Door opening and closing device

Abstract

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

Description

Technical Field

[0005]

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

Background Art

[0002] There is known a door opening and closing device that can automatically open and close a door without the user touching the door handle. The door opening and closing device includes a pair of detection units composed of ultrasonic sensors, and detects a user existing within a fan-shaped detection range by the ultrasonic waves emitted from the detection units. Further, when it is determined that the user has performed a set operation based on the change in the distance obtained from the detection results of the pair of detection units, the door is opened and closed by the drive unit.

[0003] Patent Document 1 discloses a door opening and closing device that determines the entry position of a user based on the detection results of a pair of detection units, performs mode setting in either a side access mode or a center access mode to detect a set operation, and opens and closes the door. In the side access mode, based on the detection result of one of the pair of detection units, a set operation of the user along a direction parallel to the door is detected. In the center access mode, based on the detection results of each of the pair of detection units, a set operation of the user along a direction intersecting the door is detected.

Prior Art Documents

Patent Documents

[0004]

Patent Document Ⅰ

Summary of the Invention

Problems to be Solved by the Invention

[0005] Because the detection range of the detection unit is fan-shaped and gradually widens as it moves away from the detection unit, the area in which a user can be detected is narrow near the door. Therefore, in side access mode, it is difficult to secure an area (distance) for the user to perform setting operations. In this respect, the door opening and closing device of Patent Document 1 has room for improvement in terms of operability.

[0006] The present invention aims to provide a door opening and closing device and a door opening and closing method that can secure an area for the user to perform setting operations along the door and improve the operability of opening and closing the door. [Means for solving the problem]

[0007] The present invention comprises a drive unit for opening and closing a door relative to a vehicle body; a plurality of detection units for repeatedly detecting objects to be detected that are within a detection range set around the door; a measurement unit for measuring the distance from the detection unit to the object to be detected based on the detection results of the detection units; a setting unit for setting a part of the detection range as a first area for detecting the first stage of a setting operation performed by the object to be detected, and a part of the detection range different from the first area as a second area for detecting the second stage of the setting operation, based on the distance measured by the measurement unit; and a control unit for opening and closing the door by the drive unit when it determines, based on a change in the distance measured by the measurement unit, that the object to be detected has performed the setting operation, including movement between the first area and the second area. The setting unit can be set to a first access mode, a second access mode, and a third access mode, each having a different arrangement of the first area and the second area. In the first access mode, the first and second zones are set adjacent to each other horizontally along the door; in the second access mode, the first and second zones are set adjacent to each other horizontally along the door in the opposite arrangement to the first access mode; and in the third access mode, a portion away from the door is set as the first zone, and a portion closer to the door than this first zone is set as the second zone. To provide a door opening and closing device. [Effects of the Invention]

[0008] The door opening and closing device of the present invention provides a space for the user to perform setting operations along the door, thereby improving the operability of opening and closing the door. [Brief explanation of the drawing]

[0009] [Figure 1] Block diagram of a door opening and closing device according to an embodiment of the present invention. [Figure 2] A perspective view showing the door in the closed position. [Figure 3] A perspective view showing the door in the open position. [Figure 4] A plan view showing an overview of the mode settings for the first and second detection ranges. [Figure 5] A plan view showing the first and second detection ranges. [Figure 6] A diagram showing mode settings based on the detected object detected by the first and second detection units and the position of the detected object relative to the door. [Figure 7] A plan view showing the start area and trigger area in left access mode. [Figure 8] A plan view showing the start and trigger areas in right-access mode. [Figure 9] A plan view showing the start and trigger areas in central access mode. [Figure 10] A flowchart illustrating the main control function by the control unit. [Figure 11A] A flowchart illustrating the mode setting process shown in Figure 10. [Figure 11B] A flowchart continuing from Figure 11A. [Modes for carrying out the invention]

[0010] Embodiments of the present invention will be described below with reference to the drawings.

[0011] Referring to Figures 1 to 3, the vehicle door opening and closing device 10 according to an embodiment of the present invention automatically opens and closes the door 2 of the vehicle 1 without requiring the user to use their hands, by having the user perform predetermined set operations Sm1 to Sm3 (see Figures 7 to 9) in front of the door 2. In this embodiment, the door 2 to be controlled is a hatchback door, but it may be a door other than a hatchback door.

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

[0013] The detection unit 12 includes two detection parts 13A and 13B, and detects moving objects including the user and a third party other than the user, and stationary objects such as a wall which is an obstacle. These moving objects and stationary objects are the detected objects 7 in the present invention.

[0014] Referring to FIG. 1, the control unit 30 includes a storage unit 31, a measurement unit 32 that measures the distances from the detection parts 13A and 13B to the detected object 7, a determination unit 33 that determines whether the detected object 7 is a moving object or a stationary object, and a setting unit 34 that performs mode setting. Referring to FIG. 4, the setting unit 34 performs mode setting to any one of the left access mode (first access mode), the right access mode (second access mode), and the center access mode (third access mode) according to the position of the initially detected detected object 7 with respect to the door 2. In these modes, the arrangements of the start area (first area) 35 and the trigger area (second area) 36 are all different. When the control unit 30 detects the movement of the moving object determined by the determination unit 33 based on the changes in the distances Md1 and Md2 measured by the measurement unit 32, and determines that any one of the setting operations Sm1 to Sm3 (see FIGS. 7 to 9) including the movement between the start area 35 and the trigger area 36 set by the setting unit 34 is established, the drive unit 28 opens and closes the door 2.

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

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

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

[0018] Referring to FIG. 1, the detection parts 13A and 13B are both ultrasonic sensors each including a transmitter 14 and a receiver 15, and are communicably connected to the control unit 30 by a communication cable.

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

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

[0021] The detection ranges 16A and 16B of the detection units 13A and 13B will be explained in more detail with reference to Figure 5.

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

[0023] The detection ranges 16A and 16B are divided into first sections 17A and 17B to third sections 19A and 19B, respectively, by distances D1 to D3 from the detection units 13A and 13B. This division is electrically performed by the setting unit 34 to determine the position of the object to be detected 7 within the approach area 20. The setting distance D2 is shorter than the setting distance D1 (e.g., 500 mm), and the setting distance D3 is shorter than the setting distance D2 (e.g., 200 mm). The area between setting distances D1 and D2 is the first section (first part) 17A and 17B, the area between setting distances D2 and D3 is the second section (second part) 18A and 18B, and the area between setting distance D3 and the detection units 13A and 13B is the third section (third part) 19A and 19B. Parts of the first sections 17A and 17B overlap with each other, and parts of the second sections 18A and 18B also overlap with each other. In other words, distances D2 and D3 are set so that this overlapping state occurs. In this embodiment, there is no overlapping portion in the third section 19A and 19B. However, D1 may be set so that a portion of the third section 19A and 19B also overlaps.

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

[0025] The first overlapping region 21 consists of the region where the first section 17A of the first detection range 16A and the first section 17B of the second detection range 16B overlap.

[0026] The second overlapping region 22 consists of the overlapping region of the second section 18A of the first detection range 16A and the second section 18B of the second detection range 16B. The second overlapping region 22 is adjacent to the vehicle body 3 side of the first overlapping region 21.

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

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

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

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

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

[0032] The authentication unit 29 communicates with the key using an LF (Low Frequency) signal and is equipped with a transceiver having an external LF transmitting / receiving antenna that authenticates the key outside the vehicle, and performs a determination (authentication process) as to whether the moving object is the user or not. The transceiver is connected to the ECU 5 via a communication cable and is activated in response to a command from the ECU 5 to perform communication related to the authentication process. In the authentication process, the authentication unit 29 requests the key to transmit an authentication code and compares the authentication code received from the key with a registered legitimate code. If the authentication code and the legitimate code match (authentication successful), the ECU 5, which is electrically connected to the authentication unit 29, determines that the moving object is the user and allows the drive unit 28 to open and close the door 2. If the authentication code and the legitimate code do not match (authentication unsuccessful), the ECU 5, which is electrically connected to the authentication unit 29, determines that the moving object is a third party and disables the opening and closing of the door 2 by the drive unit 28. Disabling means that the drive unit 28 is not driven, for example, by blocking the drive signal output from the control unit 30 so that it is not input to the drive unit 28.

[0033] Referring to Figure 1, the control unit 30 is communicatively connected to the detection unit 12 and electrically connected to the drive unit 28. The control unit 30 is also communicatively or electrically connected to the ECU 5. The control unit 30 comprises a storage unit 31, a measurement unit 32, a determination unit 33, and a setting unit 34, and is composed of one or more microcomputers and other electronic devices. However, the storage unit 31, the measurement unit 32, the determination unit 33, and the setting unit 34 may be individually composed of a different microcomputer and other electronic devices from the control unit 30.

[0034] The storage unit 31 stores the control program, setting data such as thresholds and judgment values ​​used in the control program, and a data table for calculating distance from the detection results of the detection units 13A and 13B. The storage unit 31 also stores the measurement distances Md1 and Md2 measured by the measurement unit 32. In this embodiment, it is possible to store 10 sets of measurement distances Md1a, Md2a to Md1j and Md2j, and when the latest measurement distances Md1 and Md2 are stored in the storage unit 31 which has 10 sets of stored distances, the oldest measurement distances Md1j and Md2j are erased.

[0035] The measuring unit 32 measures the first distance Md1 from the first detection unit 13A to the object to be detected 7 based on the time (detection result) from when the transmitter 14 of the first detection unit 13A transmits ultrasonic waves until the receiver 15 of the first detection unit 13A receives the reflected waves. It also measures the second distance Md2 from the second detection unit 13B to the object to be detected 7 based on the time from when the transmitter 14 of the second detection unit 13B transmits ultrasonic waves until the receiver 15 of the second detection unit 13B receives the reflected waves. In other words, the measuring unit 32 and the detection units 13A and 13B constitute two distance measuring sensors that measure the distance from the detection units 13A and 13B to the object to be detected 7. If two or more objects to be detected 7 are located at different positions within the detection ranges 16A and 16B, the number of measurement results from the detection units 13A and 13B will be the same as the number of objects to be detected 7. However, the measurement unit 32 uses the earliest received detection result to calculate the distances Md1 and Md2 to the objects to be detected 7. In other words, the first object to be detected 7 detected by the first detection unit 13A and the second object to be detected 7 detected by the second detection unit 13B may be the same object or different objects. These measured distances Md1 and Md2 are stored in the storage unit 31.

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

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

[0038] Referring to Figure 4, the setting unit 34 sets the mode to one of the following based on the position of the detected object 7 relative to the door 2: left access mode, right access mode, or central access mode. Each of these modes has a start area 35 for detecting the first stage Sm1a to Sm3a and a trigger area 36 for detecting the second stage Sm1b to Sm3b of the setting operations Sm1 to Sm3 shown in Figures 7 to 9. The arrangement of the start area 35 and the trigger area 36 differs for each access mode.

[0039] Specifically, as shown in Figure 6, if the determination unit 33 determines that the object to be detected 7 detected by the first detection unit 13A is a moving object and the object to be detected 7 detected by the second detection unit 13B is a stationary object, the setting unit 34 is set to the left access mode shown in Figure 7. Also, if the determination unit 33 determines that the object to be detected 7 detected by the first detection unit 13A is a stationary object and the object to be detected 7 detected by the second detection unit 13B is a moving object, the setting unit 34 is set to the right access mode shown in Figure 8.

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

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

[0042] On the other hand, if the determination unit 33 determines that both the object to be detected 7 detected by the first detection unit 13A and the object to be detected 7 detected by the second detection unit 13B are stationary objects, the setting unit 34 maintains the previously set mode without changing the mode to any of the left access mode, right access mode, or central access mode.

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

[0044] In other words, in left access mode, the setting unit 34 sets the area of ​​the first detection range 16A (sections 17A to 19A) excluding the overlapping areas 22 and 23A where the second section 18B of the second detection range 16B overlaps as the start area 35, and sets the second section 18B of the second detection range 16B as the trigger area 36. In other words, in left access mode, the setting unit 34 sets a portion of the first detection range 16A as the start area 35 and a portion of the second detection range 16B as the trigger area 36. However, it is also possible to set the entire first detection range 16A as the start area 35 and set the area of ​​the second section 18B of the second detection range 16B excluding the overlapping areas 22 and 23A as the trigger area 36. Furthermore, the third section 19A (non-overlapping area 26A), which is too close to the detection unit 13A and may cause false detection, may be excluded from the start area 35. Furthermore, paragraphs Sm1a to Sm1c within the setting operation Sm1 may be used to change whether or not to include the non-overlapping area 26A in the start area 35.

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

[0046] In other words, in right-access mode, the setting unit 34 sets the area of ​​the second detection range 16B (sections 17B to 19B) excluding the overlapping areas 22 and 23B where the second section 18A of the first detection range 16A overlaps as the start area 35, and sets the second section 18A of the first detection range 16A as the trigger area 36. In other words, in right-access mode, the setting unit 34 sets a part of the second detection range 16B as the start area 35 and a part of the first detection range 16A as the trigger area 36. However, it is also possible to set the entire second detection range 16B as the start area 35 and set the area of ​​the second section 18A of the first detection range 16A excluding the overlapping areas 22 and 23B as the trigger area 36. Furthermore, the third section 19B (non-overlapping area 26B), which is too close to the detection unit 13B and may cause false detections, may be excluded from the start area 35. Furthermore, paragraphs Sm2a to Sm2c within the setting operation Sm2 may be used to change whether or not to include the non-overlapping area 26B in the start area 35.

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

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

[0049] In other words, in central access mode, the setting unit 34 sets the areas 21, 23A, and 23B of the overlapping region of the first detection range 16A and the second detection range 16B, excluding the overlapping region 22 of the respective second sections 18A and 18B, as the start area 35, and sets the overlapping region of the respective second sections 18A and 18B as the trigger area 36. However, the overlapping regions 23A and 23B do not need to be set as either the start area 35 or the trigger area 36. Thus, in central access mode, the setting unit 34 sets a portion of the overlapping region of the first detection range 16A and the second detection range 16B that is located far from the door 2 as the start area 35, and sets a portion that is closer to the door 2 than the start area 35 as the trigger area 36.

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

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

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

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

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

[0055] Referring to Figures 5 and 8, if the first measurement distance Md1 indicates that the first object to be detected 7 is not detected, and the second measurement distance Md2 indicates that the second object to be detected 7 is located in any of the areas from the first section 17B to the third section 19B, the control unit 30 can determine that the object to be detected 7 is located in any of the non-overlapping areas 24B to 26B. If the first measurement distance Md1 indicates that the first object to be detected 7 is located in the first section 17A, and the second measurement distance Md2 indicates that the second object to be detected 7 is located in either the first section 17B or the second section 18B, the control unit 30 can determine that the object to be detected 7 is located in the overlapping area 21 or 23A. In these cases, the control unit 30 can determine that the object to be detected 7 is located in the start area 35 of the right access mode.

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

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

[0058] Referring to Figures 5 and 9, if the first measurement distance Md1 indicates that the first detected object 7 is located in the first section 17A, and the second measurement distance Md2 indicates that the second detected object 7 is located in the first section 17B, the control unit 30 can determine that the detected object 7 is located in the overlapping area 21. If the first measurement distance Md1 indicates that the first detected object 7 is located in the first section 17A, and the second measurement distance Md2 indicates that the second detected object 7 is located in the second section 18B, the control unit 30 can determine that the detected object 7 is located in the overlapping area 23A. If the first measurement distance Md1 indicates that the first detected object 7 is located in the second section 18A, and the second measurement distance Md2 indicates that the second detected object 7 is located in the first section 17B, the control unit 30 can determine that the detected object 7 is located in the overlapping area 23B. In these cases, the control unit 30 can determine that the object to be detected 7 is located in the start area 35 of the central access mode.

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

[0060] Next, the control of the door opening and closing device 10 will be explained according to the flowchart shown in Figure 10.

[0061] When vehicle 1 is parked and the engine is stopped, the control unit 30 repeatedly detects the object to be detected 7 at set intervals (e.g., 80 msec) using the detection units 13A and 13B (step S2), measures the measurement distances Md1 and Md2 using the measurement unit 32 (step S3), determines whether the object is moving or stationary using the determination unit 33 (step S4), performs mode setting processing using the setting unit 34 (step S5), and when the moving object performs one of the set operations Sm1 to Sm3 (step S6), the drive unit 28 opens (step S8) or closes (step S9) the door 2. However, if authentication by the authentication unit 29 fails, the ECU 5 disables the drive of the drive unit 28.

[0062] Specifically, in step S1, the control unit 30 initializes (erases) the measured distances Md1a, Md2a to Md1j, Md2j from the previous door opening / closing control stored in the memory unit 31. Subsequently, in step S2, the first detection unit 13A transmits and receives ultrasonic waves, waits for a certain period of time to completely eliminate reverberation, and then the second detection unit 13B transmits and receives ultrasonic waves. In other words, the detection units 13A and 13B alternately transmit ultrasonic waves from the transmitter 14 and receive reflected waves from the receiver 15, preventing false detections between the detection units 13A and 13B.

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

[0064] Next, in step S4, the determination unit 33 uses the current measurement distances Md1, Md2 and the previous measurement distances Md1a, Md2a stored in the memory unit 31 to calculate the movement speeds Ms1, Ms2 of the detected object 7 from the changes in these distances. Then, based on the calculated movement speeds Ms1, Ms2 and the determination value Jv, the determination unit 33 individually determines whether the first detected object 7 detected by the first detection unit 13A and the second detected object 7 detected by the second detection unit 13B are moving objects or stationary objects.

[0065] Next, in step S5, the mode setting process is executed and the process proceeds to step S6. This mode setting process will be described in detail later.

[0066] In step S6, the control unit 30 detects movement between the start area 35 and the trigger area 36 by the moving object based on the change in the measured distances Md1 and Md2 obtained from the detection results of the detection units 13A and 13B, and determines whether or not one of the setting operations Sm1 to Sm3 has been performed. If one of the setting operations Sm1 to Sm3 has been performed, the unit proceeds to step S7; if none of the setting operations Sm1 to Sm3 have been performed, the unit returns to step S2.

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

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

[0069] Referring to Figure 11A, the setting unit 34 determines whether or not to change the mode setting based on the determination result by the determination unit 33 and the progress status determination result of the setting operations Sm1 to Sm3 by the control unit 30. Specifically, in step S5-1, it reads whether or not the determination of entry of a moving object into the trigger area 36 has been made. If the entry determination has been made, it returns without performing the subsequent steps, and if the entry determination has not been made, it proceeds to step S5-2. Normally, the time required for a user, which is a moving object, to move from the start area 35 to the trigger area 36 is about 300 msec, for example, assuming a walking speed of 1300 mm / sec. In contrast, if the determination unit 33 determines whether an object is moving or stationary after showing the same result a predetermined number of times (for example, 8 times), the time required for the determination is 640 msec. In other words, the time it takes for the user to move from the start area 35 to the trigger area 36 is shorter than the time it takes for the determination unit 33 to determine whether an object is moving or stationary. Therefore, under normal circumstances, the setting unit 34 will not change to a different access mode while the user is moving to the trigger area 36.

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

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

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

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

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

[0075] As described above, in the mode setting process, the setting unit 34 sets the mode to one of the following: left access mode, right access mode, or center access mode, depending on the entry position of the moving object. Therefore, the user, who is the moving object, can perform the setting operations Sm1 to Sm3 from that point onward. Thus, the operability of the door opening and closing device 10 by the user can be improved.

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

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

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

[0079] The setting unit 34 sets the system to left access mode when the difference between distances Md1 and Md2 measured by the measuring unit 32 is outside the setting range Sr, and the second distance Md2 is longer than the first distance Md1. It also sets the system to right access mode when the difference between distances Md1 and Md2 measured by the measuring unit 32 is outside the setting range Sr, and the second distance Md2 is shorter than the first distance Md1. In other words, the system determines the position of the object to be detected 7 relative to the door 2 based on the difference between distances Md1 and Md2 measured by the measuring unit 32 and the setting range Sr, and sets the mode appropriately, thereby improving the user's ability to open and close the door 2.

[0080] In left access mode, the area of ​​the first detection area 16A, excluding the overlapping area between the first section 17A of the first detection area 16A and the second section 18B of the second detection area 16B within the second section 18A of the first detection area 16A, is set as the start area 35. In right access mode, the area of ​​the start area 35 is set as the area of ​​the first detection area 16B, excluding the overlapping area between the first section 17B of the second detection area 16B and the second section 18A of the first detection area 16A within the second section 18B of the second detection area 16B, excluding the overlapping area between the second section 18A of the first detection area 16A, excluding the first section 17B of the second detection area 16B and the second section 18B of the second detection area 16B, excluding the overlapping area between the second section 18A of the first detection area 16A, excluding the second section 18A of the first detection area 16B, excluding the first section 17B of the second detection area 16B and the second section 18B of the second detection area 16A, excluding the overlapping area between the second section 18A of the first detection area 16A and the second section 18B of the second detection area 16A, excluding the overlapping area between the second section 18A of the first detection area 16A and the second section 18B of the second detection area 16B within the first detection area 16A, excluding the overlapping area between the first section 17

[0081] In central access mode, the starting area 35 is set to the area within the overlapping region of the first detection range 16A and the second detection range 16B, excluding the overlapping regions of the second sections 18A and 18B of the first and second detection ranges 16A and 16B respectively. This improves operability when the user performs the setting operation Sm3 towards door 2.

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

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

[0084] Furthermore, the present invention is not limited to the configuration of the above-described embodiment, and various modifications are possible.

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

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

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

Claims

1. A drive unit for opening and closing the doors relative to the vehicle body, Multiple detection units that repeatedly detect objects within a detection range set around the door, A measuring unit that measures the distance from the detection unit to the object to be detected based on the detection result of the detection unit, A setting unit sets a portion of the detection range as a first area for detecting the first stage of the setting operation performed by the object to be detected, based on the distance measured by the measuring unit, and sets a portion of the detection range different from the first area as a second area for detecting the second stage of the setting operation. When the measuring unit determines, based on the change in distance measured, that the object to be detected has performed the setting operation, which includes movement between the first and second areas, the control unit opens and closes the door via the drive unit. Equipped with, The setting unit can be configured to a first access mode, a second access mode, and a third access mode, in which the arrangement of the first area and the second area are different. In the first access mode, the first area and the second area are set adjacent to each other horizontally along the door, In the second access mode, the first and second areas are set up adjacent to each other horizontally along the door, in the opposite arrangement to that of the first access mode. In the third access mode, a door opening and closing device is configured such that a portion of the area away from the door is designated as the first zone, and a portion of the area closer to the door than the first zone is designated as the second zone.

2. The door opening and closing device according to claim 1, wherein the setting unit sets to the first access mode or the second access mode when the difference between a plurality of distances measured by the measuring unit based on the detection results of the plurality of detection units is outside the set range.

3. The door opening and closing device according to claim 1, wherein the setting unit sets the device to the third access mode when the difference between a plurality of distances measured by the measuring unit based on the detection results of the plurality of detection units is within a set range.

4. A drive unit for opening and closing a door relative to the vehicle body, Multiple detection units that repeatedly detect objects within a detection range set around the door, A measuring unit that measures the distance from the detection unit to the object to be detected based on the detection result of the detection unit, A setting unit sets a portion of the detection range as a first area for detecting the first stage of the setting operation performed by the object to be detected, based on the distance measured by the measuring unit, and sets a portion of the detection range different from the first area as a second area for detecting the second stage of the setting operation. When the measuring unit determines, based on the change in distance measured, that the object to be detected has performed the setting operation, which includes movement between the first and second areas, the control unit opens and closes the door via the drive unit. Equipped with, The setting unit is, A first access mode for determining that the detected object has performed the setting operation from a first orientation, The first access mode is a second access mode in which the arrangement of the first and second areas is different, and it is determined that the detected object performed the setting operation from a second orientation different from the first orientation. The first access mode and the second access mode differ in the arrangement of the first and second areas, and the third access mode is for determining that the detected object has performed the setting operation from a third orientation different from the first and second orientations. A door opening and closing device that can be configured.

5. The door opening and closing device according to any one of claims 1 to 4, wherein the plurality of detection units include a first detection unit having a first detection range and a second detection unit arranged horizontally apart from the first detection unit and having a second detection range that partially overlaps with the first detection range.

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