JP7631140B2 - Door drive control device and door drive control system - Google Patents

Description

The present invention relates to a door drive control device and a door drive control system.

Patent Document 1 discloses a device for driving a folding back door that has an upper door rotatably connected to the vehicle and a lower door rotatably connected below the upper door.

The device disclosed in Patent Document 1 raises the upper door while folding the back door in half when opening the closed back door.

JP 2009-209653 A

However, the device disclosed in Patent Document 1 causes the back door to bend in the center regardless of the conditions around the door, which means that the lower door may affect the loading and unloading of luggage into and from the vehicle. This poses a problem in that it is not possible to meet the need to change the degree to which the lower door bends depending on the conditions around the door.

The object of the present invention is to provide a door drive control device and a door drive control system that can change the degree of bending of the lower door depending on the conditions around the door.

The door drive control device of the present invention is a door drive control device that drives a door having an upper door and a lower door rotatably connected to the upper door, and includes an acquisition unit that acquires detection state information indicating a detection state of an object by a sensor that detects an object present around the door, and a control unit that controls a drive unit that drives the door so that the angle of the lower door relative to the upper door can be changed based on the detection state information, wherein when an opening operation of the door is started, if a distance from the sensor to the object is equal to or greater than a first distance, the control unit controls the drive unit so that the door opens while maintaining the angle of the lower door relative to the upper door when the door is in a closed position, and when a distance from the sensor to the object becomes less than a second distance that is shorter than the first distance after the opening operation of the door is started, the control unit controls the drive unit so that the door opens after the door bends so as not to come into contact with the object, or while the door bends so as not to come into contact with the object.

The door drive control system of the present invention includes the door drive control device described above, the sensor, and the drive unit.

The present invention provides a door drive control device and a door drive control system that can change the degree of bending of the lower door depending on the conditions around the door.

FIG. 1 is an external view showing an example of a rear part of a vehicle 100 to which a door drive control system according to an embodiment of the present invention is applied; FIG. 2 shows an example of the configuration of a door drive control system 200. A flowchart for explaining the operation of the door drive control device 4 when the door 1 is opened. FIG. 2 is a diagram for explaining the operation of the door drive control device 4. FIG. 2 is a diagram for explaining the operation of the door drive control device 4. FIG. 2 is a diagram for explaining the operation of the door drive control device 4. FIG. 2 is a diagram for explaining the operation of the door drive control device 4. FIG. 2 is a diagram for explaining the operation of the door drive control device 4. FIG. 2 is a diagram for explaining the operation of the door drive control device 4.

The following describes in detail the embodiments of the present invention with reference to the drawings.

Figure 1 is an external view showing an example of the rear of a vehicle 100 to which a door drive control system according to an embodiment of the present invention is applied. The vehicle 100 is equipped with a door 1 that opens or closes an opening formed in the rear of the vehicle 100, a drive unit 2 that drives the door 1, and a door drive control system.

The open state is a state in which the opening of the vehicle 100 is opened by the door 1, and luggage and the like can be loaded and unloaded from the vehicle 100 through the opening. The closed state is a state in which the opening of the vehicle 100 is blocked by the door 1.

(Door 1)
The door 1 is a hinged tailgate having an upper door 1a and a lower door 1b rotatably connected to the upper door 1a by a hinge or the like. Note that the present invention is not limited to the tailgate of the vehicle 100, and can also be applied to, for example, a flip-up type door for getting in and out of the vehicle.

The upper door 1a is rotatably attached to the vehicle body 101 via an upper hinge (not shown). The lower door 1b is rotatably connected to the upper door 1a via a lower hinge (not shown).

(Drive unit 2)
The drive unit 2 includes a plurality of first drive units 2a that drive the upper door 1a by converting the rotational motion of the motor into linear motion, and a second drive unit 2b that drives the lower door 1b by converting the rotational motion of the motor into linear motion.

(First driving unit 2a)
The upper door 1a moves from a closed position to an open position by the operation of each of the multiple first drive units 2a. The closed position is a position where the opening of the vehicle body 101 is closed, and the open position is a position where the opening of the vehicle body 101 is opened. Note that each of the multiple first drive units 2a may be capable of opening and closing the upper door 1a, and there are no particular limitations on its structure, shape, etc. Furthermore, each of the multiple first drive units 2a may be provided with a motor, or only one of the first drive units 2a may be provided with a motor.

(Second driving unit 2b)
The second driving unit 2b is a device for changing the angle of the lower door 1b relative to the upper door 1a. By operating the second driving unit 2b, the angle of the lower door 1b relative to the upper door 1a can be increased to increase the degree of bending of the lower door 1b relative to the upper door 1a, or the angle of the lower door 1b relative to the upper door 1a can be decreased to decrease the degree of bending of the lower door 1b relative to the upper door 1a. In other words, the angle of the lower door 1b relative to the upper door 1a can be changed.

The second drive unit 2b may be any device capable of opening and closing the lower door 1b, and there are no particular limitations on its structure or shape.

Door 1 is provided with a sensor group 3 that detects objects present around door 1. The objects are, for example, another vehicle, a wall, a utility pole, a person, a ceiling, etc. Sensor group 3 includes, for example, sensors 31, 32, 33, and 34. Each of sensors 31, 32, 33, and 34 is, for example, a sonar that emits ultrasonic waves. Note that each of sensors 31, 32, 33, and 34 may be a radio wave sensor, an image sensor, or any other type of sensor that can detect objects other than ultrasonic sonar.

For example, when a sonar emits a pulsed sound wave of a constant frequency, the pulsed sound wave is reflected when it hits an object around the vehicle, and part of the pulsed sound wave returns to the sonar. The longer the distance from the vehicle 100 to the object, the longer it takes for the pulsed sound wave to return to the sonar. The sonar measures the round-trip time from when the pulsed sound wave is emitted until the echo reflected by the object returns to the sonar, and estimates the distance to the object by utilizing the above relationship.

(Sensor 31)
The sensor 31 is provided near the lower edge of the upper door 1a, near the center in the left-right direction of the upper door 1a.

By providing a sensor 31 near the lower edge of the upper door 1a, for example, it is possible to accurately detect the shortest distance from the door 1 to an object (e.g., the ceiling) during the opening operation in the center-folding mode, and prevent the door 1 from coming into contact with the object.

The center-folding mode is a mode in which the entire door 1 is folded by increasing the angle of the lower door 1b relative to the upper door 1a while the upper door 1a is operating or while the operation of the upper door 1a is stopped. By disposing the sensor 31 on the upper door 1a, it is possible to detect the distance from an obstacle (such as the ceiling) located above the upper door 1a to the upper door 1a, without depending on the movement of the lower door 1b. Therefore, even if the lower door 1b rotates, it is possible to prevent the upper door 1a from coming into contact with an obstacle located above the upper door 1a.

(Sensor 32)
The sensor 32 is provided near the lower edge of the lower door 1b near the center in the left-right direction of the lower door 1b.

By providing a sensor 32 near the lower edge of the lower door 1b, for example, it is possible to accurately detect the shortest distance from the door 1 to an object during an opening operation in normal mode, and prevent the door 1 from coming into contact with the object.

Normal mode is a mode in which door 1 is operated in a state where the angle of lower door 1b relative to upper door 1a is equal to the angle when door 1 is closing the opening of vehicle body 101.

(Sensor 33)
The sensor 33 is provided near the right edge of the lower door 1b when the lower door 1b is viewed from the rear to the front of the vehicle 100.

By providing a sensor 33 near the right edge of the lower door 1b, for example, when an object is present on the right side of the lower door 1b, the shortest distance from the door 1 to the object during the opening operation in the folding mode or normal mode can be accurately detected, and the door 1 can be prevented from coming into contact with the object.

(Sensor 34)
The sensor 34 is provided near the left edge of the lower door 1b when the lower door 1b is viewed from the rear to the front of the vehicle 100.

By providing a sensor 34 near the left edge of the lower door 1b, for example, when an object is present on the left side of the lower door 1b, the shortest distance from the door 1 to the object during the opening operation in the folding mode or normal mode can be accurately detected, and the door 1 can be prevented from coming into contact with the object.

Next, an example of the configuration of the door drive control system 200 will be described with reference to FIG. 2. FIG. 2 is a diagram showing an example of the configuration of the door drive control system 200. The door drive control system 200 includes a drive unit 2, a sensor group 3, a door drive control device 4, and an operation device 5.

(Door drive control device 4)
The door drive control device 4 is a device that transitions the door 1 from a closed state to an open state, or transitions the door 1 from an open state to a closed state. The door drive control device 4 may be incorporated in an ECU (Electronic Control Unit) that controls each part of the vehicle 100, or may be mounted in the drive unit 2.

The door drive control device 4 has an acquisition unit 4a and a control unit 4b.

(Acquisition unit 4a)
The acquisition unit 4a acquires detection state information 3a indicating the state of detection of an object by the sensor group 3. The detection state information 3a is, for example, an echo signal reflected by an object and received by the sensor group 3.

(Control unit 4b)
When the control unit 4b receives an operation signal 5a transmitted from the operating device 5, it controls the drive unit 2 so that the angle of the upper door 1a relative to the vehicle body 101 can be changed based on the detection status information 3a, and further controls the drive unit 2 so that the angle of the lower door 1b relative to the upper door 1a can be changed.

Specifically, the control unit 4b determines whether or not an object is present near the door 1 based on the detection state information 3a, and calculates the distance from the door 1 to the object. Based on this result, the control unit 4b then determines whether or not to change the angle of the upper door 1a relative to the vehicle body 101, and also determines whether or not to change the angle of the lower door 1b relative to the upper door 1a, and drives the door 1 according to the results of these determinations.

(Operation Device 5)
The operation device 5 is a remote control key, an operation switch mounted on the vehicle 100, etc. The operation device 5 transmits an operation signal 5a for opening and closing the upper door 1a and the lower door 1b to the control unit 4b. The operation signal 5a is an open operation signal transmitted when an operation to open the door 1 is performed, or a close operation signal transmitted when an operation to close the door 1 is performed.

Next, the operation of the door drive control device 4 will be described with reference to Figure 3 and Figures 4A to 4G. Figure 3 is a flow chart for explaining the operation of the door drive control device 4 when the door 1 is opened. Figures 4A to 4G are diagrams for explaining the operation of the door drive control device 4.

In step S1, the control unit 4b determines whether an open operation signal has been received. In step S1, the vehicle 100 is parked and in a standby state waiting to receive an operation signal, and the sensors 31 to 34 are in a sleep state with their power turned off.

If an open operation signal has not been received (step S1, NO), the control unit 4b repeats the process of step S1.

When an open operation signal is received (step S1, YES), in step S2, if the state of the sensors 31 to 34 is the sleep state, the control unit 4b cancels the sleep state and determines whether the distance from the door 1 to the object 6 is equal to or greater than the activation start distance D0 (see FIG. 4A).

The activation start distance D0 is the distance that allows the start of the opening operation of the door 1. For example, if the distance detected by the sensor group 3 when the door 1 in the closed position starts its opening operation is less than the activation start distance D0, the opening operation of the door 1 is interrupted because there is a high possibility that the door 1 will come into contact with an object present around the door 1. Also, if the distance detected by the sensor group 3 during the opening operation of the door 1 changes from greater than or equal to the activation start distance D0 to less than the activation start distance D0, the opening operation of the door 1 is interrupted because there is a high possibility that the door 1 will come into contact with an object present around the door 1.

If the distance from the door 1 to the object 6 is less than the operation start distance D0 (step S2, NO), the control unit 4b ends the series of processes without opening the door 1. This stops the opening operation of the door 1, and prevents the door 1 from coming into contact with the object 6.

If the distance from the door 1 to the object 6 is equal to or greater than the operation start distance D0 (step S2, YES), the control unit 4b starts the opening operation of the door 1 by sending an opening operation command 4b1 for the door 1 to the drive unit 2 in step S3.

Next, in step S4, the control unit 4b determines whether the distance from the door 1 to the object 6 is equal to or less than the first distance D1 (see FIG. 4B).

The first distance D1 is the distance at which the door 1 can be opened without being bent, since there is no possibility that the door 1 will come into contact with the object 6 during the opening operation in normal mode.

If the distance from the door 1 to the object 6 is equal to or greater than the first distance D1 (step S4, YES), the control unit 4b continues the door opening operation in normal mode in step S5. That is, when the control unit 4b starts the door opening operation, if the distance from the sensor group 3 to the object 6 is equal to or greater than the first distance D1, the control unit 4b controls the drive unit 2 so that the door 1 opens while maintaining the angle of the lower door 1b relative to the upper door 1a at the angle when the door 1 is in the closed position.

This allows the loading and unloading of luggage into and from the vehicle 100 to proceed without interruption. In addition, since the process of driving the lower door 1b to place the door 1 in the folded-down state is omitted, an increase in power consumption by the drive unit 2 can be suppressed. In addition, the time required to return the folded-down door 1 to the angle it was in when in the closed position can be reduced.

Next, in step S6, the control unit 4b determines whether the distance from the door 1 to the object 6 is less than the second distance D2 (see FIG. 4C).

The second distance D2 is longer than the activation start distance D0 and shorter than the first distance D1. The second distance D2 is the distance at which the door 1, which may come into contact with the object 6 in normal mode, can be opened without coming into contact with the object 6 by placing the door 1 in a half-bending state.

If the distance from the door 1 to the object 6 during the opening operation in normal mode is equal to or greater than the second distance D2 (step S6, NO), in step S7, the control unit 4b determines whether the door 1 is fully open.

For example, the control unit 4b receives drive amount information indicating the drive amount of the upper door 1a transmitted from the first drive unit 2a, and counts the number of pulses included in the drive amount information. If the total number of pulses does not exceed a predetermined value, the control unit 4b determines that the door 1 is not fully open, and if the total number of pulses exceeds the predetermined value, the control unit 4b determines that the door 1 is fully open.

If the door 1 is not fully open (step S7, NO), the control unit 4b repeats the process from step S6 onwards.

If the door 1 is fully open (step S7, YES), the control unit 4b ends the series of processes.

Returning to step S4, if the distance from the door 1 to the object 6 is less than the first distance D1 (step S4, NO), the control unit 4b executes the process of step S8. The process of step S8 will be described later. Also, in step S6, if the distance from the door 1 to the object 6 is less than the second distance D2 (step S6, YES), the control unit 4b executes the process of step S8.

In step S8, the control unit 4b continues the opening operation of the door 1 in the folding mode (see FIG. 4D).

When the door 1 starts to open, if the distance from the sensor group 3 to the object 6 is less than the first distance D1 (step S4, NO), the control unit 4b controls the drive unit 2 so that the door 1 opens after the door 1 bends so as not to come into contact with the object 6, or while the door 1 bends so as not to come into contact with the object 6.

After starting the opening operation of the door 1, if the distance from the sensor group 3 to the object 6 becomes less than the second distance D2 that is shorter than the first distance D1 (step S6, YES), the control unit 4b controls the drive unit 2 so that the door 1 opens after the door 1 bends so that it does not come into contact with the object 6, or while the door 1 bends so that it does not come into contact with the object 6.

By continuing the opening operation of the door 1 in the folding mode in this way, the opening operation of the door 1 can be continued while preventing the door 1 from coming into contact with the object 6.

Next, in step S9, the control unit 4b determines whether the distance from the door 1, which is continuing to open in the folding mode, to the object 6 is equal to or greater than the second distance D2.

For example, if the object 6 near the door 1 is a person, another vehicle 100, etc., and the object 6 moves away from the door 1, causing the distance from the door 1 to be equal to or greater than the second distance D2 (step S9, YES), the control unit 4b executes the process of step S10.

In step S10, the control unit 4b determines that the door 1 can be opened without coming into contact with an object even when the door 1 is operated in normal mode, and transitions the opening operation mode of the door 1 from the folding mode to the normal mode (see FIG. 4E).

That is, when the control unit 4b controls the drive unit 2 so that the door 1 opens in a state in which the door 1 is bent so as not to come into contact with the object 6, if the distance from the sensor group 3 to the object 6 becomes equal to or greater than the second distance D2, the control unit 4b controls the drive unit 2 so that the angle of the lower door 1b relative to the upper door 1a is set to the angle when the door 1 is in the closed position, or changes the angle of the lower door 1b so that it approaches the angle when the door 1 is in the closed position, and then opens the door 1. The control unit 4b then executes the process of step S7.

By switching to the normal mode, the degree to which the lower door 1b bends relative to the upper door 1a can be reduced before the opening operation of the upper door 1a is completed. This reduces the time (e.g., several seconds) until the door 1 is fully open, compared to when the lower door 1b is operated to reduce the degree to which the lower door 1b bends relative to the upper door 1a after the opening operation of the upper door 1a is completed. Therefore, when loading luggage into the vehicle 100 or unloading luggage from the vehicle 100, the loading and unloading operation can be carried out without interruption.

Returning to step S9, if the distance from the door 1 to the object 6 is less than the second distance D2 (step S9, NO), in step S11, the control unit 4b determines whether the distance from the door 1 to the object 6 is equal to or greater than the activation start distance D0.

If the distance from the door 1 to the object 6 is equal to or greater than the activation start distance D0 (step S11, YES), the control unit 4b continues the opening operation of the door 1 in the center-folding mode and executes the processing of step S7.

When the distance from the door 1 to the object 6 becomes less than the activation start distance D0 because an object 6 around the door 1 approaches the door 1, the vehicle 100 moves backwards slightly, or the door 1 rotates in the opening direction (step S11, NO), the control unit 4b executes the process of step S12 (see FIG. 4F).

In step S12, the control unit 4b stops sending a drive signal to the drive unit 2 to prevent the door 1, which is opening in the folding mode, from coming into contact with the object 6, and then ends the series of processes. That is, when the distance from the sensor group 3 to the object 6 is less than the predetermined distance for starting the opening operation of the door 1 (step S11, NO), the control unit 4b controls the drive unit 2 to stop the opening operation of the door 1.

The control unit 4b stores in the memory unit the operation information of the door 1 during the opening operation (whether the door 1 is bent, the start position of the bending, the position where the bending is released, etc.). When performing the closing operation of moving the door 1 from the open position to the closed position, when the control unit 4b receives a closing operation signal, the control unit 4b reads out the operation information of the door 1 during the opening operation of the door 1 from the memory unit, and drives the door 1 so that the bending is released at the same position where the bending of the door 1 started during the opening operation, and the bending of the door 1 starts at the same position where the bending of the door 1 was released during the opening operation. That is, when the door 1 is closed, the control unit 4b executes an operation corresponding to the opening operation of the door 1 that is opposite to the opening operation of the door 1, based on the information on the opening operation of the door 1. This simplifies the control, and the operation can be performed safely even when the distance cannot be measured by the sensor.

In this embodiment, an example has been described in which the sensor group 3 measures the distance to the object 6, and the opening operation of the door 1 is controlled to prevent the door 1 from contacting the object 6. However, instead of measuring the distance, the door drive control device 4 may detect the presence or absence of the object 6 and control the opening operation of the door 1.

In this case, for example, the control unit 4b measures the RSSI (Received Signal Strength Indicator) of the radio waves reflected by the object 6 and received by the sensor group 3, and if the measured RSSI is equal to or greater than a predetermined value, it determines that there is a possibility that the door 1 may come into contact with the object 6 near the door 1.

The control unit 4b, having made this determination, either suspends the opening operation of the door 1 or continues the opening operation of the door 1 by transitioning from normal mode to folding mode. When transitioning to the folding mode, for example, the control unit 4b compares the RSSI with, for example, a first predetermined value and a second predetermined value that is greater than the first predetermined value, to determine whether the opening operation can be performed by transitioning the door 1 to the folding mode without interrupting the opening operation of the door 1. Then, depending on the result of this determination, the control unit 4b transitions to the folding mode to continue the opening operation of the door 1, or interrupts the opening operation of the door 1 without switching to the folding mode.

On the other hand, if the measured RSSI is less than the predetermined value, it is determined that there is no object 6 near the door 1 and therefore there is no possibility that the door 1 will come into contact with the object 6. Then, upon making this determination, the control unit 4b executes the opening operation of the door 1 in the normal mode without switching to the folding mode.

In this embodiment, it has been described that the door 1 transitions to the normal mode when the distance from the sensor group 3 to the object 6 becomes equal to or greater than the first distance D1 while operating in the folding mode. However, after the door 1 operates in the folding mode, the drive unit 2 may be controlled so that the angle of the lower door 1b is changed to the angle when the door 1 is in the closed position and the door 1 opens after the upper door 1a reaches the door open position while still in the folding mode.

In this case, after the folding mode, the control unit 4b only needs to determine whether the sensor group 3 is less than the activation start distance D0, which allows for simple control. Furthermore, when the control unit 4b controls the drive unit 2 so that the door 1 opens in a folded state so that the door does not come into contact with the object 6, if the distance from the sensor group 3 to the object 6 becomes equal to or greater than the first distance D1, the control unit 4b may control the drive unit 2 so that the door 1 opens after the angle of the lower door 1b relative to the upper door 1a is set to the angle when the door 1 is in the closed position, or while changing the angle of the lower door so that it approaches the angle when the door 1 is in the closed position. In this case, obstacles can be avoided more safely.

It is understood that the following aspects, for example, also fall within the technical scope of this disclosure:

(1) The door drive control device is a door drive control device that drives a door having an upper door and a lower door rotatably connected to the upper door, and includes an acquisition unit that acquires detection state information indicating a detection state of an object by a sensor that detects an object present around the door, and a control unit that controls a drive unit that drives the door based on the detection state information so that the angle of the lower door relative to the upper door can be changed.

(2) When the opening operation of the door is started, if the distance from the sensor to the object is equal to or greater than a first distance, the control unit controls the drive unit so that the door opens while maintaining the angle of the lower door relative to the upper door when the door is in the closed position.

(3) When the distance from the sensor to the object becomes less than a second distance that is shorter than the first distance after starting the opening operation of the door, the control unit controls the drive unit so that the door opens after the door bends so as not to come into contact with the object, or while the door is bending so as not to come into contact with the object.

(4) When the control unit controls the drive unit so that the door opens in a state in which the door is bent so as not to come into contact with the object, if the distance from the sensor to the object becomes equal to or greater than the second distance, the control unit controls the drive unit so that the angle of the lower door relative to the upper door is set to the angle when the door is in the closed position, or changes the angle of the lower door to approach the angle when the door is in the closed position, and then opens the door.

(5) When the door starts to open, if the distance from the sensor to the object is less than a first distance, the control unit controls the drive unit so that the door opens after the door bends so as not to come into contact with the object, or while the door is bending so as not to come into contact with the object.

(6) The control unit controls the drive unit to stop the door opening operation when the distance from the sensor to the object is less than a predetermined distance for starting the door opening operation.

(7) The control unit stores information related to the door opening operation, and when the door is closed, executes an operation corresponding to the door opening operation opposite to that performed when the door is opened, based on the information related to the door opening operation.

(8) The door drive control system includes the door drive control device, the sensor, and the drive unit.

The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is indicated by the claims rather than the above description, and it is intended to include all modifications within the meaning and scope of the claims, such as equivalents.

The above describes an embodiment of the present invention. Note that the above description is an example of a preferred embodiment of the present invention, and the scope of the present invention is not limited to this. In other words, the description of the configuration of the device and the shape of each part is one example, and it is clear that various modifications and additions to these examples are possible within the scope of the present invention.

The door drive control device and door drive control system of the present invention are useful as devices that can change the degree of bending of the lower door depending on the conditions around the door.

REFERENCE SIGNS LIST 1 Door 1a Upper door 1b Lower door 2 Drive unit 2a First drive unit 2b Second drive unit 3 Sensor group 3a Detection state information 4 Door drive control device 4a Acquisition unit 4b Control unit 4b1 Opening operation command 5 Operation device 5a Operation signal 6 Object 31 Sensor 32 Sensor 33 Sensor 34 Sensor 100 Vehicle 101 Vehicle body 200 Door drive control system D0 Operation start distance D1 First distance D2 Second distance

Claims (6)

A door drive control device for driving a door including an upper door and a lower door rotatably connected to the upper door,
an acquisition unit that acquires detection state information indicating a detection state of an object by a sensor that detects an object present around the door;
a control unit that controls a drive unit that drives the door so that an angle of the lower door relative to the upper door can be changed based on the detection state information;
Equipped with
The control unit is
when starting an opening operation of the door, if a distance from the sensor to the object is equal to or greater than a first distance, controlling the drive unit so that the door opens while maintaining an angle of the lower door relative to the upper door when the door is in a closed position;
When a distance from the sensor to the object becomes less than a second distance that is shorter than the first distance after starting an opening operation of the door, the drive unit is controlled so that the door opens after the door is bent so as not to come into contact with the object, or while the door is bent so as not to come into contact with the object.
Door drive control device. 2. The door drive control device according to claim 1, wherein when the control unit controls the drive unit so that the door opens in a bent state so as not to come into contact with the object, if a distance from the sensor to the object becomes equal to or greater than the second distance, the control unit controls the drive unit so that the door opens after setting an angle of the lower door relative to the upper door to an angle when the door is in a closed position or by changing the angle of the lower door to approach the angle when the door is in the closed position. The door drive control device according to claim 1, wherein the control unit controls the drive unit so that the door opens after bending the door so as not to come into contact with the object, or while bending the door so as not to come into contact with the object, if the distance from the sensor to the object is less than a first distance when the door starts to open. 4. The door drive control device according to claim 1, wherein the control unit controls the drive unit to stop the opening operation of the door when a distance from the sensor to the object is less than a predetermined distance for starting the opening operation of the door. 5. The door drive control device according to claim 1, wherein the control unit stores information regarding the opening operation of the door, and when the door is closed, executes an operation corresponding to the opening operation of the door that is opposite to the opening operation of the door based on the information regarding the opening operation of the door. The door drive control device according to any one of claims 1 to 5 ,
The sensor;
The drive unit;
A door drive control system comprising:

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