Door opening / closing device

Abstract

To provide a door opening / closing device capable of securing a region in which a user carries out a setting action along a door, thereby improving operability of opening / closing the door, and a door opening / closing method.SOLUTION: A door opening / closing device 10 includes a setting part 34 that sets at least a portion of one of a first detection range 16A and a second detection range 16B as a start region 35 for detecting first stages Sm1a, Sm2a of setting actions Sm1, Sm2 by a detected object 7, and sets a portion of the other of the first detection range 16A and the second detection range 16B as a trigger region 36 for detecting second stages Sm1b, Sm2b of the setting actions Sm1, Sm2, based on first distances Md1, Md2 measured by a measurement part 32. The control part 30 opens / closes a door 2 by a drive part 28 when it determines that the setting actions Sm1, Sm2 including a movement between the start region 35 and the trigger region 36 have been carried out by the detected object 7 due to a change in the distances Md1, Md2 measured by the measurement part 32.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a door opening and closing device. [Background technology]

[0002] There is a known door opening and closing device that can automatically open and close a door without the user touching the door handle. The door opening and closing device has a pair of detection units made of ultrasonic sensors, and detects a user who is present within a fan-shaped detection range generated by ultrasonic waves emitted by the detection units. When it is determined that the user has performed a predetermined setting operation based on a change in distance obtained from the detection results of the pair of detection units, the door opening and closing device opens and closes the door using a drive unit.

[0003] Patent Document 1 discloses a door opening and closing device that determines the user's entry position based on the detection results of a pair of detection units, sets the mode to either a side access mode or a center access mode, detects the setting operation, and opens and closes the door. In the side access mode, the setting operation of the user performed along a direction parallel to the door is detected based on the detection results of one of the pair of detection units. In the center access mode, the setting operation of the user performed along a direction intersecting the door is detected based on the detection results of each of the pair of detection units. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2020-180523 A Summary of the Invention [Problem to be solved by the invention]

[0005] The detection range of the detector is a fan shape that gradually widens with distance from the detector, so the area where the user can be detected is narrow near the door. Therefore, in the side access mode, it is difficult to secure an area (distance) for the user to perform the setting operation. In this respect, the door opening and closing device of Patent Document 1 has room for improvement in terms of operability.

[0006] An object of the present invention is to provide a door opening and closing device and a door opening and closing method that can ensure an area in which a user can perform setting operations along the door and improve the operability of opening and closing the door. [Means for solving the problem]

[0007] The present invention relates to a door opening / closing device including a drive unit that opens and closes a door relative to a vehicle body, a first detection unit that repeatedly detects an object to be detected that exists within a first detection range that is set around the door, a second detection unit that is arranged horizontally spaced apart from the first detection unit and repeatedly detects the object to be detected that exists within a second detection range that is set around the door so as to partially overlap with the first detection range, a measurement unit that measures a first distance from the first detection unit to the object to be detected based on a detection result from the first detection unit, and measures a second distance from the second detection unit to the object to be detected based on a detection result from the second detection unit, and The present invention provides a door opening and closing device comprising: a setting unit that sets at least a part of one of the first detection range and the second detection range as a first zone for detecting a first stage of a setting operation by the detected object based on the distance and the second distance, and sets a part of the other of the first detection range and the second detection range as a second zone for detecting a second stage of the setting operation; and a control unit that opens and closes the door by the drive unit when it is determined that the detected object has performed the setting operation including movement between the first zone and the second zone based on the change in the first distance and the change in the second distance measured by the measurement unit. Effect of the Invention

[0008] In the door opening and closing device of the present invention, an area in which a user can perform setting operations along the door can be secured, thereby improving the operability of opening and closing the door. [Brief description of the drawings]

[0009] [Figure 1] 1 is a block diagram of a door opening and closing device according to an embodiment of the present invention; [Diagram 2] FIG. [Diagram 3] FIG. [Figure 4] FIG. 4 is a plan view showing an overview of mode settings for a first detection range and a second detection range. [Diagram 5] FIG. 4 is a plan view showing a first detection range and a second detection range. [Figure 6] 6 is a table showing mode settings based on an object detected by the first detection unit and the second detection unit and the position of the object relative to the door. [Figure 7] FIG. 13 is a plan view showing the start and trigger zones in left access mode. [Figure 8] FIG. 13 is a plan view showing the start area and trigger area in right access mode. [Figure 9] FIG. 13 is a plan view showing the start and trigger areas in central access mode. [Figure 10] 4 is a flowchart showing a main control by a control unit. [Figure 11A] 11 is a flowchart showing a mode setting process in FIG. 10 . [Figure 11B] A continuation of the flowchart in FIG. 11A. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0010] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0011] 1 to 3, a vehicle door opening and closing device 10 according to an embodiment of the present invention automatically opens and closes the door 2 without requiring the user to use his / her hands when the user performs predetermined setting actions Sm1 to Sm3 (see Figs. 7 to 9) in front of the door 2 of the vehicle 1. The door 2 to be controlled is a hatchback door in this embodiment, but may be something other than a hatchback door.

[0012] 1, the door opening and closing device 10 includes a detection unit 12, a drive unit 28, an authentication unit 29, and a control unit 30. In FIG. 1, the portion enclosed by the dashed dotted line is the newly added configuration, and an existing part mounted on the vehicle 1 is used for the authentication unit 29. In the case of the vehicle 1 equipped with a back sonar sensor for monitoring the rear of the vehicle 1 while driving, the detection unit 12 can also be an existing part. In the case of the vehicle 1 equipped with a remote control type auto door that can automatically open and close the door 2 with a key (portable device), the drive unit 28 can also be an existing part.

[0013] The detection unit 12 includes two detection parts 13A and 13B, and detects moving objects including the user and third parties other than the user, as well as stationary objects such as obstacles such as walls. These moving objects and stationary objects are the detected objects 7 in the present invention.

[0014] 1, the control unit 30 includes a memory unit 31, a measurement unit 32 that measures the distance from the detection units 13A and 13B to the detected object 7, a determination unit 33 that determines whether the detected object 7 is a moving object or a stationary object, and a setting unit 34 that sets the mode. Referring to FIG. 4, the setting unit 34 sets the mode to one of the left access mode (first access mode), right access mode (second access mode), and center access mode (third access mode) depending on the position of the initially detected detected object 7 relative to the door 2. In these modes, the arrangement of the start area (first area) 35 and the trigger area (second area) 36 is different. The control unit 30 detects the movement of the moving object determined by the determination unit 33 based on changes in the distances Md1, Md2 measured by the measurement unit 32, and when it determines that any of the set operations Sm1 to Sm3 (see Figures 7 to 9) including movement between the start area 35 and the trigger area 36 set by the setting unit 34 has been established, it causes the drive unit 28 to open or close the door 2.

[0015] 7 to 9, the set motions Sm1 to Sm3 are set as a series of forward and backward motions (multiple stages), which are different for the left access mode, the right access mode, and the center access mode. Referring to FIG. 7, the first set motion Sm1 is for the left access mode when the detected object 7 approaches the door 2 from the left side of the vehicle body 3, and is set as a series of motions of forward movement to the right along the door 2 and then retreating to the left (Sm1a→Sm1b→Sm1c). Referring to FIG. 8, the second set motion Sm2 is for the right access mode when the user approaches the door 2 from the right side of the vehicle body 3, and is set as a series of motions of forward movement to the left along the door 2 and then retreating to the right (Sm2a→Sm2b→Sm2c). 9, the third set motion Sm3 is for use in the central access mode when the user approaches the door 2 from the rear side of the vehicle body 3, and is set to a series of movements of moving forward toward the door 2 and then retreating away from the door 2 (Sm3a→Sm3b→Sm3c). However, the set motions Sm1 to Sm3 may be other than a series of movements of moving forward and backward.

[0016] The detection unit 12, the drive section 28, the authentication section 29, and the control section 30 will be specifically described below.

[0017] 1 to 4, the detection unit 12 includes two detection units 13A, 13B attached to the rear bumper 4 of the vehicle body 3 so as to be spaced apart in the vehicle width direction (horizontal direction) along the door 2. The detection units 13A, 13B repeatedly detect the object 7 to be detected that is located within the detection ranges 16A, 16B that are respectively determined every set time (e.g., 80 msec). In the following description, the one located on the left side when viewed from the front facing the door 2 may be referred to as the first detection unit 13A, and the one located on the right side when viewed from the front facing the door 2 may be referred to as the second detection unit 13B.

[0018] 1, the detection units 13A and 13B are both ultrasonic sensors equipped with a wave transmitter 14 and a wave receiver 15, and are communicatively connected to a control unit 30 via a communication cable.

[0019] 5, ultrasonic waves emitted from the transmitters 14 of the detection units 13A and 13B form detection ranges 16A and 16B that spread from the door 2 toward the rear in a generally conical shape. On the ground, the detection ranges 16A and 16B spread in a fan shape (for example, with a central angle of about 90 degrees). The detection central axes (not shown) of the detection ranges 16A and 16B extend in parallel toward the rear side in the vehicle length direction. The detection ranges 16A and 16B partially overlap. In the following description, the detection range by the first detection unit 13A may be referred to as the first detection range 16A, and the detection range by the second detection unit 13B may be referred to as the second detection range 16B.

[0020] The reflected ultrasonic waves transmitted from the transmitter 14 are received by the receiver 15. This detection result is output to the control unit 30 and used to calculate the distance to the object 7 and the moving speed of the object 7, and to determine the presence or absence of the object 7 within the detection ranges 16A, 16B. However, the detection units 13A, 13B may be communicatively connected to an ECU (Electronic Control Unit) 5 of the vehicle 1, and the detection results of the detection units 13A, 13B may be input from the ECU 5 to the control unit 30.

[0021] The detection ranges 16A and 16B of the detection units 13A and 13B will be described in more detail with reference to FIG.

[0022] The detection ranges 16A and 16B are set in an area up to a set distance D1 (for example, 900 mm) from the detection units 13A and 13B, respectively. The entire area including the first detection range 16A and the second detection range 16B is an approach area 20 for starting detection of the setting operations Sm1 to Sm3 when a moving object enters.

[0023] The detection ranges 16A, 16B are divided into first sections 17A, 17B and third sections 19A, 19B by distances D1 to D3 from the detection units 13A, 13B. The division is electrically performed by the setting unit 34 to identify the position of the object 7 to be detected in the approach area 20. The set distance D2 is shorter than the set distance D1 (for example, 500 mm), and the set distance D3 is shorter than the set distance D2 (for example, 200 mm). The area between the set distances D1, D2 is the first section (first part) 17A, 17B, the area between the set distances D2, D3 is the second section (second part) 18A, 18B, and the area between the set distance D3 and the detection units 13A, 13B is the third section (third part) 19A, 19B. The first sections 17A, 17B partially overlap with each other, and the second sections 18A, 18B also partially overlap with each other. In other words, the distances D2 and D3 are set so as to create such an overlapping state. In the present embodiment, there is no overlap between the third sections 19A and 19B. However, D1 may be set so that the third sections 19A and 19B also partially overlap.

[0024] In the approach area 20 consisting of the thus partitioned detection ranges 16A, 16B, three types of overlapping areas 21, 22, 23A, 23B and three types of non-overlapping areas 24A, 24B to 26A, 26B are formed. The object 7 located in the overlapping areas 21, 22, 23A, 23B is detected by both the first detection unit 13A and the second detection unit 13B. The object 7 located in the non-overlapping areas 24A, 25A, 26A is detected by the first detection unit 13A, but is not detected by the second detection unit 13B. The object 7 located in the non-overlapping areas 24B, 25B, 26B is detected by the second detection unit 13B, but is not detected by the first detection unit 13A.

[0025] The first overlapping region 21 is formed by an overlapping region between the first section 17A of the first detection range 16A and the first section 17B of the second detection range 16B.

[0026] The second overlapping area 22 is an area where the second section 18A of the first detection range 16A and the second section 18B of the second detection range 16B overlap. The second overlapping area 22 is adjacent to the first overlapping area 21 on the vehicle body 3 side.

[0027] The third overlapping region 23A is an overlapping region between the first section 17A of the first detection range 16A and the second section 18B of the second detection range 16B. The third overlapping region 23B is an overlapping region between the second section 18A of the first detection range 16A and the first section 17B of the second detection range 16B. In FIG. 5, the third overlapping region 23A is adjacent to the right side of the overlapping regions 21 and 22, and the third overlapping region 23B is adjacent to the left side of the overlapping regions 21 and 22.

[0028] The first non-overlapping region 24A is an area of ​​the first section 17A of the first detection range 16A that does not overlap with the second detection range 16B. The first non-overlapping region 24B is an area of ​​the first section 17B of the second detection range 16B that does not overlap with the first detection range 16A. In Fig. 5, the first non-overlapping region 24A is adjacent to the left side of the first overlapping region 21, and the first non-overlapping region 24B is adjacent to the right side of the first overlapping region 21.

[0029] The second non-overlapping region 25A is an area of ​​the second section 18A of the first detection range 16A that does not overlap with the second detection range 16B. The second non-overlapping region 25B is an area of ​​the second section 18B of the second detection range 16B that does not overlap with the first detection range 16A. In Fig. 5, the second non-overlapping region 25A is adjacent to the vehicle body 3 side of the first non-overlapping region 24A and adjacent to the left side of the overlapping regions 22, 23B, and the second non-overlapping region 25B is adjacent to the vehicle body 3 side of the first non-overlapping region 24B and adjacent to the right side of the overlapping regions 22, 23A.

[0030] The third non-overlapping region 26A is made up of the third section 19A of the first detection range 16A. The third non-overlapping region 26B is made up of the third section 19B of the second detection range 16B. In Fig. 5, the third non-overlapping region 26A is adjacent to the second non-overlapping region 25A on the vehicle body 3 side, and the third non-overlapping region 26B is adjacent to the second non-overlapping region 25B on the vehicle body 3 side.

[0031] 1 to 3, the drive unit 28 is disposed between the vehicle body 3 and the door 2, and is driven by an electrically connected control unit 30 to open and close the door 2. Although the configuration of the drive unit 28 is not specifically shown, it is composed of a motor, a gear mechanism, a damper, etc., that can rotate the door 2 in an opening direction and a closing direction. However, the drive unit 28 may be electrically connected to the ECU 5, and the control unit 30 may drive the drive unit 28 via the ECU 5.

[0032] The authentication unit 29 communicates with the key by LF (Low Frequency) signals, and includes a transceiver having an exterior LF transmitting / receiving antenna that authenticates the key outside the vehicle, and judges whether the moving object is the user (authentication process). The transceiver is communicably connected to the ECU 5 by a communication cable, and is activated in response to a command from the ECU 5 to perform communication related to the authentication process. In the authentication process, the authentication unit 29 requests the key to transmit an authentication code, and compares the authentication code received from the key with a registered regular code. If the authentication code matches the regular code (authentication established), the ECU 5 electrically connected to the authentication unit 29 judges that the moving object is the user, and allows the drive unit 28 to open and close the door 2. If the authentication code does not match the regular code (authentication not established), the ECU 5 electrically connected to the authentication unit 29 judges that the moving object is a third party, and disables the opening and closing of the door 2 by the drive unit 28. Disabling means that the drive unit 28 is not driven, for example, by blocking the drive signal output from the control unit 30 from being input to the drive unit 28.

[0033] 1, the control unit 30 is communicatively connected to the detection unit 12 and electrically connected to the drive unit 28. The control unit 30 is communicatively or electrically connected to the ECU 5. The control unit 30 includes a memory unit 31, a measurement unit 32, a determination unit 33, and a setting unit 34, and is configured by a single or multiple microcomputers and other electronic devices. However, the memory unit 31, the measurement unit 32, the determination unit 33, and the setting unit 34 may be configured individually by a microcomputer other than the control unit 30 and other electronic devices.

[0034] The storage unit 31 stores a control program, setting data such as thresholds and judgment values ​​used in the control program, and a data table for calculating distances from detection results of the detection units 13A and 13B. The storage unit 31 also stores measured distances Md1 and Md2 measured by the measurement unit 32. In this embodiment, ten measured distances Md1a, Md2a to Md1j, and Md2j can be stored, and when the latest measured distances Md1 and Md2 are stored in the storage unit 31 that has stored ten measured distances, the oldest measured distances Md1j and Md2j are erased.

[0035] The measurement unit 32 measures a first distance Md1 from the first detection unit 13A to the object 7 based on the time (detection result) from when the wave transmitter 14 of the first detection unit 13A transmits an ultrasonic wave to when the wave receiver 15 of the first detection unit 13A receives the reflected wave. Also, the measurement unit 32 measures a second distance Md2 from the second detection unit 13B to the object 7 based on the time from when the wave transmitter 14 of the second detection unit 13B transmits an ultrasonic wave to when the wave receiver 15 of the second detection unit 13B receives the reflected wave. In other words, the measurement unit 32 and the detection units 13A and 13B constitute two distance measuring sensors that measure the distances from the detection units 13A and 13B to the object 7. When two or more objects 7 are present at different positions within the detection ranges 16A, 16B, the number of measurement results by the detection units 13A, 13B will be the same as the number of objects 7, but the measurement unit 32 calculates the distances Md1, Md2 to the objects 7 using the detection result that was received earliest. In other words, the first object 7 detected by the first detection unit 13A and the second object 7 detected by the second detection unit 13B may or may not be the same object. These measured distances Md1, Md2 are stored in the memory unit 31.

[0036] The determination unit 33 determines whether the object 7 detected by the detection units 13A and 13B is a moving object or a stationary object. Specifically, the determination unit 33 calculates a moving speed Ms1 of the object 7 detected by the first detection unit 13A (first object) based on the latest measured first measured distance Md1 and the previous first measured distance Md1a stored in the storage unit 31. The determination unit 33 compares the moving speed Ms1 with a predetermined judgment value (set speed) Jv (e.g., 20 mm / s), and determines that the object 7 is a moving object if the moving speed Ms1 is equal to or greater than the judgment value Jv, and determines that the object 7 is a stationary object if the moving speed Ms1 is less than the judgment value Jv. The determination unit 33 also calculates a moving speed Ms2 of the object 7 detected by the second detection unit 13B (second object) based on the latest measured second measured distance Md2 and the previous second measured distance Md2a stored in the storage unit 31. This moving speed Ms2 is compared with a predetermined judgment value Jv, and if the moving speed Ms1 is greater than or equal to the judgment value Jv, the detected object 7 is judged to be a moving object, and if the moving speed Ms1 is less than the judgment value Jv, the detected object 7 is judged to be a stationary object.

[0037] If the difference (change amount) between the measured distances Md1, Md2 measured this time and the measured distances Md1a, Md2a measured last time is large, the moving distance of the detected object 7 is long and the moving speeds Ms1, Ms2 are fast. Conversely, if the change amount is small, the moving distance of the detected object 7 is short and the moving speeds Ms1, Ms2 are slow. Therefore, the determination unit 33 can determine whether the detected object 7 detected by the first detection unit 13A is a moving object or a stationary object based on the change in the measured first measured distance Md1, and can determine whether the detected object 7 detected by the second detection unit 13B is a moving object or a stationary object based on the change in the measured second measured distance Md2. The determination of whether the detected object is a moving object or a stationary object may be made by only one comparison, but it is preferable to make it true when the same comparison result is shown a predetermined number of times (e.g., 8 times = 640 msec) in succession. The average slope (rate of change in distance) of the detection results for the predetermined number of times may be set as the moving speeds Ms1, Ms2.

[0038] 4, the setting unit 34 sets the mode to one of the left access mode, the right access mode, and the center access mode based on the position of the detected object 7 relative to the door 2. In each of these modes, a start area 35 for detecting the first stages Sm1a to Sm3a and a trigger area 36 for detecting the second stages Sm1b to Sm3b of the setting operations Sm1 to Sm3 shown in Fig. 7 to Fig. 9 are set. The arrangement of the start area 35 and the trigger area 36 differs for each access mode.

[0039] Specifically, as shown in Fig. 6, when the determination unit 33 determines that the object 7 detected by the first detection unit 13A is a moving object and the object 7 detected by the second detection unit 13B is a stationary object, the setting unit 34 sets the left access mode shown in Fig. 7. On the other hand, when the determination unit 33 determines that the object 7 detected by the first detection unit 13A is a stationary object and the object 7 detected by the second detection unit 13B is a moving object, the setting unit 34 sets the right access mode shown in Fig. 8.

[0040] When the determination unit 33 determines that both the object 7 detected by the first detection unit 13A and the object 7 detected by the second detection unit 13B are moving objects, the setting unit 34 sets the mode based on the difference (Md1-Md2) between the first measured distance Md1 and the second measured distance Md2 by the measurement unit 32 and a preset setting range Sr. For example, the lower limit Sr1 of the setting range Sr is -100 mm, and the upper limit Sr2 of the setting range Sr is +100 mm. In other words, the setting unit 34 sets the mode to one of the left access mode, the right access mode, and the center access mode depending on whether the difference between the measured distances Md1 and Md2 is equal to or greater than the lower limit Sr1 and equal to or less than the upper limit Sr2.

[0041] When the difference (Md1-Md2) between the measured distances Md1 and Md2 is outside the set range Sr and the second measured distance Md2 is longer than the first measured distance Md1, that is, when the object to be detected 7 is located on the first detection unit 13A side, the setting unit 34 sets the left access mode. When the difference (Md1-Md2) between the measured distances Md1 and Md2 is outside the set range Sr and the second measured distance Md2 is shorter than the first measured distance Md1, that is, when the object to be detected 7 is located on the second detection unit 13B side, the setting unit 34 sets the right access mode. When the difference (Md1-Md2) between the measured distances Md1 and Md2 is within the set range Sr, that is, when the object to be detected 7 is located toward the center of the door 2, the setting unit 34 sets the center access mode.

[0042] On the other hand, when the judgment unit 33 judges that both the object 7 detected by the first detection unit 13A and the object 7 detected by the second detection unit 13B are stationary objects, the setting unit 34 maintains the previous mode setting that is currently set without changing the mode to any of the left access mode, right access mode, and center access mode.

[0043] 5 and 7, in the left access mode, the setting unit 34 sets the overlapping areas 21 and 23B and the non-overlapping areas 24A, 25A, and 26A as the start area 35, and sets the overlapping areas 22 and 23A and the non-overlapping area 25B as the trigger area 36. The non-overlapping areas 24B and 26B are not set as either the start area 35 or the trigger area 36.

[0044] That is, in the left access mode, the setting unit 34 sets the first detection range 16A (sections 17A to 19A) except for the overlapping area 22, 23A where the second section 18B of the second detection range 16B overlaps as the start section 35, and sets the second section 18B of the second detection range 16B as the trigger section 36. That is, in the left access mode, the setting unit 34 sets a part of the first detection range 16A as the start section 35, and sets a part of the second detection range 16B as the trigger section 36. However, it is also possible to set the entire first detection range 16A as the start section 35, and set the area of ​​the second section 18B of the second detection range 16B except for the overlapping areas 22, 23A as the trigger section 36. Also, the third section 19A (non-overlapping area 26A) that is too close to the detection unit 13A and may cause erroneous detection may be excluded from the start section 35. Also, whether or not the non-overlapping area 26A is included in the start section 35 may be changed depending on the paragraphs Sm1a to Sm1c in the setting operation Sm1.

[0045] 5 and 8, in the right access mode, the setting unit 34 sets the overlapping areas 21 and 23A and the non-overlapping areas 24B, 25B, and 26B as the start area 35, and sets the overlapping areas 22 and 23B and the non-overlapping area 25A as the trigger area 36. The non-overlapping areas 24A and 26A are not set as either the start area 35 or the trigger area 36.

[0046] That is, in the right access mode, the setting unit 34 sets the second detection range 16B (sections 17B to 19B) except for the overlapping area 22, 23B where the second section 18A of the first detection range 16A overlaps as the start section 35, and sets the second section 18A of the first detection range 16A as the trigger section 36. That is, in the right access mode, the setting unit 34 sets a part of the second detection range 16B as the start section 35, and sets a part of the first detection range 16A as the trigger section 36. However, it is also possible to set the entire second detection range 16B as the start section 35, and set the area of ​​the second section 18A of the first detection range 16A except for the overlapping areas 22, 23B as the trigger section 36. Also, the third section 19B (non-overlapping area 26B), which is too close to the detection unit 13B and may cause erroneous detection, may be excluded from the start section 35. Also, whether or not the non-overlapping area 26B is included in the start section 35 may be changed depending on the paragraphs Sm2a to Sm2c in the setting operation Sm2.

[0047] As described above, when a moving object enters along the door 2 from the side of the vehicle body 3, the setting unit 34 sets a part of one of the detection ranges 16A, 16B as the start area 35, and sets a part of the other of the detection ranges 16A, 16B as the trigger area 36. Therefore, the area of ​​the start area 35 for detecting the first stages Sm1a, Sm2a of the setting operations Sm1, Sm2 can be secured widely. Therefore, the distance to the trigger area 36 for detecting the second stages Sm1b, Sm2b of the setting operations Sm1, Sm2 can be secured. If the area of ​​the start area 35 is narrow, the distance to the trigger area 36 will also be short, so there is a possibility that the moving object has already moved to the trigger area 36 when the setting unit 34 completes the mode setting. In contrast, in this embodiment, the area of ​​the start area 35 can be secured widely, so that such inconveniences can be suppressed.

[0048] 5 and 9, in the central access mode, the setting unit 34 sets the overlapping areas 21, 23A, and 23B as a start area 35, and sets the overlapping area 22 as a trigger area 36. The non-overlapping areas 24A, 24B to 26A and 26B are not set as either the start area 35 or the trigger area 36.

[0049] That is, in the central access mode, the setting unit 34 sets the areas 21, 23A, and 23B other than the overlap area 22 of the second sections 18A and 18B of the first detection range 16A and the second detection range 16B as the start area 35, and sets the overlap area 22 of the second sections 18A and 18B of the second sections 18A and 18B as the trigger area 36. However, the overlap areas 23A and 23B do not have to be set as either the start area 35 or the trigger area 36. In this way, in the central access mode, the setting unit 34 sets a part of the overlap area of ​​the first detection range 16A and the second detection range 16B that is located away from the door 2 as the start area 35, and sets a part that is closer to the door 2 than the start area 35 as the trigger area 36.

[0050] When the vehicle 1 is parked and the engine is stopped, the control unit 30 starts detection of the detected object 7 by the detection units 13A and 13B, and performs control for automatically opening and closing the door 2. When the control unit 30 determines that the detected object 7, which is a moving object, has performed one of the setting operations Sm1 to Sm3 based on a change in the measured distances Md1 and Md2 obtained from the detection results of the detection units 13A and 13B, that is, a change in the position of the moving object determined by the determination unit 33, the control unit 30 outputs a drive signal for opening and closing the door 2 by the drive unit 28. The measured distances Md1 and Md2 of the detected object 7, which the determination unit 33 has determined to be a stationary object, are not used in determining whether the setting operations Sm1 to Sm3 are established.

[0051] 7, the setting operation Sm1 of the left access mode is set to a series of movements in which the moving object moves from a state in which it is located in the start area 35 (areas 21, 23B, 24A, 25A, 26A) shown in Sm1a to the trigger area 36 (areas 22, 23A, 25B) shown in Sm1b, and returns to the start area 35 (areas 21, 23B, 24A, 25A, 26A) shown in Sm1c. However, for the third stage Sm1c of returning to the start area 35, the non-overlapping area 26A does not have to be included in the start area 35.

[0052] 5 and 7, when the first measured distance Md1 indicates that the first object 7 is located in any one of the first section 17A to the third section 19A, and the second measured distance Md2 indicates that the second object 7 is not detected, the control unit 30 can determine that the object 7 is located in any one of the non-overlapping areas 24A to 26A. When the first measured distance Md1 indicates that the first object 7 is located in the first section 17A or the second section 18A, and the second measured distance Md2 indicates that the second object 7 is located in the first section 17B, the control unit 30 can determine that the object 7 is located in the overlapping area 21 or 23B. In these cases, the control unit 30 can determine that the object 7 is located in the start area 35 of the left access mode.

[0053] When the first measured distance Md1 indicates that the first object 7 is located in the first section 17A or the second section 18A, and the second measured distance Md2 indicates that the second object 7 is located in the second section 18B, the control unit 30 can determine that the object 7 is located in the overlapping region 23A or 22. When the first measured distance Md1 indicates that the first object 7 is not detected, and the second measured distance Md2 indicates that the second object 7 is located in the second section 18B, the control unit 30 can determine that the object 7 is located in the non-overlapping region 25B. In these cases, the control unit 30 can determine that the object 7 is located in the trigger zone 36 of the left access mode.

[0054] 8, the setting operation Sm2 of the right access mode is set to a series of movements in which the moving object moves from a state in which it is located in the start area 35 (areas 21, 23A, 24B, 25B, 26B) shown in Sm2a to the trigger area 36 (areas 22, 23B, 25A) shown in Sm2b, and returns to the start area 35 (areas 21, 23A, 24B, 25B, 26B) shown in Sm2c. However, for the third stage Sm2c of returning to the start area 35, the non-overlapping area 26B does not have to be included in the start area 35.

[0055] 5 and 8, when the first measured distance Md1 indicates that the first object 7 has not been detected and the second measured distance Md2 indicates that the second object 7 is located in any of the first to third sections 17B to 19B, the control unit 30 can determine that the object 7 is located in any of the non-overlapping regions 24B to 26B. When the first measured distance Md1 indicates that the first object 7 is located in the first section 17A and the second measured distance Md2 indicates that the second object 7 is located in the first section 17B or the second section 18B, the control unit 30 can determine that the object 7 is located in the overlapping region 21 or 23A. In these cases, the control unit 30 can determine that the object 7 is located in the start section 35 of the right access mode.

[0056] When the first measured distance Md1 indicates that the first object 7 is located in the second section 18A and the second measured distance Md2 indicates that the second object 7 is located in the first section 17B or the second section 18B, the control unit 30 can determine that the object 7 is located in the overlapping region 22 or 23B. When the first measured distance Md1 indicates that the first object 7 is located in the second section 18A and the second measured distance Md2 indicates that the second object 7 is not detected, the control unit 30 can determine that the object 7 is located in the non-overlapping region 25A. In these cases, the control unit 30 can determine that the object 7 is located in the trigger zone 36 of the right access mode.

[0057] Referring to FIG. 9, the setting operation Sm3 of the central access mode is set to a series of movements in which the moving object moves from a state in which it is located in the start area 35 (areas 21, 23A, 23B) shown in Sm3a to the trigger area 36 (area 22) shown in Sm3b, and then returns to the start area 35 (areas 21, 23A, 23B) shown in Sm3c.

[0058] 5 and 9, when the first measured distance Md1 indicates that the first object 7 is located in the first section 17A and the second measured distance Md2 indicates that the second object 7 is located in the first section 17B, the control unit 30 can determine that the object 7 is located in the overlapping region 21. When the first measured distance Md1 indicates that the first object 7 is located in the first section 17A and the second measured distance Md2 indicates that the second object 7 is located in the second section 18B, the control unit 30 can determine that the object 7 is located in the overlapping region 23A. When the first measured distance Md1 indicates that the first object 7 is located in the second section 18A and the second measured distance Md2 indicates that the second object 7 is located in the first section 17B, the control unit 30 can determine that the object 7 is located in the overlapping region 23B. In these cases, the control unit 30 can determine that the object 7 is located in the start area 35 of the central access mode.

[0059] When the first measured distance Md1 indicates that the first object 7 is located in the second section 18A and the second measured distance Md2 indicates that the second object 7 is located in the second section 18B, the control unit 30 can determine that the object 7 is located in the overlapping region 22. In this case, the control unit 30 can determine that the object 7 is located in the trigger zone 36 of the central access mode.

[0060] Next, the control of the door opening and closing device 10 will be described with reference to the flowchart shown in FIG.

[0061] When the vehicle 1 is parked and the engine is stopped, the control unit 30 repeatedly detects the object 7 by the detection units 13A and 13B at set time intervals (e.g., 80 msec) (step S2), measures the measurement distances Md1 and Md2 by the measurement unit 32 (step S3), determines whether the object is moving or stationary by the determination unit 33 (step S4), performs a mode setting process by the setting unit 34 (step S5), and when the moving object performs any of the set operations Sm1 to Sm3 (step S6), causes the drive unit 28 to open (step S8) or close (step S9) the door 2. However, if the authentication by the authentication unit 29 is not established, the ECU 5 disables the drive of the drive unit 28.

[0062] Specifically, in step S1, the control unit 30 initializes (deletes) the measured distances Md1a, Md2a to Md1j, and Md2j from the previous door opening / closing control stored in the memory unit 31. Then, in step S2, the first detection unit 13A transmits and receives ultrasonic waves, waits for a certain period of time to completely eliminate reverberation, and then the second detection unit 13B transmits and receives ultrasonic waves. That is, the detection units 13A and 13B alternate between transmitting ultrasonic waves from the transmitter 14 and receiving the reflected waves at the receiver 15, thereby preventing erroneous detection between the detection units 13A and 13B.

[0063] Next, in step S3, based on the detection results (time from wave transmission to wave reception) of the detection units 13A, 13B, the measurement unit 32 individually calculates the distances Md1, Md2 from each of the detection units 13A, 13B to the object 7. At this time, the same number of detection results according to the number of objects 7 are input, and the measurement unit 32 calculates the distances Md1, Md2 to the object 7 using the detection result that was received earliest among them.

[0064] Next, in step S4, the determination unit 33 calculates the movement speeds Ms1, Ms2 of the detected object 7 from the amount of change therebetween using the currently measured distances Md1, Md2 and the previously measured distances Md1a, Md2a stored in the memory unit 31. Then, the determination unit 33 individually determines whether the first detected object 7 detected by the first detection unit 13A and the second detected object 7 detected by the second detection unit 13B are moving or stationary objects, based on the calculated movement speeds Ms1, Ms2 and a determination value Jv.

[0065] Then, in step S5, a mode setting process is executed, and the process proceeds to step S6. Note that this mode setting process will be described in detail later.

[0066] In step S6, the control unit 30 detects the movement of the moving object between the start area 35 and the trigger area 36 based on the change in the measured distances Md1, Md2 obtained from the detection results of the detection units 13A, 13B, and determines whether any of the setting operations Sm1 to Sm3 has been established. If any of the setting operations Sm1 to Sm3 has been established, the process proceeds to step S7, and if none of the setting operations Sm1 to Sm3 has been established, the process returns to step S2.

[0067] In step S7, the control unit 30 detects whether the door 2 is in a closed state or an open state. If the door 2 is in a closed state, the control unit 30 outputs an open drive signal for the door 2 to the drive unit 28 in step S8 and returns to step S2, whereas if the door 2 is in an open state, the control unit 30 outputs a close drive signal for the door 2 to the drive unit 28 in step S9 and returns to step S2.

[0068] Next, the mode setting process of step S5 by the setting unit 34 will be described with reference to FIGS. 11A and 11B.

[0069] 11A, the setting unit 34 judges whether to change the mode setting based on the judgment result by the judgment unit 33 and the progress status judgment result of the setting operations Sm1 to Sm3 by the control unit 30. Specifically, in step S5-1, it reads whether the judgment of the entry of a moving object into the trigger area 36 is established. If the entry judgment is established, the process returns without performing the subsequent steps, and if the entry judgment is not established, the process proceeds to step S5-2. Here, normally, the time required for a user, who is a moving object, to move from the start area 35 to the trigger area 36 is about 300 msec, assuming that the walking speed of a person is 1300 mm / sec. In contrast, if the judgment by the judgment unit 33 of whether the object is a moving object or a stationary object is established when the same result is shown a predetermined number of times (e.g., 8 times) in succession, the time required for the judgment is 640 msec. In other words, the movement time of the user from the start area 35 to the trigger area 36 is shorter than the judgment time by the judgment unit 33 of whether the object is a moving object or a stationary object. Therefore, normally, while the user is moving into the trigger area 36, ​​the setting unit 34 will not change to another access mode.

[0070] In step S5-2, it is determined whether the determination result by the determination unit 33 is that both the first object 7 and the second object 7 are stationary objects. If both are stationary objects, the process returns without performing the subsequent steps. If either one is not a stationary object, the process proceeds to step S5-3. Note that in steps S5-1 and 2, returning without performing step S5-3 and subsequent steps means that the current setting mode is maintained.

[0071] In step S5-3, it is determined whether the first object 7 is a moving object and the second object 7 is a stationary object. If the condition is met, the process proceeds to step S5-4, where the mode is set to the left access mode and the process returns. On the other hand, if the condition is not met in step S5-3, the process proceeds to step S5-5, where it is determined whether the first object 7 is a stationary object and the second object 7 is a moving object. If the condition is met, the process proceeds to step S5-6, where the mode is set to the right access mode and the process returns. On the other hand, if the condition is not met in step S5-5, that is, if both objects 7 are moving, the process proceeds to step S5-7.

[0072] 11B, in step S5-7, the setting unit 34 determines whether the difference (Md1-Md2) between the distances Md1 and Md2 measured by the measurement unit 32 is smaller than the lower limit Sr1 of the set range Sr. If the condition is met, that is, if the detected object 7 is located on the first detection unit 13A side, the process proceeds to step S5-4, where the mode is set to the left access mode and the process returns. On the other hand, if the condition is not met in step S5-7, the process proceeds to step S5-8.

[0073] In step S5-8, the setting unit 34 judges whether the difference (Md1-Md2) between the distances Md1 and Md2 measured by the measurement unit 32 is greater than the upper limit Sr2 of the set range Sr. If the condition is met, that is, if the detected object 7 is located on the second detection unit 13B side, the process proceeds to step S5-6, where the mode is set to the right access mode and the process returns. On the other hand, if the condition is not met in step S5-8, the process proceeds to step S5-9.

[0074] In step S5-9, the setting unit 34 sets the mode to the central access mode and returns. Specifically, if the difference (Md1-Md2) between the distances Md1 and Md2 measured by the measurement unit 32 is within the set range Sr (Sr1≦Md1-Md2≦Sr2), that is, if it indicates that the detected object 7 is located toward the center of the back surface of the vehicle body 3, the setting unit 34 sets the mode to the central access mode.

[0075] As described above, in the mode setting process, the setting unit 34 sets the mode to one of the left access mode, the right access mode, and the center access mode according to the approaching position of the moving object. Therefore, the user, who is the moving object, can perform the setting operations Sm1 to Sm3 from that point on. This improves the operability of the door opening and closing device 10 by the user.

[0076] The door opening and closing device 10 configured in this manner has the following features.

[0077] Based on the distances Md1 and Md2 measured by the measuring unit 32, the setting unit 34 sets at least a part of one of the first detection range 16A and the second detection range 16B as a start area (first area) 35 for detecting the first stages Sm1a and Sm2a of the setting operations Sm1 and Sm2. Also, a part of the other of the first detection range 16A and the second detection range 16B is set as a trigger area (second area) 36 for detecting the second stages Sm1b and Sm2b of the setting operations Sm1 and Sm2. Therefore, compared to the case where the start area 35 and the trigger area 36 are set within the detection ranges 16A and 16B of one of the detection units 13A and 13B, an area in which the user performs the setting operations Sm1 and Sm2 can be secured. Therefore, the operability of opening and closing the door 2 by the user can be improved.

[0078] In the left access mode, a part of the first detection range 16A is set to the start area 35 and a part of the second detection range 16B is set to the trigger area 36, ​​thereby improving operability when the user enters from the left side along the door 2 to perform the setting operation Sm1. In the right access mode, a part of the second detection range 16B is set to the start area 35 and a part of the first detection range 16A is set to the trigger area 36, ​​thereby improving operability when the user enters from the right side along the door 2 to perform the setting operation Sm2.

[0079] The setting unit 34 sets the left access mode when the difference between the distances Md1 and Md2 measured by the measurement unit 32 is outside the set range Sr and the second distance Md2 is longer than the first distance Md1. Also, the setting unit 34 sets the right access mode when the difference between the distances Md1 and Md2 measured by the measurement unit 32 is outside the set range Sr and the second distance Md2 is shorter than the first distance Md1. In other words, the position of the object 7 relative to the door 2 is determined based on the difference between the distances Md1 and Md2 measured by the measurement unit 32 and the set range Sr, and an appropriate mode is set, thereby improving the ease of opening and closing the door 2 by the user.

[0080] In the left access mode, the area other than the overlapping area of ​​the first section 17A of the first detection range 16A and the second section 18B of the second detection range 16B among the second section 18A of the first detection range 16A is set as the start area 35. In the right access mode, the area other than the overlapping area of ​​the first section 17B of the second detection range 16B and the second section 18B of the second detection range 16B among the second section 18A of the first detection range 16A is set as the start area 35. Therefore, a large area can be secured for the start area 35 for detecting the first stages Sm1a and Sm2a of the setting operations Sm1 and Sm2. If the area of ​​the start area 35 is small, when the first detection unit 13A or the second detection unit 13B detects the user and the setting unit 34 sets the mode, there is a possibility that the user has already moved to the trigger area 36. However, since a large area can be secured for the start area 35, it is possible to prevent such inconvenience from occurring.

[0081] In the central access mode, the overlapping area between the first detection range 16A and the second detection range 16B, excluding the overlapping area between the second sections 18A, 18B of the first detection range 16A and the second detection range 16B, is set as the start area 35, thereby improving operability when the user performs the setting operation Sm3 toward the door 2.

[0082] The setting unit 34 sets the central access mode when the difference between the distances Md1 and Md2 measured by the measurement unit 32 is within the set range Sr. In other words, the position of the object 7 relative to the door 2 is determined based on the difference between the distances Md1 and Md2 measured by the measurement unit 32 and the set range Sr, and an appropriate mode is set, thereby improving the ease of opening and closing the door 2 by the user.

[0083] When the determination unit 33 determines that the first object 7 detected by the first detection unit 13A is a moving object and the second object 7 detected by the second detection unit 13B is a stationary object, the setting unit 34 sets the left access mode. When the determination unit 33 determines that the first object 7 detected by the first detection unit 13A is a stationary object and the second object 7 detected by the second detection unit 13B is a moving object, the setting unit 34 sets the right access mode. When the determination unit 33 determines that both the first object 7 and the second object 7 are moving objects, the setting unit 34 sets the mode based on the difference between the distances Md1 and Md2 measured by the measurement unit 32 and the setting range Sr. Therefore, the user's approach direction can be accurately determined and the mode can be appropriately set.

[0084] The present invention is not limited to the configurations of the above-described embodiments, and various modifications are possible.

[0085] For example, the center access mode may not be included in the mode setting by the setting unit 34. In the left access mode and the right access mode, the specific setting area can be changed as necessary by setting the start area 35 in a part of one of the first detection range 16A and the second detection range 16B and setting the trigger area 36 in a part of the other.

[0086] A display device (guiding means) capable of displaying the ground surface of the trigger area 36 may be provided to guide the user by displaying the information when the setting operations Sm1 to Sm3 are detected. Guidance is not limited to visual guidance, and an auditory guidance means such as a buzzer may be provided. [Explanation of symbols]

[0087] 1 vehicle 2 Door 3. Body 4 Rear bumper 5 ECU 7 Object to be detected 10 Door opening and closing device 12 Detection unit 13A First detection section 13B Second detection section 14 Transmitter 15 Receiver 16A First detection range 16B Second detection range 17A, 17B Section 1 (Part 1) 18A, 18B Section 2 (Part 2) 19A, 19B Section 3 (Part 3) 20 Approach Area 21 1st overlap area 22 Second overlap area 23A,23B 3rd overlap region 24A,24B 1st non-overlapping area 25A,25B 2nd non-overlapping area 26A,26B 3rd non-overlapping region 28 Drive unit 29 Authentication Section 30 Control section 31 Storage section 32 Measuring part 33 Judgment section 34 Setting section 35 Starting Area (1st Area) 36 Trigger Zone (Second Zone)

Claims

[Claim 1] a drive unit that opens and closes the door relative to the vehicle body; a first detection unit that repeatedly detects an object to be detected that is present within a first detection range that is set around the door; a second detection unit that is disposed at a horizontal interval from the first detection unit and that repeatedly detects the object to be detected within a second detection range that is set around the door so as to partially overlap with the first detection range; a measurement unit that measures a first distance from the first detection unit to the object based on a detection result of the first detection unit, and measures a second distance from the second detection unit to the object based on a detection result of the second detection unit; a setting unit that sets at least a part of one of the first detection range and the second detection range as a first area for detecting a first stage of a setting operation by the object to be detected based on the first distance and the second distance measured by the measurement unit, and sets a part of the other of the first detection range and the second detection range as a second area for detecting a second stage of the setting operation; a control unit that opens and closes the door by the drive unit when it is determined that the detected object has performed the setting operation including the movement between the first area and the second area based on the change in the first distance and the change in the second distance measured by the measurement unit; and A door opening and closing device comprising:

Images