Door control device

Abstract

To provide a door control device that can improve the operability when a user opens a door.SOLUTION: A door control device 100 includes: a memory section 101 for storing an assist force set to such a magnitude as to cancel a self-weight opening / closing force according to the degree of opening a front door when a force acting in an opening / closing direction of the front door due to the self-weight of the front door is defined as the self-weight opening / closing force; and a door control section 102 for performing assist processing for adjusting the assist force to be applied to the front door according to the degree of opening the front door based on the assist force stored in the memory section 101 under a situation where the front door is opened.SELECTED DRAWING: Figure 3

Description

Technical Field

[0001] The present invention relates to a door control device.

Background Art

[0002] Patent Document 1 describes a door opening / closing assist device that assists a user's door opening / closing operation. The door opening / closing assist device includes an actuator that applies an assist force to a door, and a controller that controls the actuator. The controller outputs an assist force corresponding to the operating force applied by the user to the door to the actuator.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the door opening / closing assist device as described above, the assist force is determined after the operating force applied by the user to the door is detected. For this reason, there is a possibility that it may take time from when the user starts opening the door until the assist force is applied to the door. In other words, at the initial stage when the user opens the door, the user needs to open the door with a large force.

Means for Solving the Problems

[0005] Hereinafter, means for solving the above problems and their operational effects will be described. The door control device for solving the above problems is a door control device applied to a vehicle including a vehicle body having a door opening, a door for opening and closing the door opening, and a door drive unit that applies an assist force to the door in the opening and closing direction of the door. When the force acting in the opening and closing direction of the door due to the self-weight of the door is defined as the self-weight opening and closing force, a storage unit that stores the assist force set to cancel the self-weight opening and closing force according to the opening degree of the door, and a door control unit that performs an assist process for adjusting the assist force applied to the door based on the assist force stored in the storage unit in a situation where the door is opened.

[0006] When the user operates the door to open, the door control device with the above configuration outputs an assist force that cancels the self-weight opening and closing force of the door and is corresponding to the door opening degree to the door drive unit. Therefore, the user is less likely to be affected by the self-weight opening and closing force from the initial stage of the door opening operation. Therefore, the door control device can improve the operability of the user with respect to the door.

[0007] The door has a door handle and a handle switch that detects an operation on the door handle, and it is preferable that the door control unit starts the assist process when an operation on the door handle is detected.

[0008] The door control device with the above configuration can promptly start the assist process at the timing when the user starts operating the door handle. That is, the door control device can start the assist process before the door starts moving from the fully closed position.

[0009] The door is supported by the vehicle body such that the self-weight opening / closing force acts in the closing direction. The door handle includes an inside door handle operated from inside the vehicle and an outside door handle operated from outside the vehicle. When an operation on the inside door handle is detected, the door control unit preferably weakens the assist force applied to the door in the assist process compared to when an operation on the outside door handle is detected.

[0010] When the user opens the door from inside the vehicle, there is a higher possibility that the door will contact an obstacle outside the vehicle than when the user opens the door from outside the vehicle. In this regard, when the inside door handle is operated, the door control device weakens the assist force applied to the door in the assist process compared to when the outside door handle is operated. For this reason, when the user opens the door from inside the vehicle, it becomes more difficult to open the door than when opening the door from outside the vehicle. Therefore, the door control device can reduce the risk of the door contacting an obstacle when the user opens the door from inside the vehicle.

[0011] The door drive unit is configured to be able to apply a braking force to the door. When the door stops during the execution of the assist process, the door control unit preferably ends the assist process and starts a braking process of applying the braking force to the door.

[0012] The door control device with the above configuration can apply a braking force to the door after the user stops opening the door. For this reason, the door control device can suppress the door from moving due to the action of an external disturbance such as wind after the user stops opening the door.

[0013] The assist force stored in the storage unit is preferably set to a magnitude such that the resultant force with the self-weight opening / closing force is "0" regardless of the opening degree of the door. According to the door control device with the above configuration, the user can open the door as they like without feeling the self-opening / closing force. Therefore, the door control device can further improve the operability of the user with respect to the door.

Effect of the Invention

[0014] The door control device can improve the operability when the user opens the door.

Brief Description of the Drawings

[0015]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Mode for Carrying Out the Invention

[0016] Hereinafter, an embodiment of a vehicle equipped with a door control device will be described with reference to the drawings. As shown in FIGS. 1 and 2, the vehicle 10 includes a vehicle body 20, a front door 30, a door lock device 40, and a door drive unit 50. As shown in FIG. 3, the vehicle 10 includes an inclination sensor 60 and a door control device 100.

[0017] As shown in FIG. 2, the vehicle body 20 has a door opening 21 that is opened and closed by the front door 30. The vehicle body 20 has a door hinge 22 that swingably supports the front end portion of the front door 30. The swing axis of the door hinge 22 extends in the vertical direction.

[0018] As shown in FIGS. 1 and 2, the front door 30 is a swing door that swings between a fully closed position where the door opening 21 is fully closed and a fully open position where the door opening 21 is fully open. As shown in FIGS. 1 to 3, the front door 30 includes a door body 31, a door handle 32 operated by a user, and a handle switch 33 that detects the user's operation on the door handle 32.

[0019] As shown in FIGS. 1 and 2, the door handle 32 includes an inside door handle 321 operated by a user inside the vehicle and an outside door handle 322 operated by a user outside the vehicle. The inside door handle 321 is installed on the surface of the door body 31 facing the inside of the vehicle, and the outside door handle 322 is installed on the surface of the door body 31 facing the outside of the vehicle.

[0020] As shown in FIG. 3, the handle switch 33 includes an inside handle switch 331 that detects an operation on the inside door handle 321 and an outside handle switch 332 that detects an operation on the outside door handle 322. The inside handle switch 331 outputs an off signal to the door control device 100 when the inside door handle 321 is not being operated, and outputs an on signal to the door control device 100 when the inside door handle 321 is being operated. Similarly, the outside handle switch 332 outputs an off signal to the door control device 100 when the outside door handle 322 is not being operated, and outputs an on signal to the door control device 100 when the outside door handle 322 is being operated.

[0021] As shown in FIG. 2, the door lock device 40 has a latch mechanism 41 that switches the restraint state of the front door 30 with respect to the vehicle body 20. The latch mechanism 41 switches between a full latch state in which the front door 30 located at the fully closed position is restrained by the vehicle body 20 and an unlatched state in which the front door 30 is not restrained by the vehicle body 20. The latch mechanism 41 switches from the unlatched state to the full latch state when the front door 30 is closed toward the fully closed position. On the other hand, the latch mechanism 41 switches from the full latch state to the unlatched state when the user operates the door handle 32.

[0022] As shown in FIG. 3, the door drive unit 50 includes an inner tube 51, an outer tube 52, a spindle screw 53, a bearing 54, a motor 55, a speed reducer 56, and a housing 57.

[0023] The inner tube 51 has a cylindrical shape. The inner tube 51 has a spindle nut 511 that engages with the spindle screw 53. The spindle nut 511 is fixed inside the inner tube 51 and near the proximal end of the inner tube 51. The distal end portion of the inner tube 51 is swingably connected to the vehicle body 20. The swing axis of the inner tube 51 with respect to the vehicle body 20 extends in the same direction as the swing axis of the front door 30. The outer tube 52 has a cylindrical shape with a larger diameter than the inner tube 51. The outer tube 52 axially movably houses the inner tube 51. The outer tube 52 holds the bearing 54 at its proximal end portion.

[0024] The spindle screw 53 is rod-shaped. The spindle screw 53 is supported by a bearing 54 while being housed in the outer tube 52. The spindle screw 53 constitutes a so-called feed screw mechanism together with the spindle nut 511. When the spindle screw 53 rotates, the spindle nut 511 moves axially with respect to the spindle screw 53. That is, when the spindle screw 53 rotates, the inner tube 51 advances and retreats with respect to the outer tube 52 according to the rotation direction of the spindle screw 53. On the other hand, when the inner tube 51 advances and retreats with respect to the outer tube 52, the spindle screw 53 rotates with respect to the spindle nut 511. Thus, the above feed screw mechanism converts the rotational motion of the spindle screw 53 into the telescopic motion of the inner tube 51 and the outer tube 52, or converts the telescopic motion of the inner tube 51 and the outer tube 52 into the rotational motion of the spindle screw 53.

[0025] The motor 55 is, for example, a brushless motor. The motor 55 has a rotation angle sensor 551 such as a hall element that detects the position of the rotor. The rotation axis of the motor 55 is connected to the speed reducer 56. The speed reducer 56 transmits the torque transmitted from the rotation axis of the motor 55 to the spindle screw 53 while increasing the torque. Note that the efficiency of the above feed screw mechanism and the reduction ratio of the speed reducer 56 are preferably such that the rotation axis of the motor 55 can rotate when the inner tube 51 and the outer tube 52 expand and contract. The housing 57 is box-shaped. The housing 57 houses the motor 55 and the speed reducer 56. The housing 57 is fixed to the front door 30.

[0026] As described above, the door drive unit 50 expands and contracts the inner tube 51 and the outer tube 52 by rotating the spindle screw 53 by driving the motor 55. When the inner tube 51 and the outer tube 52 extend, a force in the opening direction acts on the front door 30. On the other hand, when the inner tube 51 and the outer tube 52 contract, a force in the closing direction acts on the front door 30. In the present embodiment, the door drive unit 50 assists the opening and closing operation of the user so that the user can open and close the front door 30 with a small force. In the following description, the force that the door drive unit 50 acts in the opening and closing directions of the door is also referred to as "assist force Fa".

[0027] Next, with reference to the graph shown in FIG. 4, the force acting on the front door 30 will be described. On the vertical axis of the graph, the direction of the force acting in the opening direction of the front door 30 is defined as the positive direction, and the direction of the force acting in the closing direction of the front door 30 is defined as the negative direction.

[0028] As shown in FIG. 4, a force caused by the weight of the front door 30 (hereinafter, also referred to as "self-weight opening / closing force Fw") acts on the front door 30 in the closing direction. In this regard, the front door 30 tends to move in the closing direction when no other force is acting. Further, the self-weight opening / closing force Fw decreases as the opening degree of the front door 30 (hereinafter, also referred to as "door opening degree") increases, that is, as it approaches the fully open position. In this regard, the front door 30 is more likely to move in the closing direction as the door opening degree is smaller. The self-weight opening / closing force Fw corresponding to the door opening degree is preferably obtained from experiments, simulations, etc. At this time, it is preferable to assume that the vehicle 10 is parked on a horizontal road surface. Further, the self-weight opening / closing force Fw may be treated as a force including static frictional force at the door hinge 22.

[0029] When the self-closing force Fw acts in the closing direction, when the user opens the front door 30, it is necessary to apply an operating force Fh greater than the self-closing force Fw in the opening direction of the front door 30. Further, when the user opens the front door 30, when the front door 30 starts to move in the opening direction from the fully closed position, it is necessary to apply the largest operating force Fh to the front door 30. Therefore, in the present embodiment, when the user opens the front door 30, the assist force Fa of the door drive unit 50 is applied in the opening direction of the front door 30 so that the user can open the front door 30 with a small operating force Fh.

[0030] Note that, as in the present embodiment, when the front door 30 is a swing door, the assist force Fa, the self-closing force Fw, and the operating force Fh applied to the front door 30 are considered to be moments of force. Specifically, the assist force Fa, the self-closing force Fw, and the operating force Fh are considered to be moments of force considering the distance from the swing axis of the front door 30 to the position where each force acts.

[0031] Next, the door control device 100 will be described. As shown in FIG. 3, the door control device 100 includes a storage unit 101 and a door control unit 102.

[0032] The storage unit 101 stores an assist force Fa set to a magnitude that cancels the self-closing force Fw according to the door opening degree. As shown in FIG. 4, in the present embodiment, the assist force Fa has a negative sign opposite to that of the self-closing force Fw and the same absolute value. That is, regardless of the door opening degree, the resultant force of the self-closing force Fw and the assist force Fa is "0".

[0033] As shown in FIG. 5, the storage unit 101 stores the assist force Fa according to the door opening degree as a map showing the relationship between the door opening degree and the current flowing through the motor 55 of the door drive unit 50. In other embodiments, the storage unit 101 may store the assist force Fa according to the door opening degree as a map showing the relationship between the door opening degree and another parameter correlated with the assist force Fa.

[0034] The door control unit 102 performs an assist process of adjusting the assist force Fa applied to the front door 30 according to the door opening degree by controlling the motor 55 of the door drive unit 50 based on the map stored in the storage unit 101. Specifically, in the assist process, the door control unit 102 adjusts the direction and magnitude of the assist force Fa according to the door opening degree by controlling the direction and magnitude of the current flowing through the motor 55. Thus, in the assist process, the door control unit 102 adjusts the assist force Fa applied to the front door 30 so that the resultant force of the self-opening / closing force Fw of the front door 30 and the assist force Fa becomes "0". Note that the door control unit 102 starts the assist process when an operation on the door handle 32 is started based on the output signal of the handle switch 33.

[0035] The door control unit 102 performs a braking process of applying a braking force to the front door 30 by controlling the motor 55 of the door drive unit 50. For example, in the braking process, the door control unit 102 applies a braking force to the front door 30 by maintaining a state where only a specific coil of the motor 55 is energized. The door control unit 102 ends the assist process and starts the braking process when the opening / closing speed of the front door 30 becomes less than the stop determination speed after starting the assist process. The stop determination speed is a determination value for determining the stop of the front door 30. The stop determination speed is set to "0" or a value close to "0".

[0036] When the vehicle 10 is stopped on an inclined road surface, the magnitude of the self-opening / closing force Fw acting on the front door 30 may change compared to the case where the vehicle 10 is stopped on a horizontal road surface. In this case, as the magnitude of the self-opening / closing force Fw changes, the required assist force Fa also changes. Therefore, when the vehicle 10 is inclined, the door control unit 102 corrects the assist force Fa applied to the front door 30 according to the inclination of the vehicle 10 in the assist process.

[0037] Note that the assist force Fa after correction may be larger or smaller than the assist force Fa before correction. Further, the door control unit 102 may sequentially calculate the correction amount of the assist force Fa according to the inclination of the vehicle 10, or may calculate the correction amount of the assist force Fa based on a map defining the relationship between the inclination of the vehicle 10 prepared in advance and the correction amount of the assist force Fa.

[0038] Next, with reference to the flowchart shown in FIG. 6, the flow of the process performed by the door control device 100 to adjust the assist force Fa will be described. This process is a process performed at each predetermined control cycle when the vehicle 10 is stopped and the front door 30 is in the fully closed position.

[0039] As shown in FIG. 6, the door control device 100 determines whether or not the output signal of the steering wheel switch 33 has turned on (S11). When the output signal of the steering wheel switch 33 is off (S11: NO), in other words, when the user does not operate the door handle 32, the door control device 100 ends this process. On the other hand, when the steering wheel switch 33 is on (S11: YES), in other words, when the user operates the door handle 32, the door control device 100 calculates the inclination of the vehicle 10 based on the output signal of the inclination sensor 60 (S12).

[0040] Subsequently, the door control device 100 starts the assist process based on the map stored in the storage unit 101 (S13). Therefore, after starting the assist process, the self-opening / closing force Fw of the front door 30 is offset, and the user can open the front door 30 with a small operating force Fh. Further, when the vehicle 10 is inclined, the door control device 100 corrects the assist force Fa applied to the front door 30 in the assist process.

[0041] Then, the door control device 100 determines whether or not the opening / closing speed of the front door 30 calculated based on the output signal of the rotation angle sensor 551 is less than the stop determination speed (S14). When the opening / closing speed of the front door 30 is equal to or higher than the stop determination speed (S14: NO), the door control device 100 transfers the process to step S14. That is, the door control device 100 waits for the front door 30 to stop.

[0042] On the other hand, when the opening / closing speed of the front door 30 is less than the stop determination speed, in other words, when the front door 30 has stopped, the door control device 100 ends the assist process (S15). After that, the door control device 100 starts the braking process (S16). Then, the door control device 100 ends this process.

[0043] Note that after the user has finished getting in and out of the vehicle 10, it is preferable that the door control device 100 ends the braking process so that the user can close the front door 30. For example, the door control device 100 may end the braking process when the user applies an operating force Fh in the closing direction to the front door 30.

[0044] The operation and effects of this embodiment will be described. (1) When the user opens the front door 30, the door control device 100 performs an assist process of applying an assist force Fa to the front door 30 so as to cancel the self-weight opening / closing force Fw of the front door 30 according to the door opening degree. For this reason, the user can easily open the front door 30 as desired from the initial stage of the opening operation of the front door 30. Therefore, the door control device 100 can improve the operability of the user with respect to the front door 30.

[0045] (2) The door control device 100 starts the assist process on the condition that the output signal of the handle switch 33 is switched to on. For this reason, the door control device 100 can start the assist process at the timing when the user starts operating the door handle 32. That is, the door control device 100 can start the assist process before the front door 30 starts moving from the fully closed position.

[0046] (3) After the user stops the opening operation of the front door 30, the door control device 100 ends the assist process and starts the braking process. For this reason, after the user stops the opening operation of the front door 30, the door control device 100 can suppress the front door 30 from moving due to the action of disturbances such as wind.

[0047] (4) In the assist process, the door control device 100 applies an assist force Fa to the front door 30 that is opposite to the self-weight opening / closing force Fw and has the same magnitude. For this reason, the user can open the front door 30 as they like without feeling the self-weight of the front door 30. Therefore, the door control device 100 can improve the operability of the user with respect to the front door 30.

[0048] (5) The door control device 100 corrects the assist force Fa applied to the front door 30 according to the inclination of the vehicle 10. For this reason, even in a situation where the self-weight opening / closing force Fw changes, the operability of the user with respect to the front door 30 can be improved.

[0049] This embodiment can be implemented with the following modifications. This embodiment and the following modification examples can be implemented in combination with each other within a technically non-conflicting range. · When the user operates to open the front door 30 from inside the vehicle, the front door 30 is more likely to come into contact with an obstacle than when the user operates to open the front door 30 from outside the vehicle. In this regard, when the inside door handle 321 is operated, the door control device 100 may weaken the assist force Fa applied to the front door 30 in the assist process compared to when the outside door handle 322 is operated.

[0050] According to this, when the user opens the front door 30 from inside the vehicle, the front door 30 becomes more difficult to open than when the user opens the front door 30 from outside the vehicle. Therefore, when the user operates to open the front door 30 from inside the vehicle, the door control device 100 can reduce the risk of the front door 30 contacting an obstacle.

[0051] · The magnitude of the assist force Fa may be different from the magnitude of the self-weight opening and closing force Fw. For example, when the resultant force of the self-weight opening and closing force Fw and the assist force Fa takes a negative value, the operating force Fh required to move the front door 30 in the opening direction increases. In this case, the door control device 100 can suppress the user from opening the front door 30 forcefully. On the other hand, when the resultant force of the self-weight opening and closing force Fw and the assist force Fa takes a positive value, the operating force Fh required to move the front door 30 in the opening direction decreases. In this case, the user can open the front door 30 with a smaller force.

[0052] · When the magnitude of the assist force Fa is made smaller than the magnitude of the self-weight opening and closing force Fw, the difference between the self-weight opening and closing force Fw and the assist force Fa does not have to be constant with respect to the door opening degree. For example, when the door opening degree is small, the difference between the self-weight opening and closing force Fw and the assist force Fa may be made small. According to this, when the user starts to operate to open the front door 30, the user can open the front door 30 with a small force. Also, when the door opening degree is large, the difference between the self-weight opening and closing force Fw and the assist force Fa may be made large. According to this, the door control device 100 can decelerate the front door 30 that is being opened forcefully toward the fully open position.

[0053] · The door control device 100 may also perform assist processing when the user closes the front door 30. · The front door 30 may be supported by the vehicle body 20 such that the self-weight opening and closing force Fw acts in the opening direction.

[0054] · The door that applies the assisting force Fa may be a rear door or a back door. Also, the door that applies the assisting force Fa may be a sliding door or a glide door.

[0055] · The door control device 100 can be configured as one or more processors that operate according to a computer program (software). Also, the door control device 100 can be configured as one or more dedicated hardware circuits such as dedicated hardware (application-specific integrated circuit: ASIC) that executes at least some of various processes. Further, the door control device 100 can be configured as a circuit including these combinations. The processor includes a CPU and memories such as a RAM and a ROM. The memory stores program codes or instructions configured to cause the CPU to execute processes. The memory, that is, the storage medium, includes any available medium that can be accessed by a general-purpose or dedicated computer.

Description of Reference Numerals

[0056] 10… Vehicle 20… Vehicle body 21… Door opening 30… Front door (an example of a door) 31… Door body 32… Door handle 321… Inside door handle 322… Outside door handle 40… Door lock device 50… Door drive unit 100… Door control device 101… Storage unit 102… Door control unit Fa… Assisting force Fh… Operating force Fw… Self-weight opening / closing force

Claims

1. A door control device applied to a vehicle comprising a vehicle body having a door opening, a door for opening and closing the door opening, and a door drive unit for applying an assist force to the door in the opening and closing direction of the door, when a force acting in the opening and closing direction of the door due to the self-weight of the door is defined as a self-weight opening and closing force, a storage unit configured to store the assist force set to a magnitude that cancels out the self-weight opening and closing force according to the opening degree of the door, a door control unit configured to perform an assist process for adjusting the assist force applied to the door based on the assist force stored in the storage unit when the door is in an open operation state, the door has a door handle and a handle switch for detecting an operation on the door handle, and is supported by the vehicle body such that the self-weight opening and closing force acts in the closing direction, the door handle includes an inside door handle operable from inside the vehicle and an outside door handle operable from outside the vehicle, when an operation on the door handle is detected, the door control unit starts the assist process, and when an operation on the inside door handle is detected, the assist force applied to the door in the assist process is made weaker regardless of the opening degree of the door than when an operation on the outside door handle is detected Door control device.

2. The door drive unit is configured to be able to apply a braking force to the door, when the door stops during the execution of the assist process, the door control unit ends the assist process and starts a braking process for applying the braking force to the door The door control device according to claim 1.

3. The assist force stored in the storage unit is set to a magnitude such that the resultant force with the self-weight opening and closing force is "0" regardless of the opening degree of the door The door control device according to claim 1 or claim 2.

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