JP6582545B2 - Door opening and closing device and door opening and closing method - Google Patents

Description

  The present invention relates to a door opening and closing device and a door opening and closing method for controlling opening and closing of a door provided in a vehicle.

  For example, in a vehicle such as a bus, a door for a person to get on and off the side 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. For example, Patent Document 1 discloses a technique for prohibiting the opening and closing of a door when, for example, the shift lever is not neutral or the vehicle speed is not zero.

JP 2009-97284 A

  By the way, according to “Notification Attachment 106 (Structural Requirements for One-Man Bus) which defines the details of safety standards for road transport vehicles” by the Ministry of Land, Infrastructure, Transport and Tourism, 3.2.1.2.2. The chapter stipulates that “the rear door opening and closing mechanism should not operate in a state where the speed exceeds 5 km / h”. For this reason, when the vehicle is traveling at a speed exceeding 5 km / h in the currently popular one-man bus, even if the driver operates the door open / close switch to the open side, the operation is invalidated. , The door never opens.

  On the other hand, if the speed is 5 km / h or less, the door may be opened and closed for security reasons. Generally, in a conventionally used vehicle such as a bus, there is a time difference from when the door is opened and closed until the door is actually opened by the opening and closing mechanism. For this reason, for example, before the vehicle stops at a stop, etc., the driver wants to operate the one-man bus efficiently by opening the door when the vehicle speed becomes low and opening the door at the same time as stopping. There is a request. The technique disclosed in Patent Document 1 simply prohibits the door opening / closing operation on the condition that there is a vehicle speed, and cannot meet such a demand.

  As a technique for meeting such a demand, for example, there is a conventional technique for determining whether or not the vehicle speed exceeds 5 km / h using a vehicle speed sensor or the like and determining whether or not to accept the door opening / closing operation according to the determination result. To do. However, since there is a response time in the vehicle speed sensor, for example, even when the vehicle speed sensor detects the vehicle speed as 5 km / h or less when the vehicle is accelerated, if a vehicle speed detection result of 5 km / h or less is output, The vehicle speed at the time may have already exceeded 5 km / h.

  If the driver is opening and closing the door in such a case, the detection result of the vehicle speed sensor is 5 km / h or less even though the vehicle speed at that time exceeds 5 km / h. A situation may occur in which opening and closing of the door is permitted. Since such a situation impairs safety in vehicle operation, countermeasures are desired.

  An object of the present invention is to provide a door opening and closing device and a door opening and closing method that prevent erroneous determination due to the influence of response time of a vehicle speed sensor when determining whether or not to permit opening and closing of a door.

Door opening and closing apparatus of the present invention, the opening and closing switch for accepting the opening and closing operation for opening and closing the door of the vehicle, a vehicle speed sensor for detecting a vehicle speed of the previous SL wheel cars, the operation for the acceleration to the vehicle is made An acceleration operation determination unit that determines whether or not the vehicle speed detected by the vehicle speed sensor exceeds a predetermined speed. Transition to an open / close prohibited state that prohibits the opening and closing of the door according to the condition, it is determined whether or not the acceleration of the vehicle is positive, and it is determined that the acceleration is positive In this case, when the transition to the open / close prohibited state is determined and it is determined that the acceleration operation is not positive, the acceleration operation determination unit determines whether the acceleration operation is detected and determines that the acceleration operation is detected. In case Transitions to the closing disabled state, if it is determined not to be detected, have a, and a control unit which changes the opening and closing permission state for permitting opening and closing of the door in response to opening and closing operation of the opening and closing switch is accepted, When the control unit determines that the vehicle speed does not exceed a predetermined speed, the acceleration of the vehicle is negative, and the acceleration operation is not detected, the control unit is configured to open the door according to the opening operation for the opening / closing switch. Opening operation is performed .

Door opening and closing process of the present invention, when a detecting step for detecting a vehicle speed of the vehicles, the detected in the detection step the vehicle speed is determined whether more than a predetermined speed, it is determined to exceed, the vehicle When the opening / closing switch that accepts the opening / closing operation for opening / closing the door is shifted to the opening / closing prohibiting state for prohibiting the opening / closing of the door according to the opening / closing operation accepted, the acceleration of the vehicle is positive. When the acceleration is determined to be positive, the state is shifted to the open / close prohibited state, and when it is determined that the acceleration is not positive, whether the acceleration operation is detected or not is determined. a judgment, when it is determined that the acceleration operation is detected, a transition to the opening and closing disabled state, if it is determined that not detected, the opening and closing of the door in response to opening and closing operation of the opening and closing switch is accepted Possess a control step of transitioning to the opening and closing enabled state permission to, and in the control step, the vehicle speed does not exceed the predetermined speed, the acceleration of the vehicle is negative, and the acceleration operation is determined not to be detected In this case, the door is opened in response to an opening operation on the opening / closing switch.

  According to the present invention, it is possible to prevent erroneous determination due to the influence of the response time of the vehicle speed sensor when determining whether or not to permit the opening and closing of the door.

The figure which shows an example of a structure of a door opening / closing apparatus The flowchart for demonstrating the door opening / closing operation reception determination process by a control part

  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 and closing device 100 according to the present embodiment. The door opening and closing device 100 is provided in a vehicle such as a bus that can open and close the door by a driver's operation.

  FIG. 1 is a diagram showing an example of the configuration of a door opening and closing device 100 of the present invention. As shown in FIG. 1, the door opening / closing device 100 includes a door 1, a door opening / closing mechanism 2, a door opening / closing switch 3, an acceleration operation determination unit 4, a vehicle speed sensor 5, and a control unit 6.

  The door 1 is a door for getting on and off a person, for example, provided on the left 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, when the control unit 6 requests the opening or closing operation of the door 1 in response to an operation of a door opening / closing switch 3 described later, the door opening / closing mechanism is responded to the request. 2 supplies or exhausts compressed air. Thereby, the door opening / closing mechanism 2 performs an opening operation or a closing operation of the door 1.

  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 acceleration operation determination unit 4 determines whether or not the driver of the vehicle has performed an operation for accelerating the vehicle. The reference for determining that the operation for accelerating the vehicle is performed by the acceleration operation determination unit 4 is as follows.

  The first criterion is that the brake pedal of the vehicle is not operated, that is, the output signal from the brake pedal is off. The second criterion is that the vehicle shift lever, i.e. the gear, is not neutral. The third criterion is that the accelerator pedal of the vehicle is depressed somewhat, that is, the output signal from the accelerator pedal is on.

  The acceleration operation determination unit 4 determines that an operation for accelerating the vehicle is performed when all of the three criteria described above are satisfied.

  The vehicle speed sensor 5 is a sensor that detects the speed of the vehicle. The vehicle speed sensor 5 is attached to, for example, an axle (shaft) connected to a wheel of the vehicle, and detects the vehicle speed by measuring the number of rotations of the wheel per time.

  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.

<Door open / close operation acceptance determination process>
FIG. 2 is a flowchart for explaining door opening / closing operation acceptance determination processing by the control unit 6. It is desirable that the door opening / closing operation acceptance determination process of the control unit 6 shown in FIG. 2 is always performed at least in the activated state of the vehicle (the engine is started) for safety.

  In step S1, the control unit 6 causes the vehicle speed sensor 5 to detect the speed of the vehicle. In step S2, as a result of speed detection, if the vehicle speed exceeds 5 km / h, the flow proceeds to step S8, and if the vehicle speed is 5 km / h or less, the flow proceeds to step S3.

  In step S <b> 3, the control unit 6 calculates the acceleration of the vehicle from the time change of the vehicle speed detected by the vehicle speed sensor 5.

  In step S4, when the acceleration of the vehicle is positive, that is, when the vehicle is accelerating, the flow proceeds to step S8. On the other hand, if the acceleration of the vehicle is not positive, that is, if the vehicle is traveling at a constant speed or decelerating, the process proceeds to step S5.

  In step S5, the control unit 6 causes the acceleration operation determination unit 4 to determine whether or not an acceleration operation of the vehicle is being performed. As described above, the acceleration operation determination unit 4 determines that the vehicle is accelerating, as described above, when the brake pedal of the vehicle is not operated, the shift lever of the vehicle is not neutral, and the accelerator pedal of the vehicle This is the case when everything is satisfied. If it is detected in step S6 whether or not the acceleration operation is performed, the flow proceeds to step S8, and if not, the process proceeds to step S7.

  The reason why the control unit 6 determines whether or not the acceleration operation determination unit 4 has performed an acceleration operation in step S6 is as follows. The acceleration of the vehicle calculated in step S3 deviates from the acceleration at that time because of the response time of the vehicle speed sensor 5, and even if the acceleration is negative in step S4, the acceleration operation is actually performed and the vehicle is accelerated. May have begun to do. In consideration of this possibility, the control unit 6 determines whether or not the acceleration operation is performed by the acceleration operation determination unit 4.

  In step S <b> 7, the control unit 6 transitions to an open / close permission state for accepting a door opening / closing operation of the vehicle driver for the door opening / closing switch 3. In the opening / closing permission state, when the opening / closing operation of the door 1 is performed with respect to the door opening / closing switch 3, the control unit 6 controls the door opening / closing mechanism 2 to open / close the door 1 according to the operation.

  On the other hand, in step S <b> 8, the control unit 6 transitions to an open / close prohibited state in which the door opening / closing operation of the vehicle driver for the door opening / closing switch 3 is not accepted. In the open / close prohibited state, the controller 6 does not perform any control on the door opening / closing mechanism 2 and does not open / close the door 1 even if the door opening / closing operation is performed on the door opening / closing switch 3. .

  As described above, the control unit 6 always performs three determinations: determination of the vehicle speed in step S2, determination of the acceleration of the vehicle in step S4, and determination of the acceleration operation in step S6. Only when the vehicle speed is 5 km / h or less, the acceleration of the vehicle is 0 or minus, and no acceleration operation is detected, all the determination results are satisfied, the door opening / closing operation for the door opening / closing switch 3 is performed. In response, the door opening / closing mechanism 2 shifts to an open / close permission state in which the door 1 is opened / closed. In other cases, even if a door opening / closing operation is performed on the door opening / closing switch 3, the operation is not accepted, and the state is changed to an opening / closing prohibited state in which opening / closing of the door 1 is prohibited.

  In this way, while the vehicle is operating, the control unit 6 always changes to either the open / close prohibited state or the open / close enabled state, and if there is an open / close operation on the door open / close switch 3, it matches the current state. The door opening / closing mechanism 2 is controlled to determine whether the door 1 is opened or closed.

  It should be noted that the determination result of the acceleration operation is included as a condition for the control unit 6 to transition to the open / close permission state because the calculated acceleration may differ from the acceleration at that time depending on the response time of the vehicle speed sensor 5. Because. In the door opening and closing apparatus 100 of the present embodiment, the control unit 6 refers to the determination result of the acceleration operation determination unit 4 to determine whether or not the vehicle is actually accelerating. The door opening / closing control can be performed.

  When an opening / closing operation is performed on the door opening / closing switch 3 in the opening / closing prohibited state, the control unit 6 may, for example, issue a warning sound to a not-illustrated notification unit to notify the driver that the door is in the opening / closing prohibited state. . With such a configuration, it is possible to recognize why the door 1 is not opened / closed even though the driver performs the opening / closing operation.

  As described above, according to the door opening and closing apparatus 100 of the present embodiment, the control unit 6 determines whether or not the vehicle speed detected by the vehicle speed sensor 5 exceeds a predetermined speed (5 km / h), When it is determined that it exceeds the maximum value, the state transits to an open / close prohibited state that prohibits the opening / closing of the door 1 according to the open / close operation received by the door open / close switch 3, and when it is determined that it does not exceed, the acceleration of the vehicle is calculated. Whether the acceleration is positive is determined. When it is determined that the acceleration is positive, the state is shifted to the open / close prohibited state. When it is determined that the acceleration is not positive, the acceleration operation determination unit 4 performs the acceleration operation. It is determined whether or not it is detected. If it is detected, the state transits to an open / close prohibited state, and if it is not detected, the state transits to an open / close permitted state.

  The door opening / closing device 100 according to the present embodiment calculates the acceleration of the vehicle as described above, and prohibits the opening / closing of the door 1 when the acceleration is positive. Therefore, even if the vehicle speed sensor 5 determines that the vehicle speed is 5 km / h or less, which is a speed determined by the safety standard, the vehicle speed at that time is already 5 km / h due to the influence of the response time of the vehicle speed sensor 5. Can be prevented.

  Further, for example, in the middle of a downhill, the vehicle may accelerate even if the acceleration operation determination unit 4 does not detect the acceleration operation. In the door opening and closing apparatus 100 of the present embodiment, the control unit 6 calculates the acceleration of the vehicle in addition to the detection of the acceleration operation by the acceleration operation determination unit 4, and transitions to an open / close prohibited state when the acceleration is positive. . Accordingly, it is possible to accept a safe door opening / closing operation in accordance with the situation of the vehicle.

  Further, according to the door opening / closing device 100 of the present embodiment, when the vehicle speed is 5 km / h or less, the acceleration of the vehicle is not positive, and the acceleration operation is not detected, the transition to the opening / closing permission state is made. To do. That is, for example, when the vehicle is moving at a low speed or decelerating at a very low speed, for example, immediately after the vehicle is decelerated from the running state, the opening / closing of the door is permitted if no acceleration operation is performed. Therefore, for example, the driver can open the door 1 to the door opening / closing switch 3 immediately before the vehicle stops, and the door 1 can be opened at the same time as the vehicle is stopped so that the vehicle can be smoothly operated. Become.

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

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

Claims (2)

An opening / closing switch for accepting an opening / closing operation for opening / closing the door of the vehicle;
A vehicle speed sensor for detecting a vehicle speed of the previous SL wheel cars,
An acceleration operation determination unit that determines whether an operation for accelerating the vehicle is performed;
It is determined whether or not the vehicle speed detected by the vehicle speed sensor exceeds a predetermined speed, and when it is determined that the vehicle speed is exceeded, the opening / closing prohibition state prohibits the opening / closing of the door according to the opening / closing operation received by the opening / closing switch. transitions to, when it is determined not to exceed the acceleration of the vehicle is equal to or positive, when the acceleration is determined to be positive transitions to the closing disabled state, plus If it is determined that the acceleration operation is not detected , the acceleration operation determination unit determines whether or not the acceleration operation is detected. If it is determined that it is not, a control unit that transitions to an open / close permission state that permits opening / closing of the door according to the open / close operation received by the open / close switch;
I have a,
When the control unit determines that the vehicle speed does not exceed a predetermined speed, the acceleration of the vehicle is negative, and the acceleration operation is not detected, the control unit is configured to open the door according to the opening operation for the opening / closing switch. To perform the opening operation,
Door opening and closing device. A detection step for detecting a vehicle speed of the vehicles,
It is determined whether or not the vehicle speed detected in the detection step exceeds a predetermined speed. If it is determined that the vehicle speed exceeds the predetermined speed, the opening / closing switch that receives the opening / closing operation for opening / closing the door of the vehicle When it is determined that the vehicle is in an open / close prohibited state that prohibits the opening / closing of the door and the vehicle is not exceeded, it is determined whether the acceleration of the vehicle is positive, and the acceleration is determined to be positive If the transition to the open / close prohibited state is determined and it is not positive, it is determined whether or not an acceleration operation is detected. If it is determined that the acceleration operation is detected, the opening and closing is performed. A transition to a prohibited state, if it is determined that it is not detected , a control step of transitioning to an open / close permission state that permits opening / closing of the door according to the open / close operation received by the open / close switch;
I have a,
In the control step, when it is determined that the vehicle speed does not exceed a predetermined speed, the acceleration of the vehicle is negative, and the acceleration operation is not detected, the door is moved according to the opening operation for the opening / closing switch. To perform the opening operation,
How to open and close the door.

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