JP2016215811A - Door opening/closing control device and door opening/closing method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a door opening/closing control device which smoothly operates a vehicle without causing a cancellation of the acceptance of a door opening/closing operation which has been performed immediately before a stop of the vehicle even if an operation for turning off a brake is performed immediately before the stop of the vehicle, and a door opening/closing control method.SOLUTION: A control part 6 performs: first processing for transiting a door opening/closing operation to a door opening/closing prohibition state that the door opening/closing operation is not accepted with respect to an opening/closing switch when a vehicle speed exceeds 5 km/h (first speed), and transits the door opening/closing operation to a door opening/closing acceptance state that the door opening/closing operation is accepted when the vehicle speed is not higher than 5 km/h; and second processing for making a door opening/closing mechanism open and close a door according to the door opening/closing operation which is performed in the case that the vehicle speed is lower than a prescribed 2 km/h (second speed) which is lower than 5 km/h when the door opening/closing operation is performed to the opening/closing switch when the door opening/closing operation is transited to the door opening/closing acceptance state by the first processing, and also in the case that a brake operation is detected by a brake operation detection part.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a door opening / closing control device and a door opening / closing control method for controlling opening / closing of a door provided on a vehicle body.

  For example, in a vehicle such as a bus, a door for a person to get on and off the side surface of the vehicle is provided. In particular, in a one-man bus operated only by a driver, the door is configured to open and close when an opening / closing switch provided around the driver's seat is operated by the driver or the like.

  Such a door is configured not to open during traveling for safety. However, for example, when the vehicle decelerates from the running state and stops, the operation of opening the door during deceleration is performed in advance, and the vehicle is requested to operate smoothly by opening the door simultaneously with the stop. It is made by the driver.

  In order to fulfill such a request, for example, Patent Document 1 satisfies the following conditions: a change lever signal is P (parking) or N (neutral), a parking brake signal is on, or a brake pedal signal is on. In addition, a technique is disclosed in which the door can be opened and closed when the vehicle speed is less than 3 km / h.

JP 2002-188362 A

  By the way, as a general driving operation of a vehicle, there is an operation of depressing a brake pedal from a running state, decelerating and stopping. At this time, in order to alleviate the shock associated with stopping, there is a case in which the brake is temporarily weakened just before stopping and then the brake pedal is depressed again to stop the vehicle completely.

  Here, for example, in the technique disclosed in Patent Document 1, when both the door opening / closing operation and the brake weakening operation are performed just before stopping, the vehicle speed satisfies the condition (less than 3 km / h). However, the condition that the door can be opened and closed is not satisfied. This is because the change lever is in the gear capable of traveling instead of P and N because the vehicle is decelerating from the traveling state, the parking brake is released, and the brake pedal signal is also turned off. Therefore, in the technique disclosed in Patent Document 1, even if the driver performs the door opening operation just before the vehicle stops, the door is not opened because the condition is not satisfied, and the door opening operation that should have been performed is not performed. There is a possibility of being canceled.

  The purpose of the present invention is to avoid such a situation, even if there is an operation to turn off the brake just before the stop, the reception of the door opening / closing operation made just before the stop is not canceled, and the vehicle operates smoothly. A door opening / closing control device and a door opening / closing control method that can be provided.

  The door opening / closing control device of the present invention includes an opening / closing operation receiving unit that receives a door opening / closing operation for opening / closing a vehicle door, a vehicle speed sensor that detects a current vehicle speed of the vehicle, and a brake operation detection unit that detects a brake operation. When the vehicle speed detected by the vehicle speed sensor exceeds a first speed, the door is opened and closed in a state where the door opening / closing operation with respect to the opening / closing operation receiving unit is not accepted, and the vehicle speed is smaller than the first speed. Includes a first process for transitioning to a door opening / closing operation acceptance state for accepting a door opening / closing operation, and a door opening / closing operation for the opening / closing operation acceptance unit when transitioning to the door opening / closing operation acceptance state in the first process. When the vehicle speed is lower than the second speed smaller than the first speed and the brake operation is detected by the brake operation detection unit, according to the door opening / closing operation Having a control unit for executing a second processing for opening and closing the Kitobira, and the.

  The door opening and closing control method of the present invention includes a first determination step for determining whether or not a vehicle speed that is a vehicle speed exceeds a first speed, and when the vehicle speed exceeds the first speed, A transition step of transitioning to a door opening / closing prohibited state in which a door opening / closing operation for opening / closing the door of the vehicle is not accepted and transitioning to a door opening / closing operation acceptance state in which the door opening / closing operation is accepted when the vehicle speed is lower than the first speed; When the door opening / closing operation is accepted in the transition step, when the door opening / closing operation is performed, the vehicle speed is smaller than the second speed smaller than the first speed, and the brake operation detecting unit brakes the vehicle. An opening and closing step for opening and closing the door in response to the door opening and closing operation when an operation is detected.

  According to the present invention, even if there is an operation to turn off the brake just before stopping, the reception of the door opening / closing operation performed just before stopping is not canceled, and the vehicle can be operated smoothly.

The figure which shows an example of a structure of a door opening / closing control apparatus Flowchart for explaining processing for determining a reception state of a door opening / closing operation Flowchart for explaining a process for accepting a door opening / closing operation and opening / closing the door according to the door opening / closing operation after transitioning to the door opening / closing operation acceptance state.

  Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a diagram illustrating an example of a configuration of a door opening / closing control device 100 according to the present embodiment. The door opening / closing control device 100 is provided in a vehicle that can open and close the door by a driver's operation, such as a bus.

  FIG. 1 is a diagram illustrating an example of a configuration of a door opening / closing control device 100 according to the present invention. As shown in FIG. 1, the door opening / closing control device 100 includes a door 1, a door opening / closing mechanism 2, a door opening / closing switch 3 (opening / closing operation reception unit), a vehicle speed sensor 4, a brake operation detection unit 5, and a control unit 6.

  The door 1 is a door for getting on and off personnel provided on a side surface of a vehicle such as a bus. As the door 1, various types of doors such as a sliding door type, a folding door type, a single swing type, and a swing-out type can be adopted.

  The door opening / closing mechanism 2 opens and closes the door 1 by, for example, air pressure, hydraulic pressure, a motor, or the like under the control of the control unit 6. For example, in the case of the door opening / closing mechanism 2 using air pressure, specifically, when the control unit 6 requests the opening or closing operation of the door 1 in response to an operation of the door opening / closing switch 3 described later, the request is met. The door opening / closing mechanism 2 opens or closes the door 1 by supplying or exhausting compressed air.

  The door opening / closing switch 3 is provided, for example, around the driver's seat of the vehicle, and is a switch for outputting an opening / closing instruction of the door 1 to the door opening / closing mechanism 2 in accordance with an operation of the driver or the like. The door opening / closing switch 3 is constituted by a toggle switch, for example, and can be switched between an “open” side and a “closed” side. When the door opening / closing switch 3 is operated to open or close, the control unit 6 detects this, and controls the door opening / closing mechanism 2 to open or close the door 1 according to the operation. .

  The vehicle speed sensor 4 is a sensor that detects the speed of the vehicle. The vehicle speed sensor 4 is attached to, for example, an axle (shaft) connected to a vehicle wheel, and detects the vehicle speed by measuring the number of rotations of the wheel per hour.

  The brake operation detection unit 5 detects a brake operation by the driver of the vehicle. In the present embodiment, the brake operation is, for example, that a brake pedal (not shown) is stepped on by a driver, specifically, a pressure of a predetermined strength (for example, 70 kPa) or more is applied to the brake pedal. Means that.

  The control unit 6 determines whether or not to accept the opening / closing operation of the door 1 with respect to the door opening / closing switch 3 described above according to the situation of the vehicle, and controls each configuration described above based on the determination result. The door 1 is opened and closed. Hereinafter, details of the door opening / closing operation reception determination process for determining whether to accept the opening / closing operation of the door 1 by the control unit 6 will be described.

  2 and 3 are flowcharts for explaining door opening / closing operation acceptance determination processing in the door opening / closing control device 100 of the present embodiment. First, of the door opening / closing operation reception determination process, a process for determining the reception state of the door opening / closing operation will be described with reference to FIG.

  In the door opening / closing operation acceptance determination process described below, it is assumed that the control unit 6 always causes the vehicle speed sensor 4 to detect the vehicle speed, that is, the vehicle speed.

  In step S1, the control unit 6 determines whether or not the vehicle speed is equal to or lower than the first speed. In the door opening / closing control apparatus 100 of the present embodiment, the first speed is, for example, 5 km / h. When it is determined that the vehicle speed is 5 km / h or less, the process proceeds to step S2, and when it is determined that the vehicle speed exceeds 5 km / h, the process proceeds to step S3.

  In the door opening / closing control apparatus 100 according to the present embodiment, the first speed that is the basis for this determination is “Notification that defines the details of the safety standards for road transport vehicles [2008.07.07]” by the Ministry of Land, Infrastructure, Transport and Tourism. Appendix 106 (Structural requirements for a one-man bus) ”. Specifically, the security standard 3.5.1.1.2.2. It is set to 5 km / h based on the item of chapter “The rear door opening / closing mechanism should not operate in a state where the speed exceeds 5 km / h”.

  When it is determined in step S1 that the vehicle speed is 5 km / h or less, in step S2, the control unit 6 transitions to a door opening / closing operation acceptance state. The door opening / closing operation acceptance state is a state in which an operation for opening / closing the door 1 with respect to the door opening / closing switch 3 is accepted.

  On the other hand, when it determines with a vehicle speed exceeding 5 km / h in step S1, the control part 6 transfers to a door opening / closing prohibition state in step S3. The door opening / closing prohibited state is a state in which even if the door opening / closing operation is performed on the door opening / closing switch 3, the door opening / closing operation itself is not accepted, and as a result, the door opening / closing is prohibited. When the control unit 6 transitions to the door opening / closing prohibited state, the flow returns to step S1.

  In the description of step S2, it has been described that the control unit 6 transitions to the door opening / closing operation acceptance state. However, if the door is originally in the door opening / closing operation acceptance state, the state may be maintained. Similarly, in step S3, when the control unit 6 is originally in a door opening / closing prohibited state, the state may be maintained.

  As described above, in the door opening / closing control apparatus 100 according to the present embodiment, the control unit 6 always transitions to either the door opening / closing operation acceptance state or the door opening / closing prohibited state based on the determination result of the vehicle speed. And if it has not changed to the door opening / closing operation acceptance state, the door opening / closing operation for the opening / closing switch 3 is not accepted.

  Next, a process after the transition to the door opening / closing operation acceptance state, that is, a process of accepting the door opening / closing operation and opening / closing the door 1 according to the door opening / closing operation will be described with reference to FIG.

  First, in step S <b> 4, the control unit 6 determines whether an opening / closing operation has been performed on the door opening / closing switch 3. As a result of the determination, when it is determined that the opening / closing operation has been performed, the flow proceeds to step S5, and when the opening / closing operation has not been performed, step S4 is repeated. In addition, although it demonstrated that this step S4 was repeated when opening / closing operation | movement was not made, when the vehicle speed exceeds 5 km / h also in this repetition, the control part 6 changes to a door opening / closing prohibition state. That is, in that case, the flow returns to step S3 shown in FIG.

  In step S5, the control unit 6 receives the opening / closing operation of the door 1 performed in step S4. In step S5, the control unit 6 only accepts the opening / closing operation of the door 1, and does not actually open / close the door 1. The controller 6 actually outputs a door opening / closing instruction to the door opening / closing mechanism 2 in step S8 described later.

  Next, after the process in step S5, in step S6, the control unit 6 determines whether or not the vehicle speed is equal to or lower than the second speed. Here, the second speed is smaller than the first speed described above. In the present embodiment, this second speed is 2 km / h, for example. When the vehicle speed is 2 km / h or less, the flow proceeds to step S7, and when it exceeds 2 km / h, the process proceeds to step S9.

  In step S6, the second speed is smaller than the first speed of 5 km / h and is 2 km / h, which is the speed immediately before stopping. However, the second speed is not necessarily 2 km / h, and is a speed that is expected to take approximately the same time as the time required for opening and closing the door 1 before the vehicle stops, The speed can be appropriately set to a speed smaller than 1.

  When it is determined in step S6 that the vehicle speed is 2 km / h or less, in step S7, the control unit 6 determines whether or not the brake operation is detected by the brake operation detection unit 5. If it is determined that a brake operation has been detected, the flow proceeds to step S8, and if not, the process proceeds to step S9.

  If it is determined in step S7 that a brake operation has been detected, in step S8, the control unit 6 outputs an instruction to open / close the door 1 to the door opening / closing mechanism 2 in accordance with the opening / closing operation performed in step S4.

  If it is determined in step S6 that the vehicle speed exceeds 2 km / h, and if it is determined in step S7 that no brake operation has been detected, in step S9, the controller 6 determines whether the vehicle speed has exceeded 5 km / h. Determine whether or not. If it is determined that the vehicle speed exceeds 5 km / h, the flow proceeds to step S10, and if not, the process returns to step S6.

  When it is determined in step S9 that the vehicle speed has exceeded 5 km / h, in step S10, the control unit cancels reception of the door opening / closing operation performed in step S4, and returns to step S3 shown in FIG.

  The door opening / closing operation acceptance determination process in the door opening / closing control apparatus 100 according to the present embodiment has been described above. As described above, the door opening / closing operation reception determination process executed by the control unit 6 of the door opening / closing control device 100 includes a process for determining a reception state of the door opening / closing operation, a door opening / closing operation, and a door according to the door opening / closing operation. The process of opening and closing 1 is performed independently.

  As described above, according to the door opening / closing control device 100 of the present embodiment, the control unit 6 does not accept the door opening / closing operation for the opening / closing switch when the vehicle speed exceeds 5 km / h (first speed). Transition to the door opening / closing prohibited state, and when the vehicle speed is 5 km / h or less, the first process for transitioning to the door opening / closing operation acceptance state for accepting the door opening / closing operation, and the door opening / closing operation acceptance state in the first process When the door is opened / closed to the open / close switch at the time of transition, the vehicle speed is lower than a predetermined 2 km / h (second speed) lower than 5 km / h, and the brake operation is detected by the brake operation detection unit. In this case, a second process is executed for causing the door opening / closing mechanism to open / close the door in accordance with the door opening / closing operation performed.

  With such a configuration, according to the door opening / closing control device 100 of the present embodiment, in order to reduce the shock associated with the stop, the brake is temporarily weakened or turned off immediately before the stop, and then the brake pedal is stepped on again. Even if the operation of stopping and the door opening / closing operation just before stopping are performed, when the vehicle speed is between 5 km / h and 2 km / h, only the door opening / closing operation is accepted and the actual opening / closing operation is not performed. Is 2 km / h or less and the door 1 is opened / closed according to the door opening / closing operation received when the brake operation is performed. For this reason, in the door opening / closing control apparatus 100 of the present embodiment, even if the brake operation is turned off between 5 km / h and 2 km / h, the door opening / closing operation performed at the same timing is accepted. Can do. And when it decelerates more, the door 1 can be opened and closed according to door opening and closing operation.

  For this reason, in the door opening / closing control apparatus 100 of this Embodiment, when the vehicle speed exceeds 1st speed, since door opening / closing operation itself is not received, safety | security increases. In addition, when the vehicle speed is between 5 km / h and 2 km / h, even if the brake operation is off, only the door opening / closing operation is accepted, the vehicle speed is 2 km / h or less, and the brake operation is performed. When the vehicle stops, the opening and closing of the door 1 can be completed when the vehicle stops. Thereby, the convenience at the time of operation of a vehicle improves.

  The present invention is suitable for a door opening / closing control device that controls opening / closing of a door provided in a vehicle body.

DESCRIPTION OF SYMBOLS 100 Door opening / closing control apparatus 1 Door 2 Door opening / closing mechanism 3 Door opening / closing switch 4 Vehicle speed sensor 5 Brake operation detection part 6 Control part

Claims (3)

An opening / closing operation reception unit for receiving a door opening / closing operation for opening / closing the vehicle door;
A vehicle speed sensor for detecting the current vehicle speed of the vehicle;
A brake operation detection unit for detecting the brake operation;
When the vehicle speed detected by the vehicle speed sensor exceeds a first speed, a transition is made to a door opening / closing prohibited state in which the door opening / closing operation for the opening / closing operation receiving unit is not accepted, and the vehicle speed is lower than the first speed. The first process for transitioning to the door opening / closing operation acceptance state for accepting the door opening / closing operation, and the door opening / closing operation for the opening / closing operation acceptance unit is performed when transitioning to the door opening / closing operation acceptance state in the first process. Then, when the vehicle speed is lower than the second speed smaller than the first speed and the brake operation is detected by the brake operation detection unit, the second door is opened and closed according to the door opening / closing operation. A control unit that executes
A door opening and closing control device. In the second process, when the vehicle speed is between the first speed and the second speed, the control unit holds the door without performing the received door opening / closing operation, and then the vehicle speed is Canceling the accepted door opening / closing operation when the first speed is exceeded,
The door opening / closing control apparatus according to claim 1. A first determination step of determining whether or not the vehicle speed that is the speed of the vehicle exceeds the first speed;
When the vehicle speed exceeds the first speed, the door transitions to a door open / close prohibited state that does not accept a door open / close operation for opening / closing the vehicle door, and when the vehicle speed is lower than the first speed, the door is opened. A transition step for transitioning to a door opening / closing operation acceptance state for accepting an opening / closing operation;
When the door opening / closing operation is accepted in the transition step, when the door opening / closing operation is performed, the vehicle speed is smaller than a second speed smaller than the first speed, and the brake operation detecting unit performs a brake operation. An opening and closing step for opening and closing the door in response to the door opening and closing operation,
A door opening and closing control method.

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