Door drive control device and door drive control system

Abstract

To provide a door drive control device capable of changing the bending degree of a lower door according to the circumstances around a door.SOLUTION: The door drive control device for driving a door including an upper door and a lower door rotatably connected to the upper door, includes: an acquisition unit that acquires detection state information indicating a detection state of an object by a sensor that detects an object existing around the door; and a control unit that controls a driving unit that drives the door so that an angle of the lower door with respect to the upper door can be changed based on the detection state information.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a door drive control device and a door drive control system. [Background technology]

[0002] Patent Document 1 discloses a device for driving a folding back door that includes an upper door rotatably connected to a vehicle and a lower door rotatably connected below the upper door.

[0003] The device disclosed in Patent Document 1 raises the upper door while bending the back door in the center when opening the closed back door. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2009-209653 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, the device disclosed in Patent Document 1 causes the back door to bend in the center regardless of the situation around the door, so the lower door may affect the loading and unloading of luggage into and from the vehicle. Therefore, there is a problem in that it is not possible to meet the demand to change the degree of bending of the lower door depending on the situation around the door.

[0006] An object of the present invention is to provide a door drive control device and a door drive control system that can change the degree of bending of a lower door depending on the situation around the door. [Means for solving the problem]

[0007] The door drive control device of the present invention is a door drive control device that drives a door including an upper door and a lower door rotatably connected to the upper door, and includes an acquisition unit that acquires detection state information indicating a detection state of an object by a sensor that detects an object present around the door, and a control unit that controls a drive unit that drives the door based on the detection state information so that the angle of the lower door relative to the upper door can be changed. When the control unit starts the door-opening operation, if the distance from the sensor to the object is equal to or greater than a first distance, it controls the drive unit so that the door opens while maintaining the angle of the lower door relative to the upper door when the door is in the closed position, and when the control unit starts the door-opening operation, if the distance from the sensor to the object becomes less than a second distance that is shorter than the first distance, it controls the drive unit so that the door opens after the door bends so as to avoid contact with the object, or while the door bends so as to avoid contact with the object.

[0008] A door drive control system of the present invention includes the door drive control device described above, the sensor, and the drive unit. Effect of the Invention

[0009] According to the present invention, it is possible to obtain a door drive control device and a door drive control system that can change the degree of bending of a lower door depending on the situation around the door. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is an external view showing an example of a rear part of a vehicle 100 to which a door drive control system according to an embodiment of the present invention is applied; [Diagram 2] FIG. 2 shows a configuration example of a door drive control system 200. [Diagram 3] A flowchart for explaining the operation of the door drive control device 4 when the door 1 is opened. [Figure 4A] FIG. 2 is a diagram for explaining the operation of the door drive control device 4. [Figure 4B] FIG. 2 is a diagram for explaining the operation of the door drive control device 4. [Figure 4C] FIG. 2 is a diagram for explaining the operation of the door drive control device 4. [Figure 4D] FIG. 2 is a diagram for explaining the operation of the door drive control device 4. [Figure 4E] FIG. 2 is a diagram for explaining the operation of the door drive control device 4. [Figure 4F] FIG. 2 is a diagram for explaining the operation of the door drive control device 4. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

[0012] 1 is an external view showing an example of the rear of a vehicle 100 to which a door drive control system according to an embodiment of the present invention is applied. The vehicle 100 includes a door 1 that opens or closes an opening formed in the rear of the vehicle 100, a drive unit 2 that drives the door 1, and a door drive control system.

[0013] The open state is a state in which the opening of the vehicle 100 is opened by the door 1, and luggage and the like can be loaded and unloaded from the vehicle 100 through the opening. The closed state is a state in which the opening of the vehicle 100 is closed by the door 1.

[0014] (Door 1) The door 1 is a folding tailgate having an upper door 1a and a lower door 1b rotatably connected to the upper door 1a by a hinge, etc. The present invention is not limited to the tailgate of the vehicle 100, and can also be applied to, for example, a flip-up type door for getting in and out of the vehicle.

[0015] The upper door 1a is rotatably attached to the vehicle body 101 via an upper hinge (not shown). The lower door 1b is rotatably connected to the upper door 1a via a lower hinge (not shown).

[0016] (Drive unit 2) The drive unit 2 includes a plurality of first drive units 2a that drive the upper door 1a by converting the rotational motion of the motor into linear motion, and a second drive unit 2b that drives the lower door 1b by converting the rotational motion of the motor into linear motion.

[0017] (First driving unit 2a) The upper door 1a moves from a closed position to an open position by the operation of each of the multiple first drive units 2a. The closed position is a position where the opening of the vehicle body 101 is closed, and the open position is a position where the opening of the vehicle body 101 is opened. Note that each of the multiple first drive units 2a may be capable of opening and closing the upper door 1a, and there are no particular limitations on its structure, shape, etc. Furthermore, each of the multiple first drive units 2a may be provided with a motor, or only one of the first drive units 2a may be provided with a motor.

[0018] (Second driving unit 2b) The second driving unit 2b is a device that changes the angle of the lower door 1b relative to the upper door 1a. By operating the second driving unit 2b, it is possible to increase the angle of the lower door 1b relative to the upper door 1a to increase the degree of bending of the lower door 1b relative to the upper door 1a, or to decrease the angle of the lower door 1b relative to the upper door 1a to decrease the degree of bending of the lower door 1b relative to the upper door 1a. In other words, it is possible to change the angle of the lower door 1b relative to the upper door 1a.

[0019] The second drive portion 2b may be any drive portion capable of opening and closing the lower door 1b, and there are no particular limitations on its structure, shape, etc.

[0020] The door 1 is provided with a sensor group 3 that detects objects present around the door 1. The objects are, for example, another vehicle, a wall, a utility pole, a person, a ceiling, etc. The sensor group 3 includes, for example, a sensor 31, a sensor 32, a sensor 33, and a sensor 34. Each of the sensors 31, 32, 33, and 34 is, for example, a sonar that emits ultrasonic waves. Note that each of the sensors 31, 32, 33, and 34 may be a radio wave sensor, an image sensor, or the like other than ultrasonic sonar as long as it can detect objects.

[0021] For example, when the sonar emits a pulsed sound wave of a certain frequency, the pulsed sound wave is reflected when it hits an object around the vehicle, and a part of the pulsed sound wave returns to the sonar. The longer the distance from the vehicle 100 to the object, the longer the time it takes for the pulsed sound wave to return to the sonar. The sonar measures the round-trip time from when the pulsed sound wave is emitted until the echo reflected by the object returns to the sonar, and estimates the distance to the object by utilizing the above relationship.

[0022] (Sensor 31) The sensor 31 is provided near the center of the upper door 1a in the left-right direction, near the lower edge of the upper door 1a.

[0023] By providing a sensor 31 near the lower edge of the upper door 1a, for example, it is possible to accurately detect the shortest distance from the door 1 to an object (e.g., a ceiling) during the opening operation in the center-folding mode, thereby preventing the door 1 from coming into contact with the object.

[0024] The center-folding mode is a mode in which the entire door 1 is folded by increasing the angle of the lower door 1b with respect to the upper door 1a while the upper door 1a is moving or while the upper door 1a is stopped. By disposing the sensor 31 on the upper door 1a, the distance from an obstacle (such as a ceiling) located above the upper door 1a to the upper door 1a can be detected without depending on the movement of the lower door 1b. Therefore, even if the lower door 1b rotates, the upper door 1a can be prevented from coming into contact with an obstacle located above the upper door 1a.

[0025] (Sensor 32) The sensor 32 is provided near the center of the lower door 1b in the left-right direction, near the lower edge of the lower door 1b.

[0026] By providing the sensor 32 near the lower edge of the lower door 1b, for example, it is possible to accurately detect the shortest distance from the door 1 to an object during an opening operation in normal mode, and prevent the door 1 from coming into contact with the object.

[0027] The normal mode is a mode in which the door 1 is operated in a state in which the angle of the lower door 1b relative to the upper door 1a is equal to the angle when the door 1 closes the opening of the vehicle body 101, for example.

[0028] (Sensor 33) When the lower door 1b is viewed from the rear to the front of the vehicle 100, the sensor 33 is provided near the right edge of the lower door 1b.

[0029] By providing the sensor 33 near the right edge of the lower door 1b, for example, when an object is present on the right side of the lower door 1b, the shortest distance from the door 1 to the object during the opening operation in the center-folding mode or normal mode can be accurately detected, and the door 1 can be prevented from coming into contact with the object.

[0030] (Sensor 34) When the lower door 1b is viewed from the rear to the front of the vehicle 100, the sensor 34 is provided near the left edge of the lower door 1b.

[0031] By providing a sensor 34 near the left edge of the lower door 1b, for example, when an object is present on the left side of the lower door 1b, the shortest distance from the door 1 to the object during the opening operation in the center-folding mode or normal mode can be accurately detected, and the door 1 can be prevented from coming into contact with the object.

[0032] Next, a configuration example of the door drive control system 200 will be described with reference to Fig. 2. Fig. 2 is a diagram showing the configuration example of the door drive control system 200. The door drive control system 200 includes a drive unit 2, a sensor group 3, a door drive control device 4, and an operation device 5.

[0033] (Door drive control device 4) The door drive control device 4 is a device that transitions the door 1 from a closed state to an open state, or transitions the door 1 from an open state to a closed state. The door drive control device 4 may be incorporated in an ECU (Electronic Control Unit) that controls each part of the vehicle 100, or may be mounted on the drive unit 2.

[0034] The door drive control device 4 includes an acquisition unit 4a and a control unit 4b.

[0035] (Acquisition part 4a) The acquisition unit 4a acquires detection state information 3a indicating the state of detection of an object by the sensor group 3. The detection state information 3a is, for example, an echo signal reflected by an object and received by the sensor group 3.

[0036] (Control unit 4b) When the control unit 4b receives an operation signal 5a transmitted from the operating device 5, it controls the drive unit 2 so that the angle of the upper door 1a relative to the vehicle body 101 can be changed based on the detection status information 3a, and further controls the drive unit 2 so that the angle of the lower door 1b relative to the upper door 1a can be changed.

[0037] Specifically, the control unit 4b determines whether or not an object is present near the door 1 based on the detection state information 3a, and calculates the distance from the door 1 to the object. Then, based on this result, the control unit 4b determines whether or not to change the angle of the upper door 1a relative to the vehicle body 101, and also determines whether or not to change the angle of the lower door 1b relative to the upper door 1a, and drives the door 1 according to the results of these determinations.

[0038] (Operating device 5) The operation device 5 is a remote control key, an operation switch mounted on the vehicle 100, etc. The operation device 5 transmits an operation signal 5a for opening and closing the upper door 1a and the lower door 1b to the control unit 4b. The operation signal 5a is an open operation signal transmitted when an operation to open the door 1 is performed, or a close operation signal transmitted when an operation to close the door 1 is performed.

[0039] Next, the operation of the door drive control device 4 will be described with reference to Fig. 3 and Fig. 4A to Fig. 4G. Fig. 3 is a flow chart for explaining the operation of the door drive control device 4 when the door 1 is opened. Fig. 4A to Fig. 4G are diagrams for explaining the operation of the door drive control device 4.

[0040] In step S1, the control unit 4b determines whether or not an open operation signal has been received. In step S1, the vehicle 100 is parked and in a standby state waiting for reception of an operation signal, and the sensors 31 to 34 are in a sleep state in which their power is turned off.

[0041] When the open operation signal has not been received (step S1, NO), the control unit 4b repeatedly executes the process of step S1.

[0042] When an open operation signal is received (step S1, YES), in step S2, if the state of the sensors 31 to 34 is the sleep state, the control unit 4b cancels the sleep state and determines whether the distance from the door 1 to the object 6 is equal to or greater than the activation start distance D0 (see FIG. 4A).

[0043] The activation start distance D0 is a distance that allows the start of the opening operation of the door 1. For example, if the distance detected by the sensor group 3 when the door 1 in the closed position starts the opening operation is less than the activation start distance D0, the opening operation of the door 1 is interrupted because there is a high possibility that the door 1 will come into contact with an object present around the door 1. Also, if the distance detected by the sensor group 3 during the opening operation of the door 1 changes from equal to or greater than the activation start distance D0 to less than the activation start distance D0, there is a high possibility that the door 1 will come into contact with an object present around the door 1, so the opening operation of the door 1 is interrupted.

[0044] When the distance from the door 1 to the object 6 is less than the operation start distance D0 (step S2, NO), the control unit 4b ends the series of processes without opening the door 1. This stops the opening operation of the door 1, and prevents the door 1 from coming into contact with the object 6.

[0045] If the distance from the door 1 to the object 6 is equal to or greater than the operation start distance D0 (step S2, YES), the control unit 4b sends an opening operation command 4b1 for the door 1 to the drive unit 2 in step S3, thereby starting the opening operation of the door 1.

[0046] Next, in step S4, the control unit 4b determines whether or not the distance from the door 1 to the object 6 is equal to or less than the first distance D1 (see FIG. 4B).

[0047] The first distance D1 is a distance at which the door 1 can be opened without being in a half-bent state because there is no possibility that the door 1 will come into contact with the object 6 during the opening operation in the normal mode.

[0048] When the distance from the door 1 to the object 6 is equal to or greater than the first distance D1 (YES in step S4), the control unit 4b continues the door opening operation in the normal mode in step S5. That is, when the control unit 4b starts the door opening operation, if the distance from the sensor group 3 to the object 6 is equal to or greater than the first distance D1, the control unit 4b controls the drive unit 2 so that the door 1 opens while maintaining the angle of the lower door 1b relative to the upper door 1a at the angle when the door 1 is in the closed position.

[0049] This allows the luggage loading / unloading work to proceed without interruption when loading luggage into the vehicle 100 or unloading luggage from the vehicle 100. Also, since the process of driving the lower door 1b to place the door 1 in the center-folded state is omitted, it is possible to suppress an increase in power consumption of the drive unit 2. Also, it is possible to reduce the time required to return the center-folded door 1 to the angle when it is in the closed position.

[0050] Next, in step S6, the control unit 4b determines whether or not the distance from the door 1 to the object 6 is less than a second distance D2 (see FIG. 4C).

[0051] The second distance D2 is longer than the activation start distance D0 and shorter than the first distance D1. The second distance D2 is a distance at which the door 1, which may come into contact with the object 6 in the normal mode, can be opened without coming into contact with the object 6 by being placed in a half-folded state.

[0052] When the distance from the door 1 during the opening operation in the normal mode to the object 6 is equal to or greater than the second distance D2 (step S6, NO), the control unit 4b determines in step S7 whether the door 1 is fully open.

[0053] For example, the control unit 4b receives drive amount information indicating the drive amount of the upper door 1a transmitted from the first drive unit 2a, and counts the number of pulses included in the drive amount information. If the total number of pulses does not exceed a predetermined value, the control unit 4b determines that the door 1 is not fully open, and if the total number of pulses exceeds the predetermined value, the control unit 4b determines that the door 1 is fully open.

[0054] If the door 1 is not fully open (step S7, NO), the control unit 4b repeats the processes from step S6 onwards.

[0055] If the door 1 is fully open (step S7, YES), the control unit 4b ends the series of processes.

[0056] Returning to step S4, if the distance from the door 1 to the object 6 is less than the first distance D1 (step S4, NO), the control unit 4b executes the process of step S8. The process of step S8 will be described later. Also, in step S6, if the distance from the door 1 to the object 6 is less than the second distance D2 (step S6, YES), the control unit 4b executes the process of step S8.

[0057] In step S8, the control unit 4b continues the opening operation of the door 1 in the center folding mode (see FIG. 4D).

[0058] When the door 1 starts the opening operation, if the distance from the sensor group 3 to the object 6 is less than the first distance D1 (step S4, NO), the control unit 4b controls the drive unit 2 so that the door 1 opens after the door 1 bends so that it does not come into contact with the object 6, or while the door 1 is bent so that it does not come into contact with the object 6.

[0059] After starting the opening operation of the door 1, if the distance from the sensor group 3 to the object 6 becomes less than a second distance D2 which is shorter than the first distance D1 (step S6, YES), the control unit 4b controls the drive unit 2 so that the door 1 opens after the door 1 bends so as not to come into contact with the object 6, or while the door 1 is bent so as not to come into contact with the object 6.

[0060] By continuing the opening operation of the door 1 in the center-folding mode in this manner, the opening operation of the door 1 can be continued while preventing the door 1 from coming into contact with the object 6.

[0061] Next, in step S9, the control unit 4b determines whether or not the distance from the door 1, which continues the opening operation in the center folding mode, to the object 6 is equal to or greater than the second distance D2.

[0062] For example, if an object 6 near the door 1 is a person, another vehicle 100, etc., and the object 6 moves away from the door 1 such that the distance from the door 1 to the object 6 becomes equal to or greater than the second distance D2 (step S9, YES), the control unit 4b executes processing of step S10.

[0063] In step S10, the control unit 4b determines that the door 1 can be opened without contacting an object even when the door 1 is operated in the normal mode, and transitions the opening operation mode of the door 1 from the folding mode to the normal mode (see FIG. 4E).

[0064] That is, when the control unit 4b controls the drive unit 2 so that the door 1 opens in a state in which the door 1 is bent so as not to come into contact with the object 6, if the distance from the sensor group 3 to the object 6 becomes equal to or greater than the second distance D2, the control unit 4b controls the drive unit 2 so that the angle of the lower door 1b with respect to the upper door 1a is set to the angle when the door 1 is in the closed position, or changes the angle of the lower door 1b so as to approach the angle when the door 1 is in the closed position, and then opens the door 1. After that, the control unit 4b executes the process of step S7.

[0065] By shifting to the normal mode, the degree of bending of the lower door 1b relative to the upper door 1a can be reduced before the opening operation of the upper door 1a is completed. Therefore, the time until the door 1 is fully opened can be shortened (for example, by several seconds) compared to the case where the lower door 1b is operated so as to reduce the degree of bending of the lower door 1b relative to the upper door 1a after the opening operation of the upper door 1a is completed. Therefore, when carrying luggage into the vehicle 100 or carrying luggage out of the vehicle 100, the carrying in and carrying out of the luggage can be carried out without interruption.

[0066] Returning to step S9, if the distance from the door 1 to the object 6 is less than the second distance D2 (step S9, NO), in step S11, the control unit 4b determines whether the distance from the door 1 to the object 6 is equal to or greater than the activation start distance D0.

[0067] When the distance from the door 1 to the object 6 is equal to or greater than the operation start distance D0 (step S11, YES), the control unit 4b continues the opening operation of the door 1 in the center folding mode and executes the process of step S7.

[0068] When an object 6 around the door 1 approaches the door 1, the vehicle 100 moves backward slightly, or the door 1 rotates in the opening direction, causing the distance from the door 1 to the object 6 to become less than the activation start distance D0 (step S11, NO), the control unit 4b executes the processing of step S12 (see FIG. 4F).

[0069] In step S12, the control unit 4b stops sending a drive signal to the drive unit 2 to prevent the door 1, which is opening in the folding mode, from contacting the object 6, and then ends the series of processes. That is, the control unit 4b controls the drive unit 2 to stop the opening operation of the door 1 when the distance from the sensor group 3 to the object 6 is less than a predetermined distance for starting the opening operation of the door 1 (step S11, NO).

[0070] The control unit 4b stores in the storage unit the operation information of the door 1 during the opening operation (presence or absence of bending of the door 1, the start position of bending, the position where bending is released, etc.). When performing the closing operation of moving the door 1 from the open position to the closed position, when the control unit 4b receives a closing operation signal, the control unit 4b reads out the operation information of the door 1 during the opening operation of the door 1 from the storage unit, and drives the door 1 so that the bending of the door 1 is released at the same position where bending of the door 1 is started during the opening operation, and the bending of the door 1 is started at the same position where bending of the door 1 is released during the opening operation. That is, the control unit 4b executes an operation corresponding to the opening operation of the door 1 that is opposite to that during the opening operation of the door 1, based on the information on the opening operation of the door 1. This simplifies the control, and allows the operation to be performed safely even when the distance cannot be measured by the sensor.

[0071] In this embodiment, an example has been described in which the opening operation of the door 1 is controlled to prevent the door 1 from coming into contact with the object 6 by measuring the distance to the object 6 using the sensor group 3. However, the door drive control device 4 may detect the presence or absence of the object 6 and control the opening operation of the door 1 by detecting the presence or absence of the object 6 instead of measuring the distance.

[0072] In this case, for example, the control unit 4b measures the RSSI (Received Signal Strength Indicator) of the radio waves reflected by the object 6 and received by the sensor group 3, and if the measured RSSI is equal to or greater than a predetermined value, determines that there is a possibility that the door 1 will come into contact with the object 6 near the door 1.

[0073] The control unit 4b thus judges that the door 1 should be opened by interrupting the opening operation of the door 1 or by shifting the normal mode to the folding mode to continue the opening operation of the door 1. When shifting to the folding mode, for example, the control unit 4b judges whether the opening operation can be executed by shifting the door 1 to the folding mode without interrupting the opening operation of the door 1 by comparing the RSSI with, for example, a first predetermined value and a second predetermined value larger than the first predetermined value. Then, the control unit 4b shifts the mode to the folding mode to continue the opening operation of the door 1 or interrupts the opening operation of the door 1 without shifting the mode to the folding mode according to the result of this judgment.

[0074] On the other hand, if the measured RSSI is less than the predetermined value, it is determined that there is no possibility that the door 1 will come into contact with the object 6 because there is no object 6 near the door 1. Then, the control unit 4b, having determined in this way, executes the opening operation of the door 1 in the normal mode without transitioning to the folding mode.

[0075] In the present embodiment, it has been described that the door 1 transitions to the normal mode when the distance from the sensor group 3 to the object 6 becomes equal to or greater than the first distance D1 while the door 1 is operating in the folding mode. However, after the door 1 operates in the folding mode, the drive unit 2 may be controlled so that the angle of the lower door 1b is changed to the angle when the door 1 is in the closed position and the door 1 opens after the upper door 1a reaches the door open position while still in the folding mode.

[0076] In this case, after the folding mode, the control unit 4b only needs to determine whether the sensor group 3 is less than the activation start distance D0, which allows for simple control. When the control unit 4b controls the drive unit 2 so that the door 1 opens in a state where the door 1 is folded so as not to come into contact with the object 6, if the distance from the sensor group 3 to the object 6 becomes equal to or greater than the first distance D1, the control unit 4b may control the drive unit 2 so that the door 1 opens after the angle of the lower door 1b with respect to the upper door 1a is set to the angle when the door 1 is in the closed position, or while changing the angle of the lower door so as to approach the angle when the door 1 is in the closed position. In this case, the obstacle can be avoided more safely.

[0077] It should be noted that, for example, the following aspects are also understood to fall within the technical scope of the present disclosure.

[0078] (1) A door drive control device drives a door having an upper door and a lower door rotatably connected to the upper door, and includes: an acquisition unit that acquires detection state information indicating a detection state of an object by a sensor that detects an object present around the door; and a control unit that controls a drive unit that drives the door based on the detection state information so that the angle of the lower door relative to the upper door can be changed.

[0079] (2) When the control unit starts the door opening operation, if the distance from the sensor to the object is equal to or greater than a first distance, the control unit controls the drive unit so that the door opens while maintaining the angle of the lower door relative to the upper door when the door is in the closed position.

[0080] (3) After starting the door opening operation, when the distance from the sensor to the object becomes less than a second distance that is shorter than the first distance, the control unit controls the drive unit so that the door opens after the door bends so as to avoid contact with the object, or while the door is bending so as to avoid contact with the object.

[0081] (4) When the control unit controls the drive unit to open the door in a bent state so that the door does not come into contact with the object, if the distance from the sensor to the object becomes greater than the second distance, the control unit controls the drive unit to open the door by setting the angle of the lower door relative to the upper door to the angle when the door is in the closed position or by changing the angle of the lower door to approach the angle when the door is in the closed position.

[0082] (5) When the door starts to open, if the distance from the sensor to the object is less than a first distance, the control unit controls the drive unit so that the door opens after the door bends so as to avoid contact with the object, or while the door is bent so as to avoid contact with the object.

[0083] (6) The control unit controls the drive unit to stop the opening operation of the door when the distance from the sensor to the object is less than a predetermined distance at which the opening operation of the door is started.

[0084] (7) The control unit stores information regarding the opening operation of the door, and when the door is closed, executes an operation corresponding to the opening operation of the door that is opposite to the opening operation of the door based on the information regarding the opening operation of the door.

[0085] (8) A door drive control system includes the door drive control device, the sensor, and the drive unit.

[0086] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims, such as equivalents.

[0087] The above describes the embodiment of the present invention. Note that the above description is an example of a preferred embodiment of the present invention, and the scope of the present invention is not limited thereto. In other words, the description of the configuration of the above device and the shape of each part are examples, and it is clear that various modifications and additions to these examples are possible within the scope of the present invention. [Industrial Applicability]

[0088] INDUSTRIAL APPLICABILITY The door drive control device and the door drive control system according to the present invention are useful as devices capable of changing the degree of bending of a lower door in accordance with the conditions around the door. [Explanation of symbols]

[0089] 1 Door 1a Upper door 1b Lower door 2 Drive unit 2a First drive unit 2b Second drive unit 3 Sensor Group 3a Detection status information 4 Door Drive Control Unit 4a Acquisition part 4b Control section 4b1 Opening operation command 5 Operating device 5a Operation signal 6 objects 31 Sensors 32 Sensors 33 Sensors 34 Sensors 100 vehicles 101 Vehicle body 200 Door drive control system D0 Activation start distance D1 First distance D2 2nd distance

Claims

1. A door drive control device for driving a door including an upper door and a lower door rotatably connected to the upper door, an acquisition unit that acquires detection state information indicating a detection state of an object by a sensor that detects an object present around the door; a control unit that controls a drive unit that drives the door so that an angle of the lower door relative to the upper door can be changed based on the detection state information; Equipped with The control unit is when starting an opening operation of the door, if a distance from the sensor to the object is equal to or greater than a first distance, controlling the drive unit so that the door opens while maintaining an angle of the lower door relative to the upper door when the door is in a closed position; When a distance from the sensor to the object becomes less than a second distance that is shorter than the first distance after starting an opening operation of the door, the drive unit is controlled so that the door opens after the door is bent so as not to come into contact with the object, or while the door is bent so as not to come into contact with the object. Door drive control device.

2. 2. The door drive control device according to claim 1, wherein when the control unit controls the drive unit so that the door opens in a bent state so as not to come into contact with the object, if a distance from the sensor to the object becomes equal to or greater than the second distance, the control unit controls the drive unit so that the door opens after setting an angle of the lower door relative to the upper door to an angle when the door is in a closed position or by changing the angle of the lower door to approach the angle when the door is in the closed position.

3. 2. The door drive control device according to claim 1, wherein when the door starts an opening operation and a distance from the sensor to the object is less than a first distance, the control unit controls the drive unit so that the door opens after the door bends so as not to come into contact with the object, or while the door is bent so as not to come into contact with the object.

4. 4. The door drive control device according to claim 1, wherein the control unit controls the drive unit to stop the opening operation of the door when a distance from the sensor to the object is less than a predetermined distance for starting the opening operation of the door.

5. 5. The door drive control device according to claim 1, wherein the control unit stores information regarding the opening operation of the door, and when the door is closed, executes an operation corresponding to the opening operation of the door that is opposite to the opening operation of the door based on the information regarding the opening operation of the door.

6. The door drive control device according to any one of claims 1 to 5, The sensor; The drive unit; A door drive control system comprising:

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