Vehicle door control method and vehicle door control device

Abstract

This vehicle door control method is executed by a sliding door control device (1) that performs an operation of closing a sliding door (2) on the basis of the target speed of the sliding door (2) from a fully open position to a fully closed position. This sliding door control method includes: acquiring the position of the sliding door (2); acquiring the travel state of the vehicle; and, when a control condition is fulfilled, raising the movement speed of the sliding door (2) beyond the target speed from the position of the sliding door (2) when the control condition is satisfied to the fully closed position. The control condition is that the vehicle is traveling when the closing operation of the sliding door (2) is started, or that the vehicle starts traveling during the closing operation of the sliding door (2).

Description

Vehicle door control method and vehicle door control device

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

[0002] Patent Document 1 discloses a power sliding door device. The power sliding door device has an electric motor for driving a sliding door, which is attached to a vehicle so that it can be opened and closed, in the opening and closing direction. When the vehicle is moving or there is a possibility that the vehicle will start moving, regenerative braking force is not applied in the closing direction. This allows the sliding door to be moved manually in the closing direction.

[0003] Japanese Patent Application Laid-Open No. 2004-98913

[0004] In the method disclosed in Patent Document 1, the sliding door can be closed after the vehicle starts moving, or the vehicle can be started moving while the sliding door is closing. In this case, there is a possibility that luggage may fall out of the vehicle while the sliding door is moving before it is completely closed.

[0005] An object of the present invention is to provide a vehicle door control method and a vehicle door control device that can prevent luggage from falling out of the interior of a moving vehicle before the vehicle door is closed.

[0006] A vehicle door control method according to one aspect of the present invention is executed by a vehicle door control device that performs a closing operation of a vehicle door. The vehicle door control method includes, when a predetermined control condition is satisfied, increasing a movement speed of the vehicle door above a target speed in at least a part of a section from a position of the vehicle door when the control condition is satisfied to a fully closed position. Here, the control condition is that the vehicle is moving when the closing operation of the vehicle door is started, or that the vehicle has started moving during the closing operation of the vehicle door.

[0007] According to one aspect of the present invention, it is possible to prevent luggage from falling out of the interior of a moving vehicle before the vehicle door is closed.

[0008] Fig. 1 is a block diagram showing the configuration of a vehicle door control device according to this embodiment. Fig. 2 is an explanatory diagram showing a target speed profile. Fig. 3 is a flowchart showing a vehicle door control method. Fig. 4 is an explanatory diagram showing an example of a moving speed of a vehicle door. Fig. 5 is an explanatory diagram showing an example of a moving speed of a vehicle door. Fig. 6 is an explanatory diagram showing an example of a moving speed of a vehicle door. Fig. 7 is an explanatory diagram showing an example of a moving speed of a vehicle door.

[0009] A vehicle door control device 1 according to this embodiment will be described with reference to Fig. 1. In the following description, a sliding door 2 provided on one of the left and right sides of a vehicle body will be exemplified as a vehicle door controlled by the vehicle door control device 1. However, a vehicle may be provided with sliding doors 2 on both the left and right sides of the vehicle body, and in this case, the method according to this embodiment can be applied to each sliding door 2.

[0010] The sliding door 2 opens and closes a door opening provided on the side of the vehicle body by moving in the fore-and-aft direction of the vehicle between a fully open position and a fully closed position. The fully closed position is located at the frontmost position within the movement range of the sliding door 2, and when the sliding door 2 is in the fully closed position, the door opening is completely closed. The fully open position is located at the rearmost position within the movement range of the sliding door 2, and when the sliding door 2 is in the fully open position, the door opening is most widely opened. The direction in which the sliding door 2 moves from the fully closed position to the fully open position is referred to as the opening direction, and the direction in which the sliding door 2 moves from the fully open position to the fully closed position is referred to as the closing direction.

[0011] The vehicle door control device 1 can automatically close the sliding door 2 by performing a closing operation to move the sliding door 2 in a closing direction. Also, the vehicle door control device 1 can automatically open the sliding door 2 by performing an opening operation to move the sliding door 2 in an opening direction. However, since one of the features of this embodiment is the closing operation of the sliding door 2 performed by the vehicle door control device 1, a description of the opening operation of the sliding door 2 will be omitted.

[0012] The vehicle door control device 1 includes an operation switch 10 , a vehicle state sensor 11 , a door position sensor 12 , an opening / closing motor 13 , a speaker 14 , and a controller 15 .

[0013] The operation switch 10 is a switch for closing the sliding door 2 and is operated by an occupant. When the operation switch 10 is operated, an operation signal instructing a closing operation of the sliding door 2 is output to the controller 15. The operation switch 10 includes a switch provided at the driver's seat that outputs an operation signal when pressed by the driver, and a switch provided on an inside handle or an outside handle that operates the sliding door 2 and outputs an operation signal when the occupant operates the inside handle or the outside handle. The operation switch 10 may also be a switch provided on a portable device (electronic key) carried by the driver for opening and closing the sliding door 2. The portable device is capable of wireless communication with an in-vehicle device provided in the vehicle, and when the in-vehicle device receives a transmission signal associated with the operation of the portable device, the in-vehicle device outputs an operation signal to the controller 15.

[0014] The vehicle state sensor 11 is a sensor that detects the vehicle's running state. The vehicle state sensor 11 is, for example, a vehicle speed sensor. However, the vehicle state sensor 11 may be any sensor that detects information that can determine whether the vehicle is running or has started running, as the vehicle's running state. For example, the vehicle state sensor 11 may be a sensor that detects the accelerator pedal depression amount, a sensor that detects the shift position, a sensor that detects the parking brake operation state, or the like, or may be a sensor that uses a combination of these sensors. The vehicle's running state detected by the vehicle state sensor 11 is acquired by the controller 15. However, the controller 15 may also acquire information about the vehicle's running state from another controller via a controller area network (CAN).

[0015] The door position sensor 12 detects the door position of the sliding door 2. The door position sensor 12 recognizes the door position of the sliding door 2 between a fully closed position and a fully open position, and outputs a signal according to the door position. For example, the door position sensor 12 may detect the door position using infrared rays, or may detect the door position based on the number of rotations of a rotor that rotates as the sliding door 2 moves. The door position detected by the door position sensor 12 is acquired by the controller 15.

[0016] The opening / closing motor 13 is a drive unit (actuator) that drives the sliding door 2. The opening / closing motor 13 is, for example, a DC motor. The opening / closing motor 13 is controlled by the controller 15 to move the sliding door 2 in the closing direction or the opening direction. The movement speed of the sliding door 2 is controlled by controlling the rotation of the opening / closing motor 13.

[0017] The speaker 14 is an output device that outputs an alarm sound to the occupant. The speaker 14 outputs a predetermined alarm sound under the control of the controller. The output device may be a buzzer.

[0018] The controller 15 is configured by a computer having a hardware processor such as a CPU (Central Processing Unit), a memory, and various interfaces. The controller 15 realizes its functions by software, but its functions can also be realized by dedicated hardware.

[0019] In this embodiment, the controller 15 obtains the position of the sliding door 2 from the door position sensor 12. The controller 15 obtains the vehicle running state from the vehicle state sensor 11. Based on this information, the controller 15 can determine that the vehicle is running when the closing operation of the sliding door 2 is started, and that the vehicle has started running while the sliding door 2 is running.

[0020] 2, the controller 15 holds a target speed profile Vr that indicates a target speed of the sliding door 2 from the fully open position to the fully closed position. The target speed profile Vr indicates the relationship between each position from the fully open position to the fully closed position and the target speed at each position. The controller 15 controls the opening / closing motor 13 based on the target speed profile Vr to close the sliding door 2. Under the control of the controller 15, the sliding door 2 moves from the fully open position to the fully closed position in accordance with the target speed profile Vr.

[0021] Furthermore, when a predetermined control condition is satisfied, the controller 15 increases the moving speed of the sliding door 2 from the position of the sliding door 2 when the control condition is satisfied to the fully closed position, more than the target speed profile Vr. The control condition is that the vehicle is traveling when the closing operation of the sliding door 2 starts, and that the vehicle starts traveling while the sliding door 2 is in the closing operation.

[0022] The vehicle door control method according to this embodiment will be described below with reference to Fig. 3. This vehicle door control method is executed by the controller 15 of the vehicle door control device 1.

[0023] In step S10, the controller 15 determines whether or not the operation switch 10 has been operated based on the operation signal of the operation switch 10. If the operation switch 10 has been operated, an affirmative determination is made in step S10, and the process proceeds to step S11. On the other hand, if the operation switch 10 has not been operated, a negative determination is made in step S10, and the process returns to step S10.

[0024] In step S11, when the controller 15 acquires the vehicle running state from the vehicle state sensor 11, it determines, based on the vehicle running state, whether or not the operation of the operation switch 10 was performed before the vehicle started running. If the operation of the operation switch 10 was performed before the vehicle started running, i.e., while the vehicle was stopped, an affirmative determination is made in step S11, and the process proceeds to step S12. If the operation of the operation switch 10 was performed after the vehicle started running, i.e., while the vehicle was running, an negative determination is made in step S11, and the process proceeds to step S15.

[0025] In step S12, the controller 15 performs a closing operation of the sliding door 2. When the processing of step S12 is performed, the vehicle is stopped. In this case, the controller 15 controls the opening / closing motor 13 based on the target speed profile Vr, thereby moving the sliding door 2 in the closing direction in accordance with the target speed profile Vr.

[0026] In step S13, the controller 15 acquires the vehicle running state from the vehicle state sensor 11 and determines whether the vehicle has started running based on the vehicle running state. If the vehicle has not started running, a negative determination is made in step S13, and the process proceeds to step S14. If the vehicle has started running, a positive determination is made in step S13, and the process proceeds to step S15.

[0027] In step S14, when the controller 15 acquires the door position of the sliding door 2 from the door position sensor 12, the controller 15 determines whether or not the sliding door 2 is in the fully closed position based on the door position. If the sliding door 2 is not in the fully closed position, that is, if the sliding door is moving toward the fully closed position, a negative determination is made in step S14, and the process returns to step S12, where the closing operation of the sliding door 2 continues. On the other hand, if the movement of the sliding door 2 is completed and the sliding door 2 has reached the fully closed position, a positive determination is made in step S14, and the process proceeds to step S17, which will be described later.

[0028] In step S15, the controller 15 performs a closing operation of the sliding door 2. The closing operation of step S15 is performed in the following two situations. The first situation is a situation in which the vehicle starts traveling while the sliding door 2 is being closed, i.e., a situation in which a positive determination is made in step S13. The second situation is a situation in which the vehicle is traveling when the closing operation of the sliding door 2 is started, which is a situation in which a negative determination is made in step S11. In this way, the processing of step S15 is performed when the above-mentioned control conditions are met.

[0029] In the first situation, the closing operation of the sliding door 2 has already been performed, and the sliding door 2 is moving in the closing direction according to the target speed profile Vr. At this time, the controller 15 continues the closing operation of the sliding door 2 and increases the moving speed of the sliding door 2 from the target speed profile Vr in the section from the position of the sliding door 2 when the control condition is satisfied to the fully closed position. There are three methods for increasing the moving speed of the sliding door 2 from the target speed profile Vr, as shown below.

[0030] As shown in Fig. 4 , the first method is a method of moving the sliding door 2 to the fully closed position at a speed faster than the moving speed of the sliding door 2 when the control condition is satisfied, i.e., when the vehicle starts to travel. The moving speed of the sliding door 2 when the vehicle starts to travel is a target speed corresponding to the position Pa of the sliding door 2 when the vehicle starts to travel. In the example shown in Fig. 4 , the moving speed of the sliding door 2 from the position Pa to the fully closed position has a profile Va1 that linearly increases. However, any profile other than the profile Va1 shown in Fig. 4 may be used as long as it moves the sliding door 2 to the fully closed position at a speed faster than the moving speed of the sliding door 2 when the vehicle starts to travel.

[0031] 5, the second method is a method in which the sliding door 2 is moved to the fully closed position while maintaining the moving speed of the sliding door 2 when the vehicle starts to move (target speed according to position Pa). In the example shown in Fig. 5, the moving speed of the sliding door 2 from position Pa to the fully closed position has a constant profile Va2.

[0032] As shown in Fig. 6 , the third method moves the sliding door 2 to the fully closed position at a speed slower than the moving speed of the sliding door 2 when the vehicle starts traveling (target speed according to position Pa) and faster than the subsequent target speed profile Vr. In the example shown in Fig. 6 , the moving speed of the sliding door 2 from position Pa to the fully closed position has a profile Va3 that linearly decreases at a gradient gentler than the gradient of the target speed profile Vr. However, any profile other than the profile Va3 shown in Fig. 6 may be used as long as it moves the sliding door 2 to the fully closed position at a speed slower than the target speed according to position Pa and faster than the subsequent target speed profile Vr.

[0033] On the other hand, in the second situation, the sliding door 2 is in the fully open position, and the closing operation of the sliding door 2 is started while the vehicle is traveling. In step S15, the controller 15 performs the closing operation of the sliding door 2. At this time, the controller 15 increases the moving speed of the sliding door 2 from the position of the sliding door 2 when the control condition is satisfied (i.e., the fully open position) to the fully closed position to a speed higher than the target speed profile Vr. In the example shown in FIG. 7 , the moving speed of the sliding door 2 has a profile Va4 that is faster than the target speed profile Vr in the entire section from the fully open position to the fully closed position. However, a profile other than the profile Va4 may be used as long as the sliding door 2 is moved to the fully closed position at a speed higher than the target speed profile Vr.

[0034] In step S16, when the door position of the sliding door 2 is acquired from the door position sensor 12, it is determined based on the door position whether or not the sliding door 2 is in the fully closed position. If the sliding door 2 is not in the fully closed position, that is, if the sliding door is moving toward the fully closed position, a negative determination is made in step S16, and the process returns to step S15, where the closing operation of the sliding door 2 continues. On the other hand, if the movement of the sliding door 2 is completed and the sliding door 2 has reached the fully closed position, a positive determination is made in step S16, and the process proceeds to step S17, which will be described later.

[0035] In step S17, the controller 15 stops the opening / closing motor 13. This stops the sliding door 2, and the closing operation of the sliding door 2 is completed.

[0036] As described above, according to the vehicle door control method of this embodiment, if the vehicle is traveling when the closing operation of the sliding door 2 is initiated, or if the vehicle starts traveling while the sliding door 2 is being closed, the moving speed of the sliding door 2 until it reaches the fully closed position is increased above the target speed profile Vr. This allows the moving speed of the sliding door 2 to be increased above the target speed, so that the sliding door 2 can be moved to the fully closed position more quickly. The time during which the sliding door 2 is open, i.e., the time until the sliding door 2 reaches the fully closed position, is relatively short. This makes it possible to prevent luggage from falling from the traveling vehicle before the sliding door 2 is closed. Similar effects can also be achieved with the vehicle door control device 1 that executes the vehicle door control method.

[0037] According to this embodiment, when the vehicle starts moving while the sliding door 2 is being closed, the sliding door 2 moves to the fully closed position while maintaining the movement speed of the sliding door 2 at the start of movement. Therefore, even in a situation where the target speed profile of the sliding door 2 decreases, the movement speed of the sliding door 2 can be increased above the target speed, so that the sliding door 2 can be moved to the fully closed position quickly. The time during which the sliding door 2 is open, i.e., the time until the sliding door 2 reaches the fully closed position, becomes relatively short. This makes it possible to prevent luggage from falling from the moving vehicle until the sliding door 2 closes.

[0038] According to this embodiment, when the vehicle starts moving while the sliding door 2 is being closed, the sliding door 2 moves to the fully closed position at a speed faster than the moving speed of the sliding door 2 at the start of moving. This allows the moving speed of the sliding door 2 to be increased above the target speed, so that the sliding door 2 can be moved to the fully closed position more quickly. The time that the sliding door 2 is open, i.e., the time until the sliding door 2 reaches the fully closed position, becomes relatively short. This makes it possible to prevent luggage from falling from the moving vehicle until the sliding door 2 is closed.

[0039] According to this embodiment, if the vehicle is traveling when the closing operation of the sliding door 2 is initiated, the sliding door 2 moves from the fully open position to the fully closed position at a speed faster than the target speed profile Vr. This allows the moving speed of the sliding door 2 to be increased above the target speed, so that the sliding door 2 can be moved to the fully closed position more quickly. The time during which the sliding door 2 is open, i.e., the time until the sliding door 2 reaches the fully closed position, becomes relatively short. This makes it possible to prevent luggage from falling from the traveling vehicle until the sliding door 2 is closed.

[0040] In the above-described embodiment, the movement speed of the sliding door 2 is increased above the target speed profile Vr in the entire section from the position of the sliding door 2 when the control conditions are met to the fully closed position. However, it is sufficient if the movement speed of the sliding door 2 is increased above the target speed profile in at least a part of the section from the position of the sliding door 2 when the control conditions are met to the fully closed position. It is sufficient if the movement speed of the sliding door 2 is increased partially above the target speed profile from the position of the sliding door 2 when the control conditions are met to the fully closed position. The time during which the sliding door 2 is open, i.e., the time until the sliding door 2 reaches the fully closed position, becomes relatively short. This makes it possible to prevent luggage from falling from a traveling vehicle before the sliding door 2 closes.

[0041] In the above-described embodiment, the vehicle door is exemplified as a sliding door 2 provided on the side of the vehicle body. However, the vehicle door may be a hinged door provided on the left or right side of the vehicle body. Alternatively, the vehicle door may be a back door provided at the rear of the vehicle body, or a trunk lid that opens and closes a trunk room provided at the front or rear of the vehicle body. Even such a vehicle door can prevent luggage from falling out of the vehicle while it is moving until the vehicle door is closed.

[0042] Although the embodiments of the present invention have been described above, the descriptions and drawings that form part of this disclosure should not be understood to limit the present invention. Various alternative embodiments, examples, and operating techniques will become apparent to those skilled in the art from this disclosure.

[0043] REFERENCE SIGNS LIST 1 vehicle door control device 2 sliding door 10 operation switch 11 vehicle state sensor 12 door position sensor 13 opening / closing motor 14 speaker 15 controller

Claims

1. A vehicle door control method executed by a vehicle door control device that performs a closing operation of a vehicle door based on a target speed of the vehicle door from a fully open position to a fully closed position, the vehicle door control method comprising: acquiring the position of the vehicle door; acquiring the vehicle traveling state; and, when a control condition is met that the vehicle is traveling when the closing operation of the vehicle door is started, or that the vehicle has started traveling during the closing operation of the vehicle door, increasing the moving speed of the vehicle door to be higher than the target speed in at least a part of the section from the position of the vehicle door when the control condition is met to the fully closed position.

2. A vehicle door control method according to claim 1, wherein, when the control condition that the vehicle has started moving during the closing operation of the vehicle door is satisfied, the vehicle door is moved to the fully closed position while maintaining the moving speed of the vehicle door at the time when the control condition was satisfied.

3. A vehicle door control method according to claim 1, wherein, when the control condition that the vehicle has started moving during the closing operation of the vehicle door is satisfied, the vehicle door is moved to the fully closed position at a speed faster than the moving speed of the vehicle door when the control condition is satisfied.

4. A vehicle door control method as described in claim 1, wherein, when the control condition that the vehicle is moving when the closing operation of the vehicle door is started is satisfied, the vehicle door is moved from the fully open position to the fully closed position at a speed faster than the target speed.

5. A vehicle door control method according to any one of claims 1 to 4, wherein the vehicle doors are sliding doors or hinged doors provided on the left and right sides of the vehicle body.

6. A vehicle door control method according to any one of claims 1 to 4, wherein the vehicle door is a back door provided at the rear of the vehicle body, or a trunk lid provided at the front or rear of the vehicle body.

7. A vehicle door control device comprising: a drive unit that drives a vehicle door provided on a vehicle; and a controller that performs a closing operation of the vehicle door by controlling the drive unit based on a target speed of the vehicle door from a fully open position to a fully closed position, wherein the controller acquires the position of the vehicle door, acquires the traveling state of the vehicle, and, when a control condition is met that the vehicle is traveling when the closing operation of the vehicle door is started or the vehicle has started traveling during the closing operation of the vehicle door, increases the moving speed of the vehicle door to be higher than the target speed in at least a part of the section from the position of the vehicle door when the control condition is met to the fully closed position.

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