded in the vehicle.

[0182] Moreover, when the bending angle exceeds the limit angle E, the lower door 1b is controlled to rotate until the bending angle becomes an angle not exceeding the limit angle E.

[0183] In this manner, by rotating the lower door 1b until the bending angle reaches the reference angle D that does not exceed the limit angle E, the bending angle quickly exceeds the limit angle E, and the operation mode of the upper door 1a is frequently switched between the stop mode and the open operation mode, thereby preventing the door 1 from flapping.

[0184] The reference angle D can be set with a certain degree of freedom. For example, the maximum value of the reference angle D may be set to an angle that does not cause fluctuations in the operation of the door 1.

[0185] The minimum value of the reference angle D may be, for example, the minimum angle at which the lower end of the lower door 1b is located closer to the vehicle body 101 than the hinge connecting the upper door 1a and the lower door 1b. This makes it possible to prevent the lower door 1b from contacting the object 6.

[0186] For example, the reference angle D may be set to a value 5 to 10 degrees smaller than the limit angle E when the opening angle of the upper door 1a is in the range of e or more and less than i.

[0187] Note that, here, an example has been described in which the bending angle is made smaller than the limit angle E when the bending angle exceeds the limit angle E, but the bending angle may be set to the same angle as the limit angle E and gradually become smaller as the upper door 1a closes.

[0188] Furthermore, when the opening angle of the upper door 1a is smaller than the opening angle h, the control unit 4c controls the bending angle of the door 1 to be the minimum angle. The minimum angle is the bending angle of the lower door 1b with respect to the upper door 1a in a state in which the door 1 closes the opening of the vehicle body 101, and in the example of Fig. 20, this angle is 0.

[0189] In this way, by setting the bending angle of the door 1 to the minimum angle before the door 1 closes the opening of the vehicle body 101, the door 1 can reliably close the opening of the vehicle body 101.

[0190] Although the embodiment of the present invention has been described above, it will be understood that the following aspects, for example, also fall within the technical scope of the present invention.

[0191] (1) An opening / closing control device that controls the driving of an opening / closing body includes an acquisition unit that acquires information indicating that multiple sensors have detected an object, and a control unit that determines whether adjacent sensors among the multiple sensors have detected the object, and if both adjacent sensors have detected the object, calculates a correction distance that is smaller than the distance between the opening / closing body and the object calculated based on the detection results of the adjacent sensors, and determines whether to drive the opening / closing body based on the correction distance.

[0192] (2) When only one of the adjacent sensors detects the object, the control unit does not calculate the correction distance, and determines whether to drive the opening / closing body based on the distance between the opening / closing body and the object calculated based on the detection result of the other sensor.

[0193] (3) When the correction distance becomes smaller than a first threshold value and the opening / closing body is switched from the operating mode to the stopped mode, and then the correction distance becomes larger, the control unit controls the opening / closing body to be maintained in the stopped mode until the correction distance reaches a second threshold value that is larger than the first threshold value.

[0194] (4) When the distance between the opening / closing body and the object becomes smaller, the control unit calculates the correction distance and determines whether or not to drive the opening / closing body based on the correction distance, and when the distance between the opening / closing body and the object becomes larger, the control unit does not calculate the correction distance and determines whether or not to drive the opening / closing body based on the distance between the opening / closing body and the object calculated from the detection results of the adjacent sensors.

[0195] (5) The adjacent sensors are sensors arranged side by side.

[0196] (6) The opening / closing system includes the opening / closing control device and a drive unit that drives the opening / closing body.

[0197] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims, such as equivalents.

[0198] The above describes the embodiment of the present invention. Note that the above description is an example of a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto. In other words, the description of the configuration of the above device and the shape of each part are examples, and it is clear that various modifications and additions to these examples are possible within the scope of the present invention. [Industrial Applicability]

[0199] The present invention is useful for an opening / closing control device and an opening / closing system for controlling the drive of an opening / clo [Explanation of symbols]

[0200] 1 Door 1a Upper door 1b Lower door 2 Drive unit 2a First drive unit 2b Second drive unit 3 Sensor Group 3a Detection status information 4. Switching control device 4a Acquisition part 4b Detection section 4c Control section 4c1 Opening operation command 5 Operating device 5a Operation signal 6 objects 31 Sensors 32 Sensors 33 Sensors 34 Sensors 42~44 Sensor detection area 45,46 Overlapping part 47,48 Non-detection area 50 Dashed line indicating the position corresponding to the stopping threshold 51, 52, 53 Position of object 61 Intersection of straight line parts of sector-shaped sensor detection area 100 vehicles 101 Vehicle body 200 Opening and Closing System

Claims

1. An opening / closing control device for controlling the drive of an opening / closing body, an acquisition unit that acquires information indicating that the plurality of sensors have detected an object; a control unit that determines whether adjacent sensors among the plurality of sensors have detected the object, and when both adjacent sensors have detected the object, calculates a correction distance that is smaller than the distance between the opening / closing body and the object calculated based on the detection results of the adjacent sensors, and determines whether to drive the opening / closing body based on the correction distance; An opening and closing control device comprising:

2. The opening / closing control device according to claim 1, wherein when only one of the adjacent sensors detects the object, the control unit does not calculate the correction distance, and determines whether or not to drive the opening / closing body based on the distance between the opening / closing body and the object calculated based on the detection result of the other sensor.

3. The opening / closing control device as described in claim 1, wherein when the correction distance becomes smaller than a first threshold and the opening / closing body is switched from an operating mode to a stopped mode, and then the correction distance becomes larger, the control unit controls the opening / closing body to be maintained in the stopped mode until the correction distance reaches a second threshold value larger than the first threshold value.

4. The opening / closing control device described in claim 1, wherein the control unit calculates the correction distance when the distance between the opening / closing body and the object becomes smaller, and determines whether or not to drive the opening / closing body based on the correction distance, and when the distance between the opening / closing body and the object becomes larger, does not calculate the correction distance, and determines whether or not to drive the opening / closing body based on the distance between the opening / closing body and the object calculated from the detection results of the adjacent sensors.

5. The opening and closing control device according to claim 1 , wherein the adjacent sensors are arranged side by side.

6. The opening and closing control device according to claim 1 , A drive unit that drives the opening and closing body; An opening and closing system comprising:

Images