Vehicle door control apparatus and method for controlling vehicle door

A vehicle door control apparatus for a vehicle, comprising:

• a laser sensor located to move with a vehicle door about a rotation axis of the vehicle door, the laser sensor including a single emitting element configured to emit a laser beam, a rotatable mirror configured to reflect (a) the emitted laser beam and (b) returning laser beam light reflected from the obstacle, and a single element acceptance unit configured to accept the returning light reflected from an obstacle and the mirror, for scanning a scanning plane shifted relative to a surface of the vehicle door in a door-opening direction, in which the vehicle door is openable;
• determination means for determining whether the obstacle, which is possible to make contact with the vehicle door, exists in the door-opening direction of the vehicle door, based on a result of emission and acceptance of the laser beam of the laser sensor;
• a speed detection means for detecting speed of opening the vehicle door;
• and
• opening regulating means for regulating an opening of the vehicle door in response to determination of the determination means that the obstacle exists,
• wherein
• the laser sensor changes an interval at which the laser sensor repeats emission of the laser beam according to the speed detected by the speed detection means;
• the determination means pre-stores a pre-stored distance from a mount position of the laser sensor to an end of the vehicle door in a scanning direction of each emission of the laser beam;
• the determination means is configured to calculate an actual distance to the obstacle based on the result of emission and acceptance of the laser beam of the laser sensor;
• the determination means determines that the obstacle exists when the actual distance to the obstacle is less than the pre-stored distance;
• the scanning plane is inclined from the surface of the vehicle door by a predetermined angle in the door-opening direction, and
• the opening regulating means is configured to regulate the opening of the vehicle door when the vehicle door is further opened by an angle, which is less than said predetermined angle, from an opening position of the vehicle door at a time point where the determination means determines that the obstacle exists.