Control device, control method and program

Abstract

To provide a novel and improved control device, a control method and a program that can detect whether an object is present within an open-close range of a door with higher accurately.SOLUTION: A control device includes a control unit for running control of calculating positional information of an object OB on the basis of a distance from a distance measurement sensor 110 installed to a hinge-type door 10 to the object which is obtained at least two or more points within an open-close range of the door by the distance measurement sensor.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a control device, a control method, and a program. [Background technology]

[0002] In recent years, technologies for controlling the opening and closing of structures such as doors have been developed. For example, Patent Document 1 discloses a technology for controlling a sliding door to stop opening or closing by generating a braking force in an electric motor when a stop signal is input during the opening or closing of the sliding door. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2014-194151 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the technology described in Patent Document 1 does not detect whether a person or object is within the range of the door when the door is opened or closed. Therefore, for example, when a person or object is within the range of the door, the door may come into contact with the person or object.

[0005] Therefore, the present invention has been made in consideration of the above problems, and an object of the present invention is to provide a new and improved control device, control method and program that are capable of detecting with greater accuracy whether or not an object is present within the opening and closing range of a door. [Means for solving the problem]

[0006] In order to solve the above problems, according to one aspect of the present invention, a control device is provided that includes a control unit that controls calculation of position information of an object based on the distance from a ranging sensor to the object obtained by the ranging sensor installed on a hinged door at at least two or more points within the range in which the door opens and closes.

[0007] In addition, in order to solve the above problem, according to another aspect of the present invention, there is provided a control method executed by a computer, which includes controlling the calculation of position information of an object based on the distance from a ranging sensor provided on a hinged door to the object, the distance being obtained by the ranging sensor at at least two or more points within a range in which the door opens and closes.

[0008] In addition, in order to solve the above problem, according to another aspect of the present invention, a program is provided that causes a computer to realize a control function of controlling the calculation of position information of an object based on the distance from a ranging sensor provided on a hinged door to the object, the distance being obtained by the ranging sensor at at least two or more points within a range in which the door opens and closes. Effect of the Invention

[0009] As described above, according to the present invention, it is possible to detect with higher accuracy whether or not an object is present within the range in which the door is opened or closed. [Brief description of the drawings]

[0010] [Figure 1] 1 is a block diagram showing an example of the configuration of a vehicle according to an embodiment of the present invention; [Diagram 2] FIG. 1 is an overhead view of a vehicle according to an embodiment of the present invention. [Diagram 3] FIG. 2 is an explanatory diagram for explaining an example of one distance measuring process according to the present embodiment. [Figure 4] 11 is an explanatory diagram for explaining an example of calculation of position information in two distance measuring processes according to the embodiment. FIG. [Diagram 5]11 is an explanatory diagram for explaining an example of calculation of position information in three distance measurement processes according to the embodiment. FIG. [Figure 6] FIG. 4 is a flowchart illustrating an example of an operation process of the control device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same functional configurations are designated by the same reference numerals, and duplicated explanations will be omitted.

[0012] <<1. Vehicle configuration example>> First, a schematic configuration of a vehicle according to this embodiment will be described with reference to Fig. 1. Fig. 1 is a block diagram showing a configuration example of a vehicle according to this embodiment. As shown in Fig. 1, a vehicle 1 according to this embodiment includes a door 10, a control device 20, and a drive device 30.

[0013] (Vehicle 1) The vehicle 1 is an example of a moving body. The vehicle 1 is, for example, a vehicle used by a user. The vehicle 1 is, for example, a vehicle owned by a user or a vehicle temporarily loaned to a user. Note that the moving body according to this embodiment includes not only the vehicle 1 but also an airplane, a ship, and the like.

[0014] (Door 10) The door 10 is a hinged door provided on the vehicle 1. For example, a user can get in or out of the vehicle 1 by opening and closing the door 10. The door 10 according to this embodiment may be a front door or a rear door of the vehicle 1. The door 10 may also be a back door or a falcon wing door.

[0015] Moreover, the door 10 according to this embodiment opens and closes via a drive unit 30 under the control of a control unit 20, which will be described later.

[0016] 1, the door 10 according to the present embodiment includes an ultrasonic sensor 110. For example, the door 10 according to the present embodiment includes one ultrasonic sensor 110. Moreover, the door 10 according to the present embodiment may include a plurality of ultrasonic sensors 110.

[0017] The ultrasonic sensor 110 is an example of a distance measurement sensor. The ultrasonic sensor 110 transmits ultrasonic waves as transmission waves, for example, under the control of the control unit 210. Next, the ultrasonic sensor 110 receives a reflected wave generated when the transmission wave is reflected by an object. Then, the ultrasonic sensor 110 detects the distance between the ultrasonic sensor 110 and the object that reflected the transmission wave based on the time from when the ultrasonic sensor 110 transmits the ultrasonic wave to when the ultrasonic sensor 110 receives the ultrasonic wave. Such a series of processes related to the detection of the distance between the ultrasonic sensor 110 and the object is called a distance measurement process. Note that the distance measurement sensor according to this embodiment may be an optical distance measurement sensor or a radio wave distance measurement sensor such as a millimeter wave distance measurement sensor.

[0018] (Control device 20) The control device 20 controls the overall operation of the vehicle 1. As shown in FIG.

[0019] The control unit 210 controls the overall operation of the control device 20. For example, the control unit 210 performs control to calculate position information of an object based on the distance from the ultrasonic sensor 110 to the object, which is acquired by the ultrasonic sensor 110 at least at two or more points within a range in which the door 10 is opened and closed.

[0020] Furthermore, the control unit 210 may control the opening and closing of the door 10 according to the calculated position information of the object. For example, the control unit 210 causes the drive device 30 (described later) to open and close the door according to the calculated position information of the object. Note that the function of the control unit 210 to control the opening and closing of the door 10 may be realized by a device different from the control device 20.

[0021] Moreover, the ultrasonic sensor 110 according to this embodiment performs distance measurement processing at least at two or more points within the range in which the door 10 opens, and acquires information on the distance from the two or more ultrasonic sensors 110 to an object. Then, the control unit 210 may stop the operation of opening the door when the position information of the object based on the two or more distances acquired by the ultrasonic sensor 110 is included within the opening and closing range of the door.

[0022] The control unit 210 functions as an arithmetic processing device or control device, and controls the overall operation or part of the operation of each component of the control device 20 based on various programs recorded in a ROM (Read Only Memory), a RAM (Random Access Memory), or a removable recording medium, etc.

[0023] The control unit 210 may be realized by a processor such as a central processing unit (CPU) or a microcontroller unit (MCU). The control unit 210 may also be realized by an electronic control unit (ECU) mounted on the vehicle 1 or a microcomputer mounted on the ECU.

[0024] (Drive unit 30) The driving device 30 operates the door 10 according to the control of the control unit 210. For example, the driving device 30 operates the door 10 in the opening direction according to the control of the control unit 210 related to the opening operation. The driving device 30 also operates the door 10 in the closing direction according to the control of the control unit 210 related to the closing operation. The driving device 30 may be any actuator capable of operating the door 10.

[0025] An example of the configuration of the vehicle 1 according to this embodiment has been described above. Next, details according to this embodiment will be described with reference to FIG.

[0026] <<2.Details>> <2.1. Installation example of ultrasonic sensor 110> 2 is an overhead view of the vehicle 1 according to this embodiment. In the following description, an example in which the user operates the door 10 in a direction to open the door 10 will be described, but the control unit 210 according to this embodiment can also be applied to a case in which the user operates the door 10 in a direction to close the door 10. In the following description, the direction in which the door 10 is opened may be referred to as an opening direction, and the direction in which the door 10 is closed may be referred to as a closing direction.

[0027] The ultrasonic sensor 110 is installed on at least one of the surface on the closing direction side or the surface on the opening direction side depending on the direction in which position information of the object OB is detected. For example, when detecting position information of an object OB in the opening direction of the door 10, the ultrasonic sensor 110 is installed on the surface on the opening direction side of the door 10 as shown in Fig. 2. When detecting position information of an object OB in the closing direction of the door 10, the ultrasonic sensor 110 is installed on the surface on the closing direction side of the door 10.

[0028] In this specification, an example in which the ultrasonic sensor 110 is installed in the central position of the door 10 as shown in FIG. 2 will be mainly described, but the ultrasonic sensor 110 may be installed in any position on the surface of the door 10.

[0029] In addition, the detection range of the ultrasonic sensor 110 differs depending on the function of the ultrasonic sensor 110, but the detection range of the ultrasonic sensor 110 according to this embodiment may be any range. In the following description, for convenience of explanation, an example will be described in which the ultrasonic sensor 110 with a detection range of 0° to 180° is installed on the surface of the door 10 in the opening direction.

[0030] <2.2. Details regarding calculation of location information> (One distance measurement process) 3 is an explanatory diagram for explaining an example of one distance measurement process according to this embodiment. The control unit 210 performs control to open the door 10 within the opening / closing range DA of the door 10. For example, within the opening / closing range DA of the door 10, the position of the door 10 that is the most open is referred to as the fully open position DP of the door 10. In addition, the operation of the control unit 210 in the direction to open the door 10 may be referred to as an opening operation, and the operation of the door 10 in the direction to close the door 10 may be referred to as a closing operation.

[0031] First, the ultrasonic sensor 110 performs a first distance measurement process at an arbitrary position of the door 10. For example, the ultrasonic sensor 110 performs the distance measurement process when the door 10 is completely closed. The ultrasonic sensor 110 performs the distance measurement process when the door 10 is completely closed, and obtains information related to the distance R1 from the ultrasonic sensor 110 to the object OB.

[0032] In this way, in one distance measurement process, information on the distance R1 from the ultrasonic sensor 110 to the object OB can be obtained, but it is difficult to obtain detailed information on the object, such as its direction and coordinate position. For example, if the ultrasonic sensor 110 only obtains information on the distance R1 as shown in Fig. 1, it is difficult to determine whether the object OB is inside or outside the opening / closing range DA of the door 10. Therefore, for example, when the control unit 210 opens the door 10 to the fully open position DP, the door 10 may hit the object OB.

[0033] Therefore, the control unit 210 performs control to open the door 10 to an arbitrary position. For example, the control unit 210 opens the door 10 to the position of an intersection MA of an arc at a distance R1 from the ultrasonic sensor 110 and an opening / closing range DA at the tip position of the door 10, or to an arbitrary position before that. This allows the control unit 210 to open the door 10 to some extent within a range where it will not hit the object OB.

[0034] (Two distance measurement processes) FIG. 4 is an explanatory diagram for explaining an example of calculation of position information in two distance measuring processes according to this embodiment.

[0035] 3, the control unit 210 opens the door 10 to an arbitrary position, and then the ultrasonic sensor 110 executes the second distance measurement process. For example, the ultrasonic sensor 110 executes the second distance measurement process at a point after the control unit 210 opens the door 10 to an arbitrary position, or at a point while the door 10 is being opened, and obtains information related to a distance R2 from the ultrasonic sensor 110 to the object OB.

[0036] Then, the control unit 210 performs control to calculate the position information of the object OB based on the distance R1 in the first distance measurement process and the distance R2 in the second distance measurement process, thereby enabling the control unit 210 to detect with higher accuracy whether or not the object OB is present within the opening / closing range DA of the door 10.

[0037] For example, the control unit 210 calculates two two-dimensional coordinate positions as candidates for the position of the object OB based on the distance R1 in the first distance measurement process and the distance R2 in the second distance measurement process. This enables the control unit 210 to narrow down the candidates for the two-dimensional coordinate position of the object OB to two points, and can control the opening and closing of the door 10 based on more detailed position information of the object OB.

[0038] When the position information of the object OB calculated by the control unit 210 is included in the opening / closing range DA of the door 10, the control unit 210 may perform control to stop the opening operation of the door 10. For example, the control unit 210 controls the opening operation of the door 10 so that the door 10 does not come into contact with the object OB. This can reduce the probability that the door 10 comes into contact with the object OB.

[0039] In addition, the control unit 210 may perform control to stop the opening operation of the door 10 just before reaching one of the two candidate two-dimensional coordinates of the object OB obtained by two distance measurement processes, which is the one that is more likely to come into contact with the door 10 first.

[0040] In addition, when one of the two two-dimensional coordinate positions is outside the opening / closing range DA of the door 10, the control unit 210 may open the door 10 to a point just before the other two-dimensional coordinate position.

[0041] Furthermore, when both of the two-dimensional coordinate positions are outside the opening / closing range DA of the door 10, the control unit 210 may open the door 10 to an arbitrary point.

[0042] Furthermore, as described above, when the control unit 210 calculates multiple candidates for the position of the object OB, the control unit 210 may stop the opening operation of the door 10 when the position information of at least one or more objects OB is included within the opening / closing range of the door 10.

[0043] Furthermore, when the door 10 comes into contact with an object OB during opening or closing of the door 10, the control unit 210 may stop opening or closing of the door 10. In this way, when the door 10 comes into contact with the object OB, the control unit 210 can prevent the door 10 from moving further in the opening direction.

[0044] As described above, by performing the distance measurement process twice, the control unit 210 is able to calculate candidates for the two-dimensional coordinate position of the object OB, and can control the opening and closing of the door 10 based on more detailed position information of the object OB.

[0045] (3 distance measurements) FIG. 5 is an explanatory diagram for explaining an example of calculation of position information in three distance measurement processes according to this embodiment.

[0046] For example, the ultrasonic sensor 110 executes a third distance measurement process at a point after the door 10 has been further opened by the control unit 210, or at a point while the door 10 is being further opened, and acquires information relating to the distance R3 from the ultrasonic sensor 110 to the object OB.

[0047] Then, the control unit 210 performs control to calculate position information of the object OB based on the distance R1 in the first distance measurement process, the distance R2 in the second distance measurement process, and the distance R3 in the third distance measurement process.

[0048] For example, the control unit 210 calculates the two-dimensional coordinate position of one object OB based on the distance R1 in the first distance measurement process, the distance R2 in the second distance measurement process, and the distance R3 in the third distance measurement process, thereby enabling the control unit 210 to detect with higher accuracy whether or not the object OB is present within the opening / closing range DA of the door 10.

[0049] Then, the control unit 210 controls the drive device 30 to open the door 10 so as not to come into contact with the calculated two-dimensional coordinate position of the object OB. For example, the control unit 210 controls the door 10 to open just before the calculated two-dimensional coordinate position of the object OB.

[0050] As described above, by performing the distance measurement process three times, the control unit 210 becomes able to identify the two-dimensional coordinate position of the object OB, and can control the opening and closing of the door 10 based on more detailed position information of the object OB.

[0051] The ultrasonic sensor 110 may constantly perform the distance measurement process. In this case, the control unit 210 may obtain the results of the distance measurement process from the ultrasonic sensor 110 at each position of the door 10 described in the description of the first distance measurement process to the third distance measurement process.

[0052] The details of this embodiment have been described above. Next, an example of the operation process of the control device 20 according to this embodiment will be described with reference to FIG.

[0053] <<3. Operation processing example>> 6 is a flow chart for explaining an example of the operation process of the control device 20 according to this embodiment. In the following explanation, information on the distance from the ultrasonic sensor 110 to an object obtained by the distance measurement process may be expressed as distance measurement information. First, the control unit 210 receives a trigger signal for opening the door 10 (S101).

[0054] Next, the control unit 210 acquires the first distance measurement information detected by the ultrasonic sensor 110 (S105).

[0055] Then, the control unit 210 performs control to move the door in the opening direction (S109). For example, the control unit 210 opens the door 10 to an arbitrary position based on the first distance measurement information detected by the ultrasonic sensor 110, within a range where the door 10 does not hit an object.

[0056] Next, after the control unit 210 opens the door 10 to an arbitrary position within a range where the door 10 does not hit an object, the control unit 210 acquires second distance measurement information detected by the ultrasonic sensor 110 (S113).

[0057] Then, the control unit 210 performs control to further move the door in the opening direction (S117). For example, the control unit 210 controls the door 10 to be further opened to an arbitrary position within a range where the door 10 does not hit an object, based on two pieces of distance measurement information detected by the ultrasonic sensor.

[0058] Next, the control unit 210 opens the door 10 further to an arbitrary position without hitting the door 10 against an object, and then the control unit 210 acquires the third distance measurement information detected by the ultrasonic sensor 110 (S121).

[0059] Then, the control unit 210 judges whether or not there is an object within the opening and closing range of the door 10 (S125). If it is judged that there is an object (S125 / Yes), the control unit 210 advances the process to S129, and if it is judged that there is no object (S125 / No), the control unit 210 advances the process to S133.

[0060] When it is determined that an object is present (S125 / Yes), the control unit 210 performs control to stop the movement of the door 10 in the opening direction immediately before the object (S133).

[0061] If it is determined that there is no object (S125 / No), the control unit 210 controls the door 10 to move to a predetermined position within the opening and closing range (S129). The predetermined position may be any position. For example, the predetermined position may be a position where the door 10 is fully open, or a position where the door 10 is opened to an extent that a user can pass through.

[0062] The above describes an example of the operation process of the control device 20 according to the present embodiment. According to the control device 20 described above, when the door 10 is opened or closed, it is possible to detect with higher accuracy whether or not an object is present within the opening and closing range of the door 10.

[0063] Furthermore, according to this embodiment, even if the door 10 is equipped with only one ultrasonic sensor 110, the control unit 210 can calculate the two-dimensional coordinate position of the target with high accuracy. This can reduce the cost required to calculate the two-dimensional coordinate position of the target with high accuracy.

[0064] Furthermore, when a wide-angle distance sensor is used, there is a possibility that an object outside the opening and closing range of the door may be detected. Therefore, even if the object is not actually within the opening and closing range of the door, the control unit may need to execute control to stop the opening or closing operation of the door. On the other hand, the control unit 210 according to the present embodiment executes the distance measurement process at least twice or more within the opening and closing range of the door 10, thereby being able to detect with higher accuracy whether or not an object is within the opening and closing range of the door 10.

[0065] <<4. Supplementary Information>> Although the preferred embodiment of the present invention has been described in detail above with reference to the accompanying drawings, the present invention is not limited to such an example. It is clear that a person having ordinary knowledge in the technical field to which the present invention pertains can conceive of various modified or altered examples within the scope of the technical ideas described in the claims, and it is understood that these also naturally belong to the technical scope of the present invention.

[0066] For example, the series of processes performed by each device described in this specification may be realized using software, hardware, or a combination of software and hardware. The programs constituting the software are stored in advance, for example, in a recording medium (non-transitory medium) provided inside or outside each device. Then, each program is loaded into a RAM when executed by a computer, for example, and executed by a processor such as a CPU. The recording medium is, for example, a magnetic disk, an optical disk, a magneto-optical disk, a flash memory, etc. Also, the computer program may be distributed, for example, via a network, without using a recording medium. [Explanation of symbols]

[0067] 1: vehicle, 10: door, 110: ultrasonic sensor, 20: control device, 210: control unit, 30: drive device

Claims

1. a control unit that performs control to calculate position information of an object based on distances from a distance measuring sensor provided on a hinged door to the object, the distances being acquired at at least three or more points within a range in which the door is opened and closed by the distance measuring sensor; Control device.

2. The control unit is controlling opening and closing of the door in accordance with the calculated position information of the object; The control device according to claim 1 .

3. The control unit is When the calculated position information of the object is included in the opening / closing range of the door, the opening / closing of the door is stopped. The control device according to claim 2.

4. The control unit is When the calculated position information of the object is included in an opening / closing range of the door, the opening / closing of the door is stopped so that the door does not come into contact with the object. The control device according to claim 3.

5. The control unit is when a plurality of candidates for the object position information are calculated, and at least one of the candidates for the object position information is included in the opening / closing range of the door, the opening / closing of the door is stopped. The control device according to any one of claims 2 to 4.

6. The control unit is When the door comes into contact with the object, the door stops opening or closing. A control device according to any one of claims 1 to 5.

7. The control unit: stopping an operation of opening the door when position information of the object based on a distance from the distance measuring sensor to the object obtained by the distance measuring sensor is within a range in which the door is to be opened; A control device according to any one of claims 2 to 6.

8. The distance measuring sensor, Further comprising: A control device according to any one of claims 1 to 7.

9. The distance measurement sensor includes an ultrasonic sensor. A control device according to any one of claims 1 to 8.

10. The door is mounted on a moving body. A control device according to any one of claims 1 to 9.

11. a distance measuring sensor provided on a hinged door, the distance measuring sensor measuring the distance from the distance measuring sensor to the object being acquired at at least three or more points within a range where the door is opened and closed, and a control is performed to calculate position information of the object; A control method implemented by a computer, comprising:

12. On the computer, a control function for controlling calculation of position information of an object based on distances from a distance measuring sensor provided on a hinged door to the object, the distances being acquired at at least three or more points within a range in which the door is opened and closed; A program to achieve this.

Images