Opening / closing body control device

Abstract

To provide an opening / closing body control device that can restrain an opening / closing body from stopping at a position diverged from the supposition of a user who made the gesture.SOLUTION: A door control device 70 comprises a gesture determination part 71 that determines whether or not a user made the gesture depending on the detection result of an object detection part 50, an obstacle determination part 72 that determines whether or not an obstacle exists in the opening direction of a back door 30 depending on the detection result of the object detection part 50, and a drive control part 73 that controls a door drive part 40. The gesture determination part 71 determines whether or not a user made the gesture inside a first area AR1. The obstacle determination part 72 determines whether or not an obstacle exits inside a second area AR2. The drive control part 73 starts the opening operation of the back door 30 in the case it is determined that the user made the gesture, while it stops the back door 30 before an obstacle in the case it is determined that the obstacle exists in the opening direction of the back door 30.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an opening / closing member control device. [Background technology]

[0002] Patent Document 1 describes a vehicle including a vehicle body having a door opening at the rear, a tailgate that opens and closes the door opening, a door driver that drives the tailgate, a laser radar whose detection area is near the door opening, and a control unit that controls the door driver. The control unit determines whether a user has made a gesture to open the tailgate based on the detection results of the laser radar. If the control unit determines that the user has made a gesture, it starts the tailgate opening operation. The control unit also determines whether an obstacle is present in the opening direction of the tailgate based on the detection results of the laser radar. If the control unit determines that an obstacle is present in the opening direction of the tailgate, it stops the tailgate in front of the obstacle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2013-7171 Summary of the Invention [Problem to be solved by the invention]

[0004] In such a vehicle, if the area for determining a gesture and the area for determining an obstacle are set to overlap, the following problem may occur. That is, if the body part used in the gesture continues to move after it is determined that the user has made a gesture, the body part may be determined to be an obstacle. In this case, the back door may stop at a position different from the user's expectation. [Means for solving the problem]

[0005] The opening / closing body control device that solves the above problem is an opening / closing body control device that is applied to a vehicle that includes a vehicle body having an opening, an opening / closing body that opens and closes the opening, an opening / closing body drive unit that drives the opening / closing body, and an object detection unit that is fixed to the vehicle body and detects objects that exist in a detection area around the opening, and includes a drive control unit that controls the opening / closing body drive unit, a gesture determination unit that determines whether a user has made a gesture based on the detection result of the object detection unit, and an obstacle determination unit that determines whether an obstacle exists in the opening direction of the opening / closing body based on the detection result of the object detection unit, and the drive control unit When it is determined that the user has made the gesture, the opening operation of the opening / closing body is started, and when it is determined that the obstacle is present in the opening direction of the opening / closing body, the opening / closing body is stopped in front of the obstacle, the detection area includes a first area and a second area different from the first area, and when it is determined that the user has made the gesture within the first area, the obstacle determination unit determines whether or not the obstacle is present within the second area, and when it is determined that the user has made the gesture within the second area, it determines whether or not the obstacle is present within the first area. [Effects of the Invention]

[0006] The opening / closing body control device can prevent the opening / closing body from stopping at a position that deviates from the position expected by the user who made the gesture. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a schematic diagram showing the general configuration of a vehicle. [Figure 2] FIG. 2 is a flowchart illustrating the flow of processing performed by the door control device. [Figure 3] FIG. 3 is a schematic diagram showing a general configuration of a vehicle according to a modified example. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, an embodiment of a vehicle equipped with a door control device as an opening / closing member control device will be described. In the following description, the front-rear direction, width direction, and up-down direction of the vehicle will be simply referred to as the front-rear direction, width direction, and up-down direction.

[0009] <Configuration of this embodiment> As shown in FIGS. 1 and 2, a vehicle 10 includes a vehicle body 20, a back door 30, a door driving unit 40, an object detection unit 50, a wireless communication device 60, and a door control device 70.

[0010] <Body 20> The vehicle body 20 has a rear bumper 21 disposed at the lower rear end of the vehicle body 20. The vehicle body 20 also has a door opening 22 that opens above the rear bumper 21. In other words, the door opening 22 opens to the rear of the vehicle body 20. For example, the door opening 22 has a rectangular shape with the width direction as the longitudinal direction and the up-down direction as the short side direction. The door opening 22 is a portion through which luggage passes when loading and unloading luggage into and from the luggage compartment.

[0011] <Backdoor 30> The back door 30 has a shape corresponding to the door opening 22. A base end of the back door 30 is supported above the door opening 22 via a door hinge or the like. In this way, the back door 30 moves between a fully closed position where the door opening 22 is fully closed and a fully open position where the door opening 22 is fully opened by rotating about an axis that passes through the base end of the back door 30 in the width direction. When the back door 30 opens or closes the door opening 22, the tip of the back door 30 describes an arc-shaped trajectory TR in a side view in the width direction.

[0012] In the following explanation, the degree to which the back door 30 is opened is referred to as the opening degree of the back door 30. The opening degree of the back door 30 is smallest when the back door 30 is located in the fully closed position, and is largest when the back door 30 is located in the fully open position. Furthermore, the direction in which the back door 30 moves from the fully closed position toward the fully open position is referred to as the opening direction, and the direction in which the back door 30 moves from the fully open position toward the fully closed position is referred to as the closing direction. The back door 30 corresponds to an "opening / closing body."

[0013] <Door drive unit 40> The door drive unit 40 is rod-shaped. The door drive unit 40 has an electric motor 41 and an extension / contraction unit 42 that extends and contracts based on power transmitted from the electric motor 41. The door drive unit 40 is a so-called electric cylinder. A first end in the longitudinal direction of the door drive unit 40 is connected to the vehicle body 20 so as to be rotatable relative to the vehicle body 20. A second end in the longitudinal direction of the door drive unit 40 is connected to the tailgate 30 so as to be rotatable relative to the tailgate 30. The door drive unit 40 extends and contracts to open and close the tailgate 30. The door drive unit 40 corresponds to an "opening / closing body drive unit."

[0014] <Object detection unit 50> The object detection unit 50 is a sensor for detecting objects present around the door opening 22. The object detection unit 50 may be any sensor capable of identifying the position, moving direction, moving speed, etc. of an object present within the detection area AR of the object detection unit 50 using transmitted and received waves. For example, the object detection unit 50 may be a millimeter wave sensor. The object detection unit 50 is installed in the center in the width direction of the rear bumper 21 of the vehicle body 20. In other words, the object detection unit 50 does not move even when the back door 30 is opened or closed. The detection area AR of the object detection unit 50 is an area behind the object detection unit 50. The detection area AR expands in the width direction and up and down direction as it extends rearward. The detection area AR includes a first area AR1 and a second area AR2 that are set in advance. The first area AR1 is an area below the second area AR2 and does not overlap with the second area AR2.

[0015] <Wireless communication device 60 and portable device 100> 1, the wireless communication device 60 performs wireless communication with a portable device 100 located in the vicinity of the vehicle 10, thereby determining whether the portable device 100 is linked to the vehicle 10. The portable device 100 may be a so-called electronic key, a smartphone, or another communication terminal. In this regard, the wireless communication device 60 can determine whether a user carrying the portable device 100 is present within a communication area set in the vicinity of the vehicle 10.

[0016] The portable device 100 has a switch that is operated to open, close, or stop the back door 30. When the switch is operated on the portable device 100, the wireless communication device 60 outputs an open operation command signal, a close operation command signal, or a stop command signal according to the operated switch. The open operation command signal is a command signal for opening the back door 30, and the close operation command signal is a command signal for closing the back door 30. The stop command signal is a command signal for stopping the back door 30 during opening or closing. Furthermore, when the portable device 100 is present within the communication area, the wireless communication device 60 outputs a signal indicating that the portable device 100 is present within the communication area.

[0017] <Door control device 70> The door control device 70 is an electronic control device including a CPU and a memory. The CPU executes a program stored in the memory, and the door control device 70 functions as a gesture determination unit 71, an obstacle determination unit 72, and a drive control unit 73.

[0018] <Gesture determination unit 71> The gesture determination unit 71 determines whether the user has performed a predetermined gesture. A gesture refers to a movement of a body part by the user to open or close the back door 30. In other words, the user can open or close the back door 30 by performing a gesture instead of operating a switch on the portable device 100. The gesture for opening the back door 30 and the gesture for closing the back door 30 may be the same or different. In the following description, the gesture for opening the back door 30 will simply be referred to as a gesture. In this embodiment, the gesture refers to the user moving their toes.

[0019] The gesture determination unit 71 determines whether the user has made a gesture within the first area AR1 of the first area AR1 and the second area AR2. In other words, the gesture determination unit 71 defines the first area AR1 as the gesture determination area. For example, the gesture determination unit 71 may determine whether the user has made a gesture by comparing a change in the movement direction of an object within the first area AR1 with a gesture pattern. Here, the gesture pattern defines the order in which the movement direction of a body part changes when the user makes a gesture. Then, based on the detection result of the object detection unit 50, the gesture determination unit 71 determines that the user has made a gesture within the first area AR1 if the object moves within the first area AR1 in the same manner as the gesture pattern.

[0020] <Obstacle determination unit 72> The obstacle determination unit 72 determines whether or not an obstacle exists within the detection area AR based on the detection result of the object detection unit 50. Here, if the first area AR1 is included in the determination area, the obstacle determination unit 72 may determine, as an obstacle, a body part of the user that is moving due to making a gesture. In this case, the obstacle determination unit 72 may determine, as an obstacle, a body part of the user that is temporarily approaching or moving away from the back door 30. In other words, the obstacle determination unit 72 may determine, as an obstacle, a body part of the user that is present at a position different from the actual standing position of the user who made the gesture.

[0021] Therefore, the obstacle determination unit 72 determines whether or not an obstacle exists in a second area AR2, which is the area obtained by excluding the first area AR1 from the detection area AR, based on the detection result of the object detection unit 50. If an obstacle exists in the second area AR2, the obstacle determination unit 72 acquires the position of the obstacle. In this way, the obstacle determination unit 72 determines the second area AR2, which is likely to not contain a body part used by the user for a gesture, as the obstacle determination area.

[0022] <Drive control unit 73> The drive control unit 73 controls the door drive unit 40 to open or close the back door 30. Specifically, the drive control unit 73 starts the opening operation of the back door 30 when an opening operation command signal is transmitted from the portable device 100 or when it is determined that the user has made a gesture within the first area AR1. Before starting the opening operation of the back door 30, the drive control unit 73 sets a target opening degree that determines how far the back door 30 should be opened. That is, the drive control unit 73 stops the back door 30 when the opening degree of the back door 30 reaches the target opening degree. When the obstacle determination unit 72 determines that no obstacle is present within the second area AR2, the drive control unit 73 sets the target opening degree to an opening degree corresponding to the fully open position. On the other hand, when the obstacle determination unit 72 determines that an obstacle is present within the second area AR2, the drive control unit 73 sets the target opening degree to an opening degree that will not contact the obstacle. That is, the drive control unit 73 stops the back door 30 before the obstacle.

[0023] Furthermore, when a close operation command signal is transmitted from the portable device 100 and when it is determined that the user has made a gesture to close the back door 30 within the first area AR1, the drive control unit 73 closes the back door 30 to the fully closed position. Furthermore, when a stop command signal is transmitted from the portable device 100, the drive control unit 73 stops the back door 30.

[0024] <Processing performed by the door control device 70> The flow of processing that the door control device 70 performs to open the back door 30 will be described below.

[0025] 2, the door control device 70 determines whether the vehicle 10 is stopped (S11). For example, the door control device 70 may determine whether the vehicle 10 is stopped based on the vehicle speed obtained from a driving control device that controls the driving of the vehicle 10. If the vehicle 10 is not stopped (S11: NO), the door control device 70 ends this process. On the other hand, if the vehicle 10 is stopped (S11: YES), the door control device 70 determines whether the portable device 100 is present within the communication area based on information obtained from the wireless communication device 60 (S12).

[0026] If the portable device 100 is not present within the communication area (S12: NO), the door control device 70 terminates this process. On the other hand, if the portable device 100 is present within the communication area (S12: YES), the door control device 70 determines whether the user has made a gesture within the first area AR1 (S13). When determining whether the user has made a gesture, the door control device 70 may set a time limit of, for example, one minute to several minutes. If it is not determined that the user has made a gesture within the first area AR1 within the predetermined time limit (S13: NO), the door control device 70 terminates this process. On the other hand, if it is determined that the user has made a gesture within the first area AR1 within the predetermined time limit (S13: YES), the door control device 70 sets a target opening degree based on the presence or absence of an obstacle within the second area AR2 (S14). Then, the door control device 70 starts the opening operation of the back door 30 (S15).

[0027] During the opening operation of the back door 30, the door control device 70 determines whether the opening degree of the back door 30 is equal to or greater than the target opening degree (S16). If the opening degree of the back door 30 is less than the target opening degree (S16: NO), the door control device 70 proceeds to step S16. That is, the door control device 70 executes the process of step S16 again. On the other hand, if the opening degree of the back door 30 is equal to or greater than the target opening degree (S16: YES), the door control device 70 stops the back door 30 (S17). Thereafter, the door control device 70 ends this process.

[0028] <Operation of this embodiment> When a user wishes to open the tailgate 30 of a stopped vehicle 10, the user makes a gesture within a first area AR1 behind the tailgate 30. When the user makes a gesture within the first area AR1, the tailgate 30 begins to open. Here, if the upper half of the user's body is present as an obstacle within the second area AR2, the tailgate 30 stops at a position where it will not come into contact with the upper half of the user's body. Similarly, if a wall, fence, or other obstacle is present within the second area AR2, the tailgate 30 stops at a position where it will not come into contact with the wall or fence. On the other hand, if there is no such obstacle within the second area AR2, the tailgate 30 is opened to the fully open position.

[0029] <Effects of this embodiment> (1) When a user makes a gesture, there is a risk that the body part used by the user for the gesture may continue to move even after the door control device 70 determines that the user has made the gesture. Therefore, a door control device of the comparative example, which uses the same gesture determination area and obstacle determination area, may determine that the body part used by the user for the gesture is an obstacle after determining that the user has made a gesture. In this case, the back door 30 may stop in a position that is different from the position expected by the user during the opening operation. For example, if the body part used by the user for the gesture is determined to be an obstacle when it gets too close to the back door 30, the back door 30 may only be opened slightly. This may result in a decrease in user convenience.

[0030] In contrast, the door control device 70 of this embodiment determines gestures within the first area AR1 while determining obstacles within the second area AR2. In other words, the door control device 70 determines the first area AR1 as a gesture determination area and the second area AR2, which is different from the first area AR1, as an obstacle determination area. Therefore, even if the body part used in the gesture continues to move within the first area AR1 after the user performs a gesture, the body part is not determined to be an obstacle. Therefore, the door control device 70 can prevent the tailgate 30, which is in an opening operation, from being stopped at a position unintended by the user. For example, if the user does not leave the operation area of ​​the tailgate 30 after performing a gesture, the door control device 70 can open the tailgate 30 up to the user's upper body. In this way, the door control device 70 can prevent a decrease in user convenience.

[0031] (2) The first area AR1 and the second area AR2 are set in advance. Therefore, the control load of the door control device 70 is reduced compared to when the area where the user has made a gesture is set as the first area AR1 and the area where the user has not made a gesture is set as the second area AR2.

[0032] (3) The first area AR1 is set lower than the second area AR2. The door control device 70 determines whether the user has made a kick gesture in the first area AR1. This allows the door control device 70 to accurately determine whether the user has made a gesture. After determining that the user has made a gesture, even if the user continues to move their foot within the first area AR1, the door control device 70 can prevent erroneous determination of the foot as an obstacle.

[0033] <Example of change> This embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility.

[0034] In the above embodiment, the control target of the door control device 70 is the back door 30, but in a modified example, the control target of the door control device 70 may be the swing door 30A as a front door. In the following description, description of the configuration common to the above embodiment will be omitted.

[0035] As shown in FIG. 3, the vehicle 10 includes a vehicle body 20 having a door opening 22A, a swing door 30A that opens and closes the door opening 22A, a door drive unit 40A, an object detection unit 50A, and a door control device 70A.

[0036] The door opening 22A opens to the side of the vehicle body 20. The door opening 22A is a portion through which a user passes when getting in and out of the front seat. The swing door 30A has a shape corresponding to the door opening 22A. The front end of the swing door 30A is supported at the front end of the door opening 22A via a door hinge or the like. In this way, the swing door 30A is rotatable around an axis that passes through the front end of the swing door 30A in the vertical direction. When the swing door 30A opens and closes the door opening 22A, the tip of the swing door 30A describes an arc-shaped trajectory TR. The door drive unit 40A may be a drive unit that extends and retracts similarly to the above embodiment. The door drive unit 40 may be configured, for example, integrally with a door check.

[0037] The object detection unit 50A may have a configuration similar to that of the above embodiment. The object detection unit 50A is installed, for example, on a B-pillar or a side skirt of the vehicle body 20. The detection range of the object detection unit 50A is the area outward in the width direction from the object detection unit 50A, which is defined as a detection area AR. The detection area AR includes a first area AR1 and a second area AR2. The first area AR1 and the second area AR2 are aligned in the front-rear direction. The first area AR1 is an area farther from the rotation axis of the swing door 30A in the front-rear direction than the second area AR2. In other words, the first area AR1 is an area rearward of the second area AR2.

[0038] The user's gesture for opening the swing door 30A may be a hand gesture in which the user moves his / her hand. It is preferable that the user makes the hand gesture with his / her right hand, since this makes it easier for the right half of the user's body to be positioned in the first area AR1 when the user stands in front of the swing door 30A.

[0039] The door control device 70A according to this modified example uses the first area AR1 as a gesture determination area and the second area AR2 as an obstacle determination area. Therefore, the door control device 70A can achieve the effects (1) and (2) of the above embodiment. Furthermore, the first area AR1 is set behind the second area AR2. Therefore, even if the user continues to move their right hand within the first area AR1 after determining that the user has made a gesture, the door control device 70 can prevent the door control device 70 from erroneously determining that the right hand is an obstacle.

[0040] In the modified example, the swing door 30A corresponds to the "opening / closing body", the door drive unit 40A corresponds to the "opening / closing body drive unit", and the door control device 70A corresponds to the "opening / closing body control device".

[0041] The first area AR1 does not have to be set in advance as a gesture determination area, and the second area AR2 does not have to be set in advance as an obstacle determination area. In this case, the gesture determination unit 71 determines whether the user has made a gesture within an area including both the first area AR1 and the second area AR2. Subsequently, if it is determined that the user has made a gesture within the first area AR1, the obstacle determination unit 72 determines whether an obstacle exists within the second area AR2. In this case, the first area AR1 corresponds to the gesture determination area, and the second area AR2 corresponds to the obstacle determination area. On the other hand, if it is determined that the user has made a gesture within the second area AR2, the obstacle determination unit 72 determines whether an obstacle exists within the first area AR1. In this case, the second area AR2 corresponds to the gesture determination area, and the first area AR1 corresponds to the obstacle determination area. In this modified example, the detection area AR may include three or more areas. In this case, the area remaining after excluding the area where it is determined that the user has made a gesture from the three or more areas becomes the obstacle determination area.

[0042] The gesture performed by the user to open or close the back door 30 may be another gesture. For example, the gesture may be a gesture in which the user shakes their head. In this case, it is preferable that the first area AR1 and the second area AR2 are set according to the type of gesture performed by the user.

[0043] When the back door 30 is opened, a new obstacle that was not present when the opening operation of the back door 30 was initiated may be discovered. Therefore, if the obstacle determination unit 72 detects a new obstacle in the second area AR2 during the opening operation of the back door 30, the drive control unit 73 may stop the back door 30 in front of the new obstacle even if the opening degree of the back door 30 is less than the target opening degree. In this case, the door control device 70 may stop the back door 30 immediately after detecting the new obstacle, or may continue the opening operation of the back door 30 until the back door 30 reaches a position in front of the new obstacle.

[0044] The opening / closing body may be a bonnet panel or a fuel lid of the vehicle 10. In other words, the door control device 70 may be an opening / closing body control device that controls the opening and closing operation of these opening / closing bodies.

[0045] The door control devices 70 and 70A are not limited to processing circuits equipped with a CPU and ROM and executing software processes. For example, the door control devices 70 and 70A may be equipped with dedicated hardware circuits that execute at least some of the various processes executed in the above-described embodiments. An example of a dedicated hardware circuit is an ASIC. ASIC is an abbreviation for "Application Specific Integrated Circuit." In other words, the door control devices 70 and 70A may have any of the following configurations (a) to (c):

[0046] (a) A processing circuit comprising a processing device that executes all of the above processes according to a program, and a program storage device such as a ROM that stores the program. (b) A processing circuit comprising a processing device and a program storage device that execute part of the above processing according to a program, and a dedicated hardware circuit that executes the remaining processing.

[0047] (c) A processing circuit having dedicated hardware circuitry for performing all of the above processes. Here, there may be a plurality of software execution devices each having a processing device and a program storage device, and a plurality of dedicated hardware circuits.

[0048] <Technical philosophy> The technical ideas that can be understood from the above-described embodiment and modified examples will be described. [Aspect 1] An opening / closing body control device applied to a vehicle including a vehicle body having an opening, an opening / closing body that opens and closes the opening, an opening / closing body drive unit that drives the opening / closing body, and an object detection unit that is fixed to the vehicle body and detects objects present in a detection area around the opening, the device including a drive control unit that controls the opening / closing body drive unit, a gesture determination unit that determines whether a user has made a gesture based on a detection result of the object detection unit, and an obstacle determination unit that determines whether an obstacle is present in the opening direction of the opening / closing body based on the detection result of the object detection unit, and the drive control unit determines whether the user has made the gesture an opening / closing body control device that starts an opening operation of the opening / closing body when it is determined that the user has made the gesture, and stops the opening / closing body in front of the obstacle when it is determined that the obstacle is present in the opening direction of the opening / closing body, the detection area includes a first area and a second area different from the first area, and the obstacle determination unit determines whether the obstacle is present in the second area when it is determined that the user has made the gesture in the first area, and determines whether the obstacle is present in the first area when it is determined that the user has made the gesture in the second area.

[0049] [Aspect 2] An opening / closing body control device as described in aspect 1, wherein the gesture determination unit determines whether the user has performed the gesture within the first area that is set in advance, and the obstacle determination unit determines whether the obstacle is present within the second area that is set in advance.

[0050] [Aspect 3] An opening / closing body control device as described in aspect 1 or aspect 2, wherein the opening is a door opening that opens to the rear of the vehicle body, the opening / closing body is a tailgate that opens and closes the opening by rotating around an axis extending in the width direction, and the first area is an area lower than the second area.

[0051] [Aspect 4] An opening / closing body control device as described in aspect 1 or aspect 2, wherein the opening is a door opening that opens to the side of the vehicle body, the opening / closing body is a swing door that opens and closes the opening by rotating around an axis extending in the vertical direction, and the first area and the second area are adjacent areas in the fore-and-aft direction. [Explanation of symbols]

[0052] 10...vehicle, 20...vehicle body, 22, 22A...door opening (opening), 30...back door (opening / closing body), 30A...swing door (opening / closing body), 40...door drive unit (opening / closing body drive unit), 50, 50A...object detection unit, 70, 70A...door control device (opening / closing body control device), 71...gesture determination unit, 72...obstacle determination unit, 73...drive control unit, AR...detection area, AR1...first area, AR2...second area

Claims

1. An opening / closing body control device applied to a vehicle including a vehicle body having an opening, an opening / closing body that opens and closes the opening, an opening / closing body drive unit that drives the opening / closing body, and an object detection unit that is fixed to the vehicle body and detects objects present in a detection area around the opening, A drive control unit that controls the opening / closing body drive unit; a gesture determination unit that determines whether or not a user has made a gesture based on a detection result of the object detection unit; an obstacle determination unit that determines whether or not an obstacle is present in the opening direction of the opening / closing body based on a detection result from the object detection unit, the drive control unit starts an opening operation of the opening / closing body when it is determined that the user has performed the gesture, and stops the opening / closing body in front of the obstacle when it is determined that the obstacle exists in the opening direction of the opening / closing body, the detection area includes a first area and a second area different from the first area, The obstacle determination unit determines whether or not the obstacle is present in the second area when it is determined that the user has made the gesture in the first area, and determines whether or not the obstacle is present in the first area when it is determined that the user has made the gesture in the second area. Opening and closing body control device.

2. The gesture determination unit determines whether or not the user has performed the gesture within the first area that is set in advance; The obstacle determining unit determines whether or not the obstacle is present within the second area that is set in advance. The opening / closing member control device according to claim 1 .

3. the opening is a door opening that opens to a rear portion of the vehicle body, The opening / closing body is a back door that opens and closes the opening by rotating about an axis extending in a width direction, The first area is an area below the second area. The opening / closing member control device according to claim 1 or 2.

4. the opening is a door opening that opens to a side portion of the vehicle body, the opening / closing body is a swing door that opens and closes the opening by rotating about an axis extending in a vertical direction, The first area and the second area are adjacent to each other in the front-rear direction. The opening / closing member control device according to claim 1 or 2.

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