Vehicle door control device
The vehicle door control device optimizes automatic door operation by setting detection and non-detection zones to prevent unnecessary stops and ensure safe movement, enhancing passenger convenience.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- TOYOTA JIDOSHA KK
- Filing Date
- 2023-09-14
- Publication Date
- 2026-06-30
AI Technical Summary
Existing vehicle door control systems fail to balance safety and convenience by preventing automatic doors from opening or closing when a person is near, leading to reduced passenger convenience.
A vehicle door control device that sets detection and non-detection areas around the automatic door, using sensors to detect people only in specific regions where door movement could pose a risk, and controlling the door's operation to avoid contact while allowing movement when safe.
Minimizes the reduction in passenger convenience by preventing unnecessary door stops and ensuring safe operation by detecting only relevant areas for potential contact.
Smart Images
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Abstract
Description
Technical Field
[0001] The present disclosure relates to an apparatus for controlling an automatic door provided in a vehicle.
Background Art
[0002] When there is a person (e.g., a passenger) near an automatic door provided in a vehicle such as a bus, from the viewpoint of safety, an operation may be performed in which the opening and closing operation of the automatic door is not performed.
[0003] Patent Document 1 describes an apparatus that detects a detected object within a preset detection area near an automatic door.
Prior Art Documents
Patent Documents
[0004]
Patent Document 1
Summary of the Invention
Problems to be Solved by the Invention
[0005] When an operation is performed in which the opening and closing operation of the automatic door is not performed when a person is near the automatic door of the vehicle, if there is no problem with safety even when the automatic door is opened (for example, when the automatic door during the opening operation cannot contact the person), a situation may occur where the automatic door cannot be opened. Similarly, if there is no problem even when the automatic door is closed (for example, when the automatic door during the closing operation cannot contact the person), a situation may occur where the automatic door cannot be closed. Therefore, the convenience of passengers and those who will board the vehicle is reduced.
[0006] An object of the present disclosure is to suppress a decrease in the convenience of passengers and those who will board the vehicle when a person within a detection area set near the automatic door of the vehicle is detected and the opening and closing operation of the automatic door is not performed.
Means for Solving the Problems
[0007] One aspect of this disclosure is a vehicle It opens and closes along the side wall. The system includes a setting unit that sets a detection area and a non-detection area around the automatic door, a detection unit that detects a person within the detection area, and a control unit that stops the opening and closing operation of the automatic door when a person is detected by the detection unit, wherein the setting unit Multiple inner regions are set up near the automatic door and on the inside of the vehicle, along the side wall; and multiple outer regions are set up near the automatic door and on the outside of the vehicle, along the side wall. Depending on the open / closed state of the automatic door Either a portion of the plurality of inner regions is designated as the detection region and the remaining portion as the non-detection region, or, depending on the open / closed state of the automatic door, a portion of the plurality of outer regions is designated as the detection region and the remaining portion as the non-detection region. This is a vehicle door control device characterized by the following features. [Effects of the Invention]
[0008] According to this disclosure, when a person is detected within a detection area set near the automatic door of a vehicle, the automatic door will not open or close, thereby minimizing the reduction in convenience for passengers and those about to board the vehicle. [Brief explanation of the drawing]
[0009] [Figure 1] This is a block diagram showing the configuration of the control device according to the embodiment. [Figure 2] This diagram shows the detection and non-detection areas set near an outward-opening door. [Figure 3] This diagram shows the detection and non-detection areas set near an inward-opening door. [Figure 4] This diagram shows the detection and non-detection areas set near a sliding door. [Modes for carrying out the invention]
[0010] The configuration of the control device 10 according to this embodiment will be described with reference to Figure 1. Figure 1 is a block diagram showing the configuration of the control device 10.
[0011] The control device 10 is an example of a vehicle door control device. The control device 10 detects people in the vicinity of an automatic door 22 installed on a vehicle 20 such as a bus. Based on the detection results, the control device 10 controls the opening and closing of the automatic door 22.
[0012] The control device 10 includes a setting unit 12, a detection unit 14, and a control unit 16.
[0013] The setting unit 12 sets a detection area and a non-detection area around the automatic door 22 of the vehicle 20. The detection area is the area where a person is detected by the detection unit 14. The non-detection area is the area where a person is not detected by the detection unit 14.
[0014] The detection unit 14 has the function of detecting a person who is in an area that includes a detection area and a non-detection area. In this embodiment, the detection unit 14 detects a person who is in the detection area and does not detect a person who is in the non-detection area.
[0015] For example, the detection unit 14 is a camera and generates an image by capturing the area within the detection region. The detection unit 14 detects a person within the detection region by analyzing the image. Known techniques are used as the technology for detecting a person by analyzing an image. The detection unit 14 may also capture images of both the area within the detection region and the area outside the detection region, and then analyze the image of the area within the detection region to detect a person within the detection region.
[0016] The detection unit 14 may be a human presence sensor such as an infrared sensor. In this case, a person within the detection area is detected by the human presence sensor.
[0017] The control unit 16 controls the opening and closing of the automatic door 22. The control unit 16 may control the opening and closing of the automatic door 22 according to the driver's instructions, or it may control the opening and closing of the automatic door 22 by automatic control. In this embodiment, if a person is detected by the detection unit 14, the control unit 16 stops the opening and closing operation of the automatic door 22.
[0018] For example, if the automatic door 22 is closed and the detection unit 14 detects a person, the control unit 16 will not open the automatic door 22 even if the driver gives an instruction to open it. Also, if the automatic door 22 is open and the detection unit 14 detects a person, the control unit 16 will not close the automatic door 22 even if the driver gives an instruction to close it.
[0019] Also, when a person is detected by the detection unit 14 while the automatic door 22 is opening from the closed state, the control unit 16 stops the operation of opening the automatic door 22. Similarly, when a person is detected by the detection unit 14 while the automatic door 22 is closing from the open state, the control unit 16 stops the operation of closing the automatic door 22.
[0020] By controlling the opening and closing operations of the automatic door 22 as described above, it is possible to suppress contact between the automatic door 22 and a person when the automatic door 22 is performing an opening operation or a closing operation.
[0021] In the present embodiment, the setting unit 12 changes the non-detection area according to the open / closed state of the automatic door 22. In other words, the setting unit 12 changes the detection area according to the open / closed state of the automatic door 22.
[0022] The setting unit 12 sets the area where the automatic door 22 moves to as the detection area. For example, when the automatic door 22 is performing an opening operation, the setting unit 12 sets the area where the automatic door 22 moves to during the opening operation as the detection area. When the automatic door 22 is performing a closing operation, the setting unit 12 sets the area where the automatic door 22 moves to during the closing operation as the detection area.
[0023] Hereinafter, the operation of the control device 10 will be described with reference to FIGS. 2 to 4.
[0024] Referring to FIG. 2, the operation of the control device 10 when the automatic door 22 is an outward-opening door will be described. FIG. 2 is a diagram showing the detection area and the non-detection area set near the outward-opening door. FIG. 2 is a view when the automatic door 22 is viewed from above the vehicle 20.
[0025] In FIGS. 2(a) to 2(f), a part of the vehicle body 24 of the vehicle 20 is shown. The automatic door 22 is an outward-opening door and includes door members 22a and 22b. The door members 22a and 22b are arranged side by side in the front-rear direction of the vehicle 20 along the vehicle body 24. The door member 22a is arranged on the front side of the vehicle 20 with respect to the door member 22b.
[0026] Figures 2(a) to 2(f) show regions A1 to A4 and regions B1 to B4. Regions A1 to A4 are the interior regions of vehicle 20. Regions B1 to B4 are the exterior regions of vehicle 20. Hatching is applied to the non-detection regions.
[0027] Areas A1 and B1 are areas located in front of the closed door member 22a on the vehicle 20 side. Areas A2 and B2 are areas in contact with the closed door member 22a. Areas A3 and B3 are areas in contact with the closed door member 22b. Areas A4 and B4 are areas located behind the closed door member 22b on the vehicle 20 side.
[0028] Figure 2(a) shows the state in which the automatic door 22 is closed. In this state, the setting unit 12 sets areas A1 and A4 as non-detection areas and areas A2, A3, and B1 to B4 as detection areas.
[0029] Figure 2(b) shows the state while the automatic door 22 is opening. The arrows in Figure 2(b) indicate the direction in which the automatic door 22 opens. In this state, the setting unit 12 sets areas A1 to A4 as non-detection areas and areas B1 to B4 as detection areas. Since the automatic door 22 is an outward-opening door, door member 22a moves outwards from the vehicle 20 and forward from the vehicle 20, and door member 22b moves outwards from the vehicle 20 and backward from the vehicle 20. Because door members 22a and 22b move outwards from the vehicle 20, there is a possibility that door members 22a and 22b may come into contact with people in areas B1 to B4 where they are moving to. Therefore, the setting unit 12 sets areas B1 to B4 as detection areas, and the detection unit 14 detects people in areas B1 to B4. If a person is detected in any of the areas B1 to B4, the control unit 16 stops the opening operation of the door members 22a and 22b. On the other hand, since the door members 22a and 22b do not move toward areas A1 to A4, there is no possibility of them coming into contact with a person in areas A1 to A4. Therefore, the setting unit 12 sets areas A1 to A4 as non-detection areas. This prevents the opening operation of the door members 22a and 22b from stopping due to the detection of a person in areas A1 to A4.
[0030] Figure 2(c) shows the automatic door 22 in the fully open position. In this state, there is no possibility of the door members 22a and 22b moving and coming into contact with a person. Therefore, the setting unit 12 sets areas A1 to A4 and B1 to B4 as non-detection areas. For example, a person gets on or off the vehicle 20.
[0031] When the automatic door 22 is completely closed and an instruction to open it is given, as shown in Figure 2(d), the setting unit 12 sets areas A1 and A4 as non-detection areas and areas A2, A3, and B1-B4 as detection areas. Figure 2(e) shows the state when the automatic door 22 is in the process of closing. The arrows in Figure 2(e) indicate the direction in which the automatic door 22 is closing. Even in the state shown in Figure 2(e), the setting unit 12 sets areas A1 and A4 as non-detection areas and areas A2, A3, and B1-B4 as detection areas. In the states shown in Figures 2(d) and 2(e), the door members 22a and 22b may move and come into contact with a person inside areas A2, A3, and B1-B4. Therefore, the setting unit 12 sets areas A2, A3, and B1-B4 as detection areas. Since door members 22a and 22b have no possibility of contacting people within areas A1 and A4, the setting unit 12 sets areas A1 and A4 as non-detection areas.
[0032] When the automatic door 22 is completely closed, as shown in Figure 2(a), the setting unit 12 sets areas A1 and A4 as non-detection areas and areas A2, A3, B1 to B4 as detection areas.
[0033] If the vehicle 20 is in motion while it is crowded, the automatic door 22 will not open. In this case, as shown in Figure 2(f), the control unit 16 may set areas A1-A4 and B1-B4 as non-detection areas. For example, if the number of people detected by the detection unit 14 is above a threshold, the control unit 16 determines that the vehicle 20 is crowded and sets areas A1-A4 and B1-B4 as non-detection areas.
[0034] Referring to Figure 3, the operation of the control device 10 when the automatic door 22 is an inward-opening door will be explained. Figure 3 is a diagram showing the detection area and non-detection area set near the inward-opening door. Figure 3 is a view of the automatic door 22 from above the vehicle 20.
[0035] Similar to the example shown in Figure 2, the automatic door 22 includes door members 22a and 22b. Regions A1-A4 and B1-B4 are shown in Figures 3(a)-3(f). The meaning of each region is the same as that shown in Figure 2.
[0036] Figure 3(a) shows the state in which the automatic door 22 is closed. In this state, the setting unit 12 sets areas B1 and B4 as non-detection areas and areas A1 to A4, B2, and B3 as detection areas.
[0037] Figure 3(b) shows the state while the automatic door 22 is opening. The arrows in Figure 3(b) indicate the direction in which the automatic door 22 is opening. In this state, the setting unit 12 sets areas A1 to A4 as detection areas and areas B1 to B4 as non-detection areas. Since the automatic door 22 is an inward-opening door, door member 22a moves toward the front of the vehicle 20 while moving toward the inside of the vehicle 20, and door member 22b moves toward the rear of the vehicle 20 while moving toward the inside of the vehicle 20. Since door members 22a and 22b move toward the inside of the vehicle 20, there is a possibility that door members 22a and 22b may come into contact with people in areas A1 to A4 where they are moving. Therefore, the setting unit 12 sets areas A1 to A4 as detection areas, and the detection unit 14 detects people in areas A1 to A4. If a person is detected in any of the areas A1 to A4, the control unit 16 stops the opening operation of the door members 22a and 22b. On the other hand, since the door members 22a and 22b do not move toward areas B1 to B4, there is no possibility of them coming into contact with a person in areas B1 to B4. Therefore, the setting unit 12 sets areas B1 to B4 as non-detection areas. This prevents the opening operation of the door members 22a and 22b from stopping due to the detection of a person in areas B1 to B4.
[0038] Figure 3(c) shows the automatic door 22 in the fully open position. In this state, there is no possibility of the door members 22a and 22b moving and coming into contact with a person. Therefore, the setting unit 12 sets areas A1 to A4 and B1 to B4 as non-detection areas.
[0039] When the automatic door 22 is completely closed and an instruction to open it is given, as shown in Figure 3(d), the setting unit 12 sets areas B1 and B4 as non-detection areas and areas A1 to A4, B2 and B3 as detection areas. Figure 3(e) shows the state when the automatic door 22 is in the process of closing. The arrows in Figure 3(e) indicate the direction in which the automatic door 22 is closing. Even in the state shown in Figure 3(e), the setting unit 12 sets areas B1 and B4 as non-detection areas and areas A1 to A4, B2 and B3 as detection areas. In the states shown in Figures 3(d) and 3(e), there is a possibility that the door members 22a and 22b will move and come into contact with a person inside areas A1 to A4, B2 and B3. Therefore, the setting unit 12 sets areas A1 to A4, B2 and B3 as detection areas. Since door members 22a and 22b have no possibility of contacting people within areas B1 and B4, the setting unit 12 sets areas B1 and B4 as non-detection areas.
[0040] When the automatic door 22 is completely closed, as shown in Figure 3(a), the setting unit 12 sets areas B1 and B4 as non-detection areas and areas A1 to A4, B2, and B3 as detection areas.
[0041] If the vehicle 20 is in motion while it is crowded, the automatic door 22 will not open. In this case, as shown in Figure 3(f), the control unit 16 may set areas A1 to A4 and B1 to B4 as non-detection areas.
[0042] Referring to Figure 4, the operation of the control device 10 when the automatic door 22 is a sliding door will be explained. Figure 4 is a diagram showing the detection area and non-detection area set near the sliding door. Figure 4 is a view of the automatic door 22 from above the vehicle 20.
[0043] Similar to the example shown in Figure 2, the automatic door 22 includes door members 22a and 22b. Regions A1 to A4 and regions B1 to B4 are shown in Figures 4(a) to 4(f). The meaning of each region is the same as that of each region shown in Figure 2.
[0044] A door pocket 26 is provided between area A1 and area B1. The open door member 22a is stored inside the door pocket 26. Similarly, a door pocket 28 is provided between area A4 and area B4. The open door member 22b is stored inside the door pocket 28.
[0045] Figure 4(a) shows the state in which the automatic door 22 is closed. In this state, the setting unit 12 sets areas A1, A4, B1, and B4 as non-detection areas and areas A2, A3, B2, and B3 as detection areas.
[0046] Figure 4(b) shows the state while the automatic door 22 is opening. The arrows in Figure 4(b) indicate the direction in which the automatic door 22 opens. In this state, the setting unit 12 sets areas A2, A3, B2, and B3 as detection areas and areas A1, A4, B1, and B4 as non-detection areas. Since the automatic door 22 is a sliding door, door member 22a slides along the vehicle body 24 toward the front of the vehicle 20, and door member 22b slides along the vehicle body 24 toward the rear of the vehicle 20. Because door members 22a and 22b slide along the vehicle body 24, there is a possibility that they will come into contact with people in areas A2, A3, B2, and B3 as they move. Therefore, the setting unit 12 sets areas A2, A3, B2, and B3 as detection areas, and the detection unit 14 detects people in areas A2, A3, B2, and B3. If a person is detected in any of the areas A2, A3, B2, or B3, the control unit 16 stops the opening operation of the door members 22a and 22b. Meanwhile, door member 22a is stored in the door pocket 26, and door member 22b is stored in the door pocket 28. Therefore, there is no possibility of door members 22a and 22b coming into contact with a person in areas A1, A4, B1, or B4. For this reason, the setting unit 12 sets areas A1, A4, B1, and B4 as non-detection areas. This prevents the opening operation of door members 22a and 22b from stopping due to the detection of a person in areas A1, A4, B1, or B4.
[0047] Figure 4(c) shows the automatic door 22 in the fully open position. In this state, there is no possibility of the door members 22a and 22b moving and coming into contact with a person. Therefore, the setting unit 12 sets areas A1 to A4 and B1 to B4 as non-detection areas.
[0048] When the automatic door 22 is completely closed and an instruction to open it is given, as shown in Figure 4(d), the setting unit 12 sets areas A1, A4, B1, and B4 as non-detection areas and areas A2, A3, B2, and B3 as detection areas. Figure 4(e) shows the state when the automatic door 22 is in the process of closing. The arrows in Figure 4(e) indicate the direction in which the automatic door 22 is closing. Even in the state shown in Figure 4(e), the setting unit 12 sets areas A1, A4, B1, and B4 as non-detection areas and areas A2, A3, B2, and B3 as detection areas. In the states shown in Figures 4(d) and 4(e), the door members 22a and 22b may move and come into contact with people in areas A2, A3, B2, and B3. Therefore, the setting unit 12 sets areas A2, A3, B2, and B3 as detection areas. Since door members 22a and 22b have no possibility of contacting people within areas A1, A4, B1, and B4, the setting unit 12 sets areas A1, A4, B1, and B4 as non-detection areas.
[0049] When the automatic door 22 is completely closed, as shown in Figure 4(a), the setting unit 12 sets areas A1, A4, B1, and B4 as non-detection areas and areas A2, A3, B2, and B3 as detection areas.
[0050] If the vehicle 20 is in motion while it is crowded, the automatic door 22 will not open. In this case, as shown in Figure 4(f), the control unit 16 may set areas A1 to A4 and B1 to B4 as non-detection areas.
[0051] As described above, according to this embodiment, when the automatic door 22 opens or closes, a person within the area where the automatic door 22 may come into contact with a person is detected, while a person in any other area is not detected. This prevents the automatic door 22 from stopping its opening or closing operation due to the detection of a person who does not need to be detected. As a result, it is possible to suppress contact between the opening or closing automatic door 22 and a person while suppressing a decrease in passenger convenience.
[0052] The setting unit 12 and the control unit 16 can be implemented using hardware resources such as a processor or electronic circuits, and devices such as memory may be used as needed in their implementation. Alternatively, the setting unit 12 and the control unit 16 may be implemented by a computer. In other words, all or part of the setting unit 12 and the control unit 16 may be implemented through the cooperation of hardware resources such as the CPU (Central Processing Unit) and memory of a computer, and software (programs) that define the operation of the CPU, etc. This program is stored in the storage device of the control device 10 via a recording medium such as a CD or DVD, or via a communication path such as a network. As another example, the setting unit 12 and the control unit 16 may be implemented by a DSP (Digital Signal Processor), ASIC (Application Specific Integrated Circuit), or FPGA (Field Programmable Gate Array), etc. Of course, a GPU (Graphics Processing Unit), etc., may also be used.
[0053] The functions of the control device 10 may be implemented by a single device or by multiple devices.
[0054] The control device 10 may be installed in the vehicle 20 or in an external device such as a server. If the control device 10 is installed in an external device, the control device 10 communicates with the vehicle 20 via a communication path such as the internet to detect people and control the opening and closing of doors. [Explanation of Symbols]
[0055] 10 Control device, 12 Setting unit, 14 Detection unit, 16 Control unit, 20 Vehicle, 22 Automatic door.
Claims
1. A setting unit that sets detection and non-detection areas around an automatic door that opens and closes along the side wall of a vehicle, A detection unit that detects a person within the aforementioned detection area, A control unit that stops the opening and closing operation of the automatic door when a person is detected by the detection unit, Includes, The aforementioned setting unit is, Multiple inner regions are set up in the vicinity of the automatic door and on the inside of the vehicle, along the side wall, Multiple outer regions are set up in the vicinity of the automatic door and on the outside of the vehicle, along the side wall, Depending on the open / closed state of the automatic door, a portion of the plurality of inner regions may be designated as the detection region and the remaining portion as the non-detection region, or depending on the open / closed state of the automatic door, a portion of the plurality of outer regions may be designated as the detection region and the remaining portion as the non-detection region. A vehicle door control device characterized by the following features.
2. In the vehicle door control device according to claim 1, The setting unit sets the area to which the automatic door moves as the detection area. A vehicle door control device characterized by the following features.