KR101650334B1 - Assist method and apparatus for vehicle door - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a method and apparatus for opening and closing a vehicle door, and more particularly, to a method and apparatus for opening and closing a door of a vehicle which helps a user to easily open and close a door of a vehicle.
According to the present invention, it is possible to easily open and close a door without applying a large force to a person injured in an arm, a child, a senior citizen, etc., although there is a minimum force required for opening and closing a door of a vehicle. Such a convenient door opening and closing operation is possible even in a vehicle driving on a road, and when a door is opened to get off the vehicle after a parking stop, an accident caused by a person approaching the vehicle by unintentional driving or a motorcycle is prevented, The present invention provides a vehicle door opening / closing assistance system that can be easily installed in an existing vehicle without having to completely change the system to realize such a function.

Description

TECHNICAL FIELD [0001] The present invention relates to a vehicle door open /

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to a method and apparatus for opening and closing a vehicle door, and more particularly, to a method and apparatus for opening and closing a door of a vehicle which helps a user to easily open and close a door of a vehicle.

The door of the vehicle is an original equipment manufacturer (OEM) door, a scissor door, a gullwing door, a butterfly door, a VLS door that is an intermediate form of a regular door and a door, ) Door, a suicide door that opens at the back of the back door, a dihedral synchro helix door that rotates at 90 degrees, a canopy door that looks like a fighter's cradle cover, a disappearing door, etc. And most of them use OEM doors.

Such a door rotates about the hinge of the vehicle and opens and closes. However, it is necessary to apply direct force to the door and to secure sufficient space around the door of the vehicle Lt; / RTI > Particularly, there are some examples of these doors that can cause such problems when driving.

(1) Sometimes it is difficult for a user with an injured arm or an inconvenient user to open and close a vehicle door.

(2) Occasionally, when opening the door, it is not possible to detect if there are any other structures or people in the space where the door is opened due to carelessness. In particular, it often happens that a child or motorcycle is inadvertently missed as it passes by the vehicle.

(3) When the vehicle is in operation, it may happen that the driver is driving on a road that has an uphill slope inevitably. In this case, since the weight of the door is increased according to the inclination of the road, the force necessary for opening and closing is weighted by the weight of the door.

(4) Occasionally, the user can not bear the weight of the door at the downward inclination, and the door is opened to the maximum angle. In this case, if the door of the vehicle is unintentionally scratched by another structure, or another vehicle or a motorcycle passes, the ability to cope with such a situation is reduced.

That is, the existing vehicle door system not only inconveniences the passenger when opening and closing the door, but also poses a risk factor to a passenger or a person outside the vehicle.

KR 10-2011-0022950 A

SUMMARY OF THE INVENTION The present invention has been made in order to solve the above problems, and it is an object of the present invention to provide a door opening / closing apparatus and a door opening / closing apparatus which can easily open and close a door without putting a great deal of force on a person, The object of the present invention is to enable such a convenient door opening and closing operation even in a vehicle that drives a paved road on an uphill or downhill road where the slope is severe.

Another object of the present invention is to provide a door system for preventing accidents caused by a person coming close to a vehicle or a motorcycle accidentally when the door is opened for getting off after a parking stop.

It is another object of the present invention to provide a vehicle door opening / closing assist system which can easily install the door door system in existing vehicles without completely changing the existing vehicle door system to realize the above-mentioned functions.

In order to achieve the above object, the present invention provides a vehicle door opening / closing assist device for a vehicle door opening / closing assist device installed on a vehicle, the door opening / closing assist device comprising: (a) a tilt sensor, Vehicle slope "); (b) measuring a pressure (hereinafter, referred to as 'user pressure') applied to the door from the user when the pressure sensor opens or closes a specific door of the vehicle; (c) determining whether the current vehicle is located on a flat or ramp from the slope value; (d) performing the following step (e) if it is determined to be located on a flat ground, and performing steps (f) to (g) if it is determined to be located on the ramp; (e) storing the measured user pressure value when in a flat position; (hereinafter referred to as " door opening / closing force ") to be applied to the door for opening and closing the door from the measured user pressure value and the vehicle inclination, (Hereinafter, referred to as 'force data set' collectively called door opening and closing force data calculated for each force data set interval) according to a predetermined period (hereinafter, referred to as a 'force data set interval'). (g) a force that the door opening / closing drive unit must apply to the door for opening and closing the door (hereinafter, referred to as a " driving force ") based on the angle of opening of the door from the door opening / closing force data and the vehicle inclination, Quot; control force "), and controlling driving of the door opening and closing drive unit according to the calculated value.

The user pressure value stored in the step (e) may be an average value of the user pressure value stored previously and the user pressure value currently measured.

The step (g) includes the steps of: (g1) calculating, for each of the force data set sections, an angular interval (hereinafter, referred to as a driving force force calculation interval) Calculating a driving force control force in the current driving force force calculating section by using an average value of user pressure values applied to the door driving force control section as an input value and controlling driving of the door opening and closing driving section according to the calculated value; And (g2) performing the step (g1) in each successive drive force calculation period.

The input value in the step g1 may further include door opening and closing force data for a force data set section to which the current driving force force calculating section belongs among the values of the force data set calculated in the step (f).

(I01) detecting whether there is an object approaching an area formed by a turning radius of the door when the door is opened or closed; And controlling the door opening and closing driving unit to stop the opening and closing of the door at the current position when an object approaching the door is detected.

According to another aspect of the present invention, an apparatus installed in a vehicle for performing a vehicle door opening / closing assist control includes a tilt sensor for measuring an angle at which the vehicle is inclined forward or backward or from side to side (hereinafter referred to as "vehicle slope"); A pressure sensor for measuring pressure (hereinafter referred to as " user pressure ") applied to the door from the user when opening / closing a specific door of the vehicle; A data storage module for storing the measured user pressure value in a data storage unit when the current vehicle is located on a flat surface from the vehicle slope; A data storage unit for storing the measured user pressure value; (Hereinafter referred to as " door opening / closing force ") for opening and closing the door from the measured user pressure value and the vehicle inclination when the current vehicle is located in the ramp from the vehicle inclination, (Hereinafter, referred to as "force data set" collectively referred to as "door opening and closing force data calculated for each force data set section"), (Hereinafter, referred to as 'driving force control force') to be applied to the door for opening and closing the door according to the angle at which the door is opened from the door opening / closing force of each force data set section and the vehicle inclination A drive unit control data calculation module for calculating a drive unit control data; A drive control unit for controlling driving of the door opening and closing drive unit according to the value calculated by the drive unit control data calculation module; And a control unit for controlling the respective modules of the vehicle door opening and closing assist device to perform a series of processes for driving and opening the door of the vehicle.

The user pressure value stored in the data storage unit may be an average value of a pre-stored user pressure value and a currently measured user pressure value.

The calculation of the driving force control force may be performed by the user in the vehicle slope and the previous driving force calculation period by the user in each of the angular intervals (hereinafter, referred to as 'driving force calculation period') in which each of the force data set intervals is divided Calculating the driving force control force in the current driving force force calculating period by using an average value of the pressure values as an input value and performing the driving force control calculating process in each of the successive driving force calculating periods.

The input value for calculating the driving unit control force may further include the door opening and closing force data calculated for the force data set period to which the current driving force calculation period belongs.

The vehicle door opening and closing assist device may further include an approach detecting sensor for detecting whether there is an object approaching an area formed by a turning radius of the door when the door is opened or closed, And a function of controlling the door open / close driving unit to stop the opening and closing of the door at the current position when an object is detected.

The vehicle door opening and closing assist device may further include a door opening and closing driving unit that operates a door opening and closing force on the door under the control of the driving control unit.

According to the present invention, it is possible to easily open and close a door without applying a large force to a person injured in an arm, a child, a senior citizen, etc., although there is a minimum force required for opening and closing a door of a vehicle. It is possible to make such a convenient door opening and closing possible even in a vehicle that drives a car on the road.

In addition, there is an effect of providing a door system for preventing an accident caused by a person who comes close to the vehicle unintentionally or a motorcycle when the door is opened to get off after a parking stop.

Also, there is an effect of providing a vehicle door opening and closing assisting system which can easily install the existing vehicle door system without changing the existing vehicle door system completely and realize the above-mentioned functions.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing a configuration of a vehicle door opening and closing assist device according to the present invention; FIG.
2 is a flowchart showing a method of performing a vehicle door opening and closing assisting process by a vehicle door opening and closing assisting device according to the present invention.
3 is a view showing an embodiment in which a part of the structure of a vehicle door opening and closing assist device is installed in a vehicle.
4 is a view showing an embodiment of a door opening and closing drive unit of a vehicle door opening and closing assisting apparatus according to the present invention.
Fig. 5 is a graph showing the relationship between the total force required for opening and closing the door, the force acting by the user to open and close the door, and the force to which the motor should act for opening and closing the door, according to the door opening / closing angle.
FIG. 6 is a graph showing a force to be applied by a motor for door opening / closing according to a door opening / closing angle. FIG.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. Prior to this, terms and words used in the present specification and claims should not be construed as limited to ordinary or dictionary terms, and the inventor should appropriately interpret the concepts of the terms appropriately It should be interpreted in accordance with the meaning and concept consistent with the technical idea of the present invention based on the principle that it can be defined. Therefore, the embodiments described in this specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and do not represent all the technical ideas of the present invention. Therefore, It is to be understood that equivalents and modifications are possible.

This system predicts the force required for the user to open and close the door through the existing DB, and the driving motor compensates the force that is added or subtracted on the basis of the necessary force in the flat area, thereby enabling the user to open and close the door safely and conveniently System.

When a vehicle of a general OEM door is parked in an uphill position, there is a danger of accident such as the door being opened harder than the flat one when getting off, and the door closing suddenly after getting off. Also, there is the inconvenience that it is difficult to open the door at the time of riding as well as to keep the door constant while boarding. On the other hand, the situation is the same in case of downhill, and it has the danger and inconvenience of accident.

 In addition, since it is a door used by many people, it is necessary to provide a device capable of helping a person to change his or her power. A sensor for measuring the inclination of the vehicle and a sensor for sensing the pressure of the driver The speed of the drive motor varies with the magnitude of the pressure. Therefore, in a situation where a person is difficult to open and close a door, anyone who is young and old can control the door at all times with little force. In addition, unlike the automatic opening and closing system, the user can control the movement directly, thereby preventing safety accidents.

FIG. 1 is a view showing the construction of a vehicle door opening and closing assisting apparatus 100 according to the present invention, and FIG. 2 is a view showing a manner in which a vehicle door opening and closing assisting apparatus 100 according to the present invention performs a door opening / It is a flowchart.

When the user tries to open or close the door after opening the vehicle (S201), the tilt sensor 530 of the vehicle door opening and closing assist device 100 first detects the tilted angle of the vehicle (Hereinafter referred to as " vehicle slope ") (S202). That is, it measures the angle of tilting back or forth on the ascending or descending path, or tilting to the left or right side. When the user opens and closes the door of the vehicle, the pressure sensors 510, 511, 520 and 521 of the door opening and closing assist device 100 measure the pressure (hereinafter referred to as 'user pressure') applied to the door by the user (S203). One embodiment of the pressure sensor will be described below with reference to Fig.

The data storage module 210 stores the measured user pressure value in the data storage unit 220 in step S204, if it is determined that the vehicle is located on a flat surface from the vehicle tilt measured by the tilt sensor 530. [ At this time, the stored user pressure value is continuously calculated and stored in the average pressure value with the pressure value measured in the flat place by the previous user. That is, the average value of the stored average pressure value and the newly measured pressure value is stored as a continuously updated average value.

When it is determined from the vehicle slope measured by the tilt sensor 530 that the vehicle is located on the ramp, the driver control data calculation module 120 calculates the opening and closing of the specific door of the vehicle from the measured user pressure value and the vehicle slope value (Hereinafter referred to as " door opening / closing force ") to be applied to the door. Depending on the vehicle tilt, the force to be applied to open and close the door of the vehicle may be different. That is, the angle at which a specific door of the vehicle is opened is divided into a certain period (hereinafter referred to as a 'force data set interval'), and door opening and closing force values required for each of the force data set intervals (Force data set) are collectively referred to as 'force data set') (S205). 5, the value of such door opening / closing force 201 is shown as a continuous curve according to the door opening / closing angle. However, at step S205, the door opening / closing angle is divided into the force data set section as described above, and the required door opening / closing force in each section is obtained.

Then, the driving unit control data calculation module 120 calculates a force (hereinafter referred to as a " force ") to be applied to the door for opening and closing the door according to the angle at which the door is opened from the door opening / The driving control unit 130 controls the driving of the door opening / closing drive unit 600 according to the calculated value (S206). That is, the force data set, which is force values required for opening and closing the door calculated primarily in the force data set interval, is used to control the door opening / closing drive unit 600 to act on the door for a door opening / It is to calculate the force.

In more detail, the driving unit control data calculation module 120 calculates, for each of the force data set intervals, the measured vehicle slope value (hereinafter, referred to as " driving force force calculation interval " And an average value of user pressure values applied to the specific door by the user in the previous driving force calculation period (a value obtained by averaging the user pressure values because the user pressure value can be measured several times during one driving force calculation period) Calculates the driving force control force in the current driving force calculation period and controls the driving control unit 130 to drive the door opening / closing driving unit 600 according to the calculated value. Such a process is repeatedly performed in each of the driving unit force calculation periods so that the door opening and closing drive unit 600 changes the force acting on the door for each driving unit force calculation interval. A graph of the change in the force that the opening and closing drive part 600 applies to the door is shown in Fig. That is, FIG. 6 shows force data 302 to be applied to the doors by the door opening and closing drive unit 600 (one example of a motor) in each of the drive unit force calculation periods 301 and each of the drive unit force calculation periods 301 (710).

In some cases, the size of the driving force calculation section 301 may be more subdivided than the embodiment of the upper data 710. At this time, the relationship between the driving force calculation section 301 and the force data set section 401 is shown in FIG. 6 as an example of a simplified example (720).

As described above, in one embodiment, the input value required to calculate the driving force of the driving force control section 301.2 in the current driving force force calculating section 301.2 includes the measured vehicle inclination value and a value obtained by the user in the previous driving force force calculating section 301.1 The door opening and closing force data calculated for the force data set section 401.1 to which the current driving force calculation section 301.2 belongs may be further included among the force data sets in addition to the average value of the user pressure values applied to the specific door.

On the other hand, the vehicle door opening and closing assisting apparatus 100 further includes an approach detecting sensor 540 to detect whether there is an object approaching a region where the turning radius of the door is formed when the vehicle door is opened or closed. If an object is sensed, the driving control unit 130 may control the door opening and closing driving unit 600 to stop the opening and closing of the door at the current position (S207, S208).

FIG. 3 is a view showing an embodiment in which a part of the structure of the vehicle door opening and closing assisting apparatus 100 according to the present invention is installed inside a vehicle. FIG. 4 is a cross- (Not shown) of the door opening and closing part 600 of the first embodiment.

3 shows a door surface inside the driver's seat. That is, the arrow 20 indicated by the 'forward direction' indicates the forward direction of the vehicle, and the position of the rotating shaft, which opens when the door rotates, is displayed (10).

As described above, according to the present invention, the pressure applied to the door by the user is calculated using the pressure sensors 510, 511, 520 and 521, and from the pressure data and the vehicle tilt data, the driver control data calculation module 120 calculates the angle The door open / close driving unit 600 calculates a force (hereinafter, referred to as 'driving unit control force') to be applied to the door for opening and closing the door, and the drive control unit 130 controls the door opening / ) Of the vehicle. The drive control unit 130 drives and controls the door open / close drive unit 600 (for example, a drive motor), and operates the door by the generated force. The positions of the pressure sensors 510, 511, 520 and 521 shown in FIG. 3 represent one embodiment, and the number of the pressure sensors installed at the mounting position or the number of installed pressure sensors can be variously applied within the scope of the technical idea of the present invention.

In FIG. 3, pressure sensors 510 and 511 installed inside the vehicle and pressure sensors 520 and 521 installed outside the vehicle are shown separately. The first pressure sensor 510 inside the vehicle is mainly installed at a position where the pressure is applied mainly when the driver pushes the door and opens the door to sense the pressure when the door is opened. The second pressure sensor 511 inside the vehicle is installed at the handle position to sense the pressure when the door is closed and mainly takes the action of pulling the handle when the door is closed. The third pressure sensor 520 on the outside of the vehicle is attached to the outer handle position to sense the pressure to open the door from the outside while paying attention mainly to gripping and pulling the handle when opening the door from the outside. The fourth pressure sensor 521 on the outside of the vehicle senses the pressure of pushing the door from the outside of the vehicle and is mounted at a position where pressure to be applied when the door is closed from outside is mainly applied.

4, the driving motor 610 rotates the male screw 621 of the ball screw through the power transmission device, and the female screw 622 performs the linear movement due to the rotation of the male screw 621. At this time, the link 631 is moved due to the linear motion of the female screw 622, so that a force is applied to the cylinder 633 connected to the female screw 622 and the piston 632 connected to the door So that the cylinder 633 and the piston 632 rotate in the direction of arrow 40 so that the door (not shown) connected to the one end 634 of the piston can be pushed open. When the door is closed, the drive motor 610 is controlled to rotate in the opposite direction, whereby the male screw 621 also rotates in the opposite direction, and thus the female screw 622 performs a linear movement in the opposite direction, The piston 633 and the piston 632 are rotated in the opposite direction of the arrow 50 so that the door is pulled and closed.

The lock between the cylinder 633 connected to the female screw 622 and the piston 632 connected to the door is directly operated by the lock device 635. [ Basically, the lock between the cylinder 633 and the piston 632 is released, and when the door is opened and closed, the piston 632 reciprocates freely within the cylinder 633, thereby allowing free movement of the door.

However, if necessary, the lock mechanism 635 is operated by the drive control unit 130 to lock the cylinder 633 and the piston 632 to each other to lock the piston 632 in the cylinder 633 And is fixed to the cylinder 633 without reciprocating motion. Accordingly, the linear movement of the female screw 622 changes the piston into a state in which the piston can push or pull the door. In this case, the 'when necessary' means that the lock device 635 is activated by the drive control unit 130. As described above, when the tilt angle is detected above the reference value, the drive control unit 130 determines that the tilt angle And the door assist driving mode in which the variable door opening / closing assist device can operate. In this door assist driving mode, the locking device 635 is operated by the driving control part 130 as described above, 633 and the piston 632 are connected to each other to be locked.

5 shows the relationship between the total force required for opening and closing the door, the force acting by the user to open and close the door, and the force to which the door opening and closing drive part 600 (in one embodiment, the motor) And FIG. 6 is a graph showing a force that the door opening / closing drive unit 600 (a motor as one embodiment) must act on the door in order to open and close the door, according to the door opening and closing angle. This has been described in detail with reference to FIGS. 1 and 2. FIG.

10: Door rotary shaft
20: forward direction of the vehicle
30: a direction in which the driver 600 is viewed
40: Door opening rotation direction
50: Door closed rotation direction
100: Vehicle door opening / closing assist device
110:
120: driving unit control data calculation module
130:
210: Data storage module
220: Data storage unit
500:
510: first pressure sensor
511: Second pressure sensor
520: Third pressure sensor
521: Fourth pressure sensor
530: tilt sensor
540: proximity sensor
600: Door opening /
610: drive motor
621: Male thread
622: Female thread
631: Link
632: piston
633: Cylinder
634: door side piston end
635: Locking device
201: Door opening and closing force
202: User acting force
203: door opening / closing drive part operating force
301: Driving force calculation section
301.1: In one embodiment, the previous driving force calculation period
301.2: In one embodiment, the current driving force calculation period
302: Force data to be applied to the door by the door open / close drive unit in each drive unit force calculation period
401: Force data set section

Claims (11)

A method for performing a vehicle door opening / closing assist, the vehicle door opening /
(a) the tilt sensor measures an angle at which the vehicle is tilted back and forth or from side to side (hereinafter referred to as 'vehicle tilt');
(b) measuring a pressure (hereinafter, referred to as 'user pressure') applied to the door from the user when the pressure sensor opens or closes a specific door of the vehicle;
(c) determining whether the current vehicle is located on a flat or ramp from the slope value;
(d) performing the following step (e) if it is determined to be located on a flat ground, and performing steps (f) to (g) if it is determined to be located on the ramp;
(e) storing the measured user pressure value when in a flat position;
(hereinafter referred to as " door opening / closing force ") to be applied to the door for opening and closing the door from the measured user pressure value and the vehicle inclination, (Hereinafter, referred to as 'force data set' collectively called door opening and closing force data calculated for each force data set interval) according to a predetermined period (hereinafter, referred to as a 'force data set interval').
(g) a force that the door opening / closing drive unit must apply to the door for opening and closing the door (hereinafter, referred to as a " driving force ") based on the angle of opening of the door from the door opening / closing force data and the vehicle inclination, Quot; control force "), and controlling driving of the door opening and closing drive unit according to the calculated value
Wherein the vehicle door opening / closing assist method comprises: The method according to claim 1,
The user pressure value stored in the step (e)
The average value of the stored user pressure value and the currently measured user pressure value
Wherein the vehicle door opening / closing assist method comprises the steps of: The method according to claim 1,
The step (g)
(g1) an average value of the user pressure values applied to the door by the user in the vehicle slope and the previous driving force calculation period, respectively, in each of the angular intervals (hereinafter, referred to as 'driving force force calculation interval' Calculating a driving force control force in the current driving force force calculating section based on the input value and controlling driving of the door opening and closing driving section according to the calculated value; And
(g2) performing the step (g1) in each successive drive force calculation period
Wherein the vehicle door opening and closing assistant method comprises the steps of: The method of claim 3,
The input value in the step (g1)
The method of claim 1, wherein the force data set value calculated in the step (f)
Wherein the vehicle door opening / closing assist assist system further comprises: The method according to claim 1,
(i01) detecting whether there is an object approaching an area formed by a turning radius of the door when the door is opened or closed; And
(i02) controlling the door opening and closing driving unit to stop the opening and closing of the door at the current position when an approaching object is detected
Further comprising the steps of: An apparatus installed in a vehicle for performing a vehicle door opening / closing assistance control,
A tilt sensor for measuring an angle at which the vehicle is inclined forward, backward, or laterally (hereinafter referred to as " vehicle slope ");
A pressure sensor for measuring pressure (hereinafter referred to as " user pressure ") applied to the door from the user when opening / closing a specific door of the vehicle;
A data storage module for storing the measured user pressure value in a data storage unit when the current vehicle is located on a flat surface from the vehicle slope;
A data storage unit for storing the measured user pressure value;
(Hereinafter referred to as " door opening / closing force ") for opening and closing the door from the measured user pressure value and the vehicle inclination when the current vehicle is located in the ramp from the vehicle inclination, (Hereinafter, referred to as "force data set" collectively referred to as "door opening and closing force data calculated for each force data set section"), (Hereinafter, referred to as a 'driving force control force') to be applied to the door for opening and closing the door according to the angle at which the door is opened from the door opening / closing force data for each force data set section and the vehicle inclination, A driving unit control data calculation module for calculating a driving unit control data;
A drive control unit for controlling driving of the door opening and closing drive unit according to the value calculated by the drive unit control data calculation module; And
A control unit for controlling the respective modules of the vehicle door opening / closing assist device to perform a series of processes for driving the vehicle door opening /
And a vehicle door opening / closing assist device. The method of claim 6,
Wherein the user pressure value stored in the data storage unit is a value
The average value of the stored user pressure value and the currently measured user pressure value
And the vehicle door opening / closing assist device. The method of claim 6,
The calculation of the driving unit control force may be performed,
An average value of the pressure values applied to the door by the user in the vehicle slope and the previous driving force calculation period is calculated as an input value in each of the angular intervals (hereinafter, referred to as 'driving force calculation period') in which each of the force data set intervals is divided Calculates a driving force control force in the current driving force force calculating section,
By performing the driving unit control force calculation process in each successive driving unit force calculation period
And the vehicle door opening / closing assist device. The method of claim 8,
The input value for calculating the driving unit control force includes,
The door opening / closing force data calculated for the force data set period to which the current driving force calculation period belongs
Further comprising: an opening / closing device for opening / closing the door. The method of claim 6,
An approach detecting sensor for detecting whether there is an object approaching an area formed by a turning radius of the door when the door is opened or closed;
Further comprising:
The drive control unit may include:
And controlling the door opening and closing drive unit to stop the opening and closing of the door at the current position when an object approaching the door is detected by the proximity sensor
And the vehicle door opening / closing assist device. The method of claim 6,
According to the control of the drive control unit, a force for opening and closing the door is transmitted to the door opening /
Further comprising a control unit for controlling the opening and closing of the vehicle door.

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