JP2004270142A - Automatic opening and closing device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve the operating feeling of an automatic opening and closing device for a vehicle. <P>SOLUTION: The closing side end part of a sliding door is provided with three ultrasonic sensors, and the detection signals of the ultrasonic sensors are amplified by an amplifier and input to an ECU. The ECU changes the amplification factor of the amplifier depending on the position and moving speed V of the sliding door. When the sliding door is placed between the fully opening position and immediately before the totally closing position, the detecting sensitivity is set to an ordinary sensitivity, and when the sliding door is placed between the totally closing position and immediately before the totally closing position, the detecting sensitivity is set to be gradually lowered as the detecting door approaches the totally closing position. Further, when the moving speed V of the sliding door reaches the stop determination speed Vs, the detecting sensitivity is raised in proportion to the increase of the moving speed, and when the moving speed V comes to the stop determination speed Vs or less, the detecting sensitivity is set to the lowest sensitivity not to detect an obstacle. <P>COPYRIGHT: (C)2004,JPO&NCIPI

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an automatic opening / closing device for a vehicle that automatically opens and closes an opening / closing member that is openably and closably mounted on a vehicle, and more particularly to a safety mechanism for preventing an obstacle from being caught.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, vehicles such as automobiles are provided with opening / closing members, such as doors, sunroofs, and hatch gates, which are attached to the vehicle so as to be freely opened and closed. In particular, many wagons and one-box vehicles have sliding doors that can be opened and closed in the longitudinal direction of the vehicle at the side of the vehicle so that they can easily get in and out of the vehicle and load and unload luggage. Be looked at. In addition, under the situation where family use such as one-box vehicles is increasing, vehicles equipped with an automatic opening / closing device for a sliding door so that women and children can easily open and close them have appeared and tend to increase.
[0003]
Such an automatic opening and closing device has a slide actuator to which an electric motor is mounted, and drives the slide door using the electric motor as a drive source. In this case, a wire connected to each end in the opening and closing direction of the slide door is wound around a drum of the slide actuator via a pulley assembly, and the slide door is wound around the wire by rotating the drum by an electric motor. It moves and opens and closes while being pulled.
[0004]
In such a sliding door automatic opening / closing device, safety measures are required to prevent a person or luggage from being caught when the sliding door is opened / closed in order to protect the occupant. Generally, in an automatic opening / closing device for a sliding door, when the opening / closing switch is turned on, the sliding door is operated from a fully-closed state to a fully-opened state or from a fully-closed state to a fully-opened state. There is a risk that obstacles such as people and luggage will be caught between the door and the vehicle. In addition, when the slide door is opened, it is conceivable that a person or luggage may be caught between the end of the slide door and an external obstacle. Is mandatory.
[0005]
As such a safety mechanism, an entrapment is detected based on the elongation of the rotation period of the electric motor generated when the slide door comes into contact with an obstacle, or a pressure-sensitive sensor is provided at an end of the slide door on the closing movement side. There is a known sensor that detects entrapment when an obstacle comes into contact with the pressure-sensitive sensor. However, in these methods, since the entrapment is not detected until the slide door comes into contact with the obstacle, the entrapment load is already applied to the obstacle from the slide door when the entrapment is detected.
[0006]
Therefore, in the conventional automatic opening and closing device, an obstacle on the movement locus of the opening and closing member is detected in a non-contact manner using detection waves such as ultrasonic waves and infrared rays, and the movement is detected before the opening and closing member comes into contact with the obstacle. It is stopped or reversed (for example, see Patent Document 1).
[0007]
[Patent Document 1]
JP-A-3-59280
[0008]
[Problems to be solved by the invention]
However, in such an automatic opening / closing device, when the obstacle is on the movement locus of the opening / closing member, the opening / closing member is stopped even if the opening / closing member and the obstacle are still sufficiently separated from each other. This was inconvenient. Therefore, an ultrasonic sensor for detecting the distance from the opening / closing member to the obstacle is provided at the end of the sliding door on the closing movement side, and the obstacle is detected when the distance from the sliding door to the obstacle becomes less than a predetermined detection distance. Has been devised so as to be detected.
[0009]
However, in such an automatic opening / closing device, when the sliding door moves to the vicinity of the fully closed position, the ultrasonic sensor erroneously detects the vehicle body itself as an obstacle and stops moving the sliding door, or stops moving the sliding door. When trying to operate the slide door by operating the open / close switch on the vehicle interior side from the outside of the vehicle, the hand that performs the operation is erroneously detected as an obstacle by the ultrasonic sensor and the slide door cannot be opened / closed. The operation feeling was troublesome.
[0010]
Also, usually, the moving speed of the sliding door is set to be higher at an intermediate position than in the vicinity of the fully closed position and the fully opened position, and the coasting distance from when an obstacle is detected to when the sliding door stops. Will depend on the speed of movement. Therefore, if the detection distance is set according to the moving speed, the obstacle may be pinched by the coasting of the sliding door when the moving speed is high. Even when the door and the obstacle are still sufficiently separated from each other, the sliding door is stopped, and the operational feeling is further reduced.
[0011]
An object of the present invention is to improve the operational feeling of an automatic opening / closing device for a vehicle.
[0012]
[Means for Solving the Problems]
An automatic opening / closing device for a vehicle according to the present invention is an automatic opening / closing device for a vehicle that includes an opening / closing member that is openably and closably mounted on a vehicle, and a driving unit that drives the opening / closing member, and that automatically opens and closes the opening / closing member. Transmitting means for transmitting a detection wave toward the movement trajectory of the opening / closing member, and reception means for receiving a reflected wave of the detection wave, the obstacle being located on the movement trajectory. Obstacle detecting means for detecting an object, sensitivity changing means for changing the detection sensitivity of the obstacle detecting means in accordance with the operation state of the opening and closing member, and when the obstacle detecting means detects the obstacle, And a control unit for causing the opening / closing member to perform a sandwiching avoiding operation, wherein an obstacle detection distance when the obstacle detecting unit detects the obstacle changes according to an operation state of the opening / closing member.
[0013]
The automatic opening and closing device for a vehicle according to the present invention is characterized in that the detection sensitivity of the obstacle detecting means is reduced when the opening and closing member is between a fully closed position and a predetermined position immediately before the fully closed position.
[0014]
The automatic opening / closing device for a vehicle according to the present invention, when the opening / closing member is between the fully opened position and the position immediately before the fully closed position, keeps the detection sensitivity of the obstacle detection means at a predetermined value, and the opening / closing member is fully closed. When between the immediately preceding position and the fully closed position, the detection sensitivity of the obstacle detecting means is reduced proportionally as the opening / closing member approaches the fully closed position.
[0015]
The automatic opening / closing device for a vehicle according to the present invention is characterized in that the detection sensitivity of the obstacle detecting means is reduced when the moving speed of the opening / closing member is equal to or lower than a stop determination speed.
[0016]
In the automatic opening and closing device for a vehicle according to the present invention, when the moving speed of the opening and closing member is equal to or higher than the stop determination speed, the detection sensitivity of the obstacle detecting unit is increased in proportion to the increase in the moving speed. .
[0017]
The automatic opening and closing device for a vehicle according to the present invention is characterized in that the obstacle detecting means does not detect the obstacle when the moving speed of the opening and closing member is equal to or less than the stop determination speed.
[0018]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[0019]
FIG. 1 is a plan view showing a vehicle provided with a power sliding door device according to an embodiment of the present invention, and FIG. 2 is an enlarged plan view showing details of the power sliding door device shown in FIG.
[0020]
As shown in FIG. 1, a vehicle 11 is provided with a power sliding door device 12 as an automatic opening / closing device for a vehicle. The power sliding door device 12 has a sliding door 13 as an opening / closing member. The sliding door 13 is movable in the front-rear direction of the vehicle 11 along a slide rail 14 fixed to a side portion of the vehicle 11. ing. On the other hand, a rectangular entrance 15 is opened at a side portion of the vehicle 11, and the entrance 15 is opened and closed by a slide door 13. In other words, when the slide door 13 is in the fully closed position indicated by the one-dot chain line in the figure, a closed side end 13a of the slide door 13 on the front side of the vehicle 11 and a closed side opening of the entrance 15 on the front side of the vehicle 11. The entrance 15 is closed by the slide door 13 in contact with the end 15a, and the slide door 13 is moved toward the fully open position indicated by a solid line in the drawing, which is on the rear side of the vehicle 11, so that the door 15 is closed with the closed side end 13a. The space between the side opening end 15a and the entrance 15 is opened. That is, the slide door 13 is attached to the vehicle 11 so as to open and close so as to open and close the entrance 15. When getting on and off the second seat 16 and the third seat 17 provided in the passenger compartment and when loading luggage, the slide door 13 is used by opening the slide door 13 to the fully open position.
[0021]
As shown in FIG. 2, a roller assembly 18 that moves along the slide rail 14 is incorporated in the slide rail 14, and the tip of an arm 21 fixed to the slide door 13 is swingably mounted on the roller assembly 18. Installed. Thus, the slide door 13 is guided by the slide rail 14 via the arm 21 and the roller assembly 18 and is movable in the front-rear direction of the vehicle 11.
[0022]
A curved portion 14a is formed on the slide rail 14 on the front side of the vehicle 11, and the roller door assembly 18 is guided by the curved portion 14a so that the slide door 13 fits on the same plane as the side surface of the vehicle 11. It is drawn inside and closed.
[0023]
A cable 22 is attached to the slide door 13 via an arm 21 and a roller assembly 18. The cable 22 is guided toward the reverse pulleys 23 and 24 provided at both ends of the slide rail 14 on the front side and the rear side of the vehicle 11. The opening and closing operation of the door 13 is performed. The power slide door device 12 is provided with a slide actuator 25 for driving the cable 22. The slide actuator 25 is fixed to the vehicle 11 near the center of the slide rail 14, and the cable 22 is guided to the inside of the slide actuator 25 from the front side and the rear side of the vehicle 11 via reversing pulleys 23 and 24. It has become.
[0024]
FIG. 3 is an explanatory diagram showing a control system of the power sliding door device shown in FIG. 1, and FIG. 4 is a correlation diagram showing a relationship between a distance between obstacles and a detection signal. FIG. 5 is a correlation diagram showing the relationship between the detection signal and the distance between obstacles in the anti-jamming operation, and FIG. 6A shows the relationship between the detection sensitivity of the ultrasonic sensor unit and the position of the slide door. FIG. 6B is a correlation diagram showing the relationship between the detection sensitivity of the ultrasonic sensor unit and the moving speed of the slide door. Further, FIG. 7 is a flowchart showing a control procedure of an anti-jamming operation in the power sliding door device shown in FIG.
[0025]
The slide actuator 25 is provided with an electric motor 26 as a driving means. The electric motor 26 is operated by applying a voltage between power supply terminals (not shown), that is, by supplying a current, so that the rotating shaft 27 is rotated. It is designed to rotate. Further, by changing the direction of the current supplied between the power supply terminals (not shown), the rotation direction of the rotating shaft 27 can be switched between forward rotation and reverse rotation.
[0026]
A multi-pole magnet 28 magnetized to 10 poles is fixed to the rotating shaft 27, and two Hall ICs 31 are provided near the rotation orbit of the multi-pole magnet 28 with a phase difference of 90 degrees from each other. Have been. Each of these Hall ICs 31 outputs a pulse signal every time the multi-pole magnetized magnet 28 rotates and the magnetic field changes, and when the rotating shaft 27 makes one rotation, a pulse of 10 cycles whose phase is shifted from the Hall IC 31 by 90 degrees. A signal is output. The Hall IC is a sensor that converts a change in a magnetic field into a voltage.
[0027]
The output of the electric motor 26, that is, the driving force, is transmitted to the output shaft 36 via the drive gear 32, the large diameter spur gear 33, the small diameter spur gear 34, and the driven gear 35. That is, the driving gear 32 is fixed to the rotating shaft 27, and the driving gear 32 is engaged with the large-diameter spur gear 33, and the small-diameter spur gear 34 formed to rotate coaxially and integrally with the large-diameter spur gear 33. It is meshed with the driven gear 35. The output shaft 36 is rotatably supported by the slide actuator 25, and the driven gear 35 is fixed to the output shaft 36 and rotates integrally with the output shaft 36. Thus, the rotation of the rotation shaft 27 is transmitted to the output shaft 36 at a reduced speed.
[0028]
A drum 37 having a spiral guide groove (not shown) is fixed to the output shaft 36, and the drum 37 rotates integrally with the output shaft 36. That is, the drum 37 is connected to the electric motor 26 via the gears 32 to 35 and the output shaft 36, and is rotated by the electric motor 26. The cable 22 guided by the slide actuator 25 is wound around the drum 37 a plurality of times along the guide groove. When the drum 37 is driven to rotate, the cable 22 is moved forward of the vehicle 11 or rearward of the vehicle 11. One side is wound up, and the slide door 13 opens and closes. Therefore, when the electric motor 26 is rotated in the forward direction to rotate the drum 37 clockwise in FIG. 3, the cable 22 on the rear side of the vehicle 11 is wound around the drum 37 and the slide door 13 is connected to the cable 22. It will move toward the fully open position while being pulled. Conversely, when the electric motor 26 is rotated in the reverse direction to rotate the drum 37 counterclockwise in FIG. 3, the cable 22 on the front side of the vehicle 11 is wound around the drum 37, and the slide door 13 is connected to the cable 22. , And moves toward the fully closed position. As described above, the slide door 13 is driven by the electric motor 26 and is automatically opened and closed.
[0029]
A multipolar magnetized magnet 38 magnetized to 10 poles is fixed to the side surface of the drum 37, and a Hall IC 41 is provided near the rotation orbit of the multipolar magnetized magnet 38. The Hall IC 41 can output a pulse signal every time the multipole magnetized magnet 38 rotates and the magnetic field changes. When the drum 37 makes one rotation, the Hall IC 41 outputs a pulse signal for ten cycles. It has become. Further, tensioners 42 and 43 are provided between the drum 37 and the two reversing pulleys 23 and 24, respectively, so that the cable 22 can be slackened and the tension can always be maintained within a certain range.
[0030]
As shown in FIG. 3, the power sliding door device 12 is provided with an electronic control unit 44 (hereinafter referred to as ECU 44) for controlling the operation of the slide actuator 25. A battery (not shown) mounted on the vehicle 11 is connected to the ECU 44, and the ECU 44 is operated by electric power supplied from the battery.
[0031]
The ECU 44 includes a microprocessor 45 (hereinafter, referred to as a CPU 45). The CPU 45 is connected to a ROM 47, a RAM 48, a timer 51, and an I / O port 52 via a bus line 46. The ROM 47 stores a control program, arithmetic expressions, map data, and the like, and the RAM 48 can temporarily store data processed by the CPU 45. Further, to the I / O port 52, Hall ICs 31, 41 and a slide door opening / closing switch (not shown) (not shown) are connected, and pulse signals and detection signals output from these members are I / O ports. The data is input to the CPU 45 via the port 52.
[0032]
Then, the CPU 45 can detect the rotation speed of the electric motor 26, that is, the moving speed V of the slide door 13, based on the cycle of the pulse signal input from the Hall IC 31, and based on the appearance timing of these pulse signals. In addition, the rotation direction of the electric motor 26, that is, the moving direction of the slide door 13 can be detected.
[0033]
The CPU 45 analyzes the rotation angle of the drum 37 based on a pulse signal input from the Hall IC 41, and can detect the position of the slide door 13 based on the rotation angle. This is because the multi-pole magnetized magnet 38 is magnetized so that the Hall IC 41 generates a reference pulse signal for causing the CPU 45 to recognize the reference position of the slide door 13, and the slide door 13 based on the reference pulse signal is generated. This is performed by counting the pulse signals from the reference position. The reference position may be the fully open position or the fully closed position of the slide door 13, or a plurality of reference positions may be provided. The position of the slide door 13 may be detected by using not only the Hall IC 41 but also a resolver or a rotary encoder.
[0034]
The electric motor 26 is further connected to the I / O port 52. The CPU 45 calculates input signals from the Hall ICs 31 and 41 and the open / close switch according to a control program stored in the ROM 47 to drive the electric motor 26. Control is performed.
[0035]
The power sliding door device 12 is provided with an ultrasonic sensor unit 54 as an obstacle detecting means for detecting an obstacle 53 on a movement locus of the sliding door 13. The ultrasonic sensor unit 54 has three ultrasonic sensors 55, 56, and 57 attached to the closing side end 13 a of the slide door 13 at equal intervals in the vertical direction of the vehicle 11. The structures of the sensors 55, 56, and 57 are substantially the same except for their mounting positions. Hereinafter, only the ultrasonic sensor 55 will be described.
[0036]
The ultrasonic sensor 55 includes a transmitter 61, a receiver 62, and an amplifier 63. The ultrasonic sensor 55 is located on the movement trajectory of the slide door 13, that is, the closed side end 13a of the slide door 13 and the closed side open end 15a of the entrance 15. The obstacle 53 located between them is detected.
[0037]
A transmitter 61 as a transmitting means is fixed to the closing end 13 a of the slide door 13, and is connected to the CPU 45 via an I / O port 52. When a drive voltage having a predetermined frequency is input from the CPU 45, an ultrasonic wave having a predetermined frequency can be transmitted as a detection wave from the slide door 13 toward the movement locus of the slide door 13. I have. Here, the movement trajectory of the slide door 13 is a movement trajectory at the closing end 13a, and when there is an obstacle 53 on this trajectory, the sliding trajectory between the slide door 13 and the closing opening end 15a of the entrance 15 is provided. This is a place where the obstacle 53 may be pinched.
[0038]
The receiver 62 as a receiving means has a receiving circuit including a piezoelectric element (not shown) and the like, and is fixed to the closing side end 13 a of the sliding door 13. The receiver 62 receives an ultrasonic wave reflected by the obstacle 53 on the moving track of the slide door 13 and outputs a detection signal S according to the intensity of the reflected wave. At this time, the intensity of the reflected wave input to the receiver 62, that is, the attenuation rate for the transmitted ultrasonic wave is substantially inversely proportional to the distance from the slide door 13 to the obstacle 53, that is, the distance between obstacles Lo. The detection signal S output from 62 is substantially inversely proportional to the distance between obstacles Lo, as shown in FIG. The receiver 62 is connected to the I / O port 52, and the detection signal S output from the receiver 62 is input to the CPU 45 via the I / O port 52.
[0039]
On the other hand, a deceleration control start value Sd and an inversion control start value St are stored in a ROM 47 of the ECU 44, and the ECU 44 converts the detection signal S input from the receiver 62 into a deceleration control start value Sd and an inversion control start value St. Can be compared to Here, the deceleration control start value Sd and the inversion control start value St are respectively set to predetermined values by experiments or the like, and the deceleration control start value Sd is set to a value lower than the inversion control start value St. I have.
[0040]
When the detection signal S becomes equal to or more than the deceleration control start value Sd, the ECU 44 as an obstacle detecting means detects that the obstacle 53 is present on the movement locus of the slide door 13. That is, when the sliding door 13 and the obstacle 53 approach the obstacle distance Lo at which the detection signal S is equal to or more than the deceleration control start value Sd, that is, the deceleration distance Ld as the obstacle detection distance, the obstacle 53 It is detected. When the detection signal S is equal to or larger than the deceleration control start value Sd and the obstacle 53 is detected by the ultrasonic sensor unit 54, the ECU 44 performs deceleration control, that is, the slide door 13 Is reduced to a predetermined speed.
[0041]
When the detection signal S becomes equal to or greater than the reversal control start value St, the ECU 44 performs reversal control, that is, reverses the moving direction of the slide door 13 from the closing direction to the opening direction, as the pinch avoiding operation. ing. That is, when the sliding door 13 and the obstacle 53 approach the obstacle distance Lo where the detection signal S is equal to or more than the inversion control start value St, that is, the inversion distance Lt as the obstacle detection distance, the obstacle 53 is pinched. It is detected that the slide door 13 is located at a position where there is a possibility that the slide door 13 will be inverted, and the slide door 13 is controlled to be inverted. In the reversal control, the slide door 13 may be stopped at a position moved by a predetermined distance after reversing the moving direction, and stop control for stopping the operation of the slide door 13 in place of the reversal control may be performed. It may be performed. Further, only the reversal control may be performed without performing the deceleration control.
[0042]
The amplifier 63 as a sensitivity changing unit is connected between the receiver 62 and the ECU 44, and amplifies the detection signal S input from the receiver 62 and outputs the amplified signal to the ECU 44. Further, the amplifier 63 can change the amplification factor of the detection signal S in accordance with a command from the ECU 44, and can change the detection sensitivity of the ultrasonic sensor unit 54 by changing the amplification factor. Can be done. For example, when the amplification factor of the amplifier 63 is increased and the detection sensitivity of the ultrasonic sensor unit 54 is increased with respect to the normal sensitivity indicated by the solid line in FIG. 4, the detection signal S becomes as shown by the dashed line in FIG. Even when the distance Lo between the obstacles is the same, the distance Lo changes to a larger value. Accordingly, when the detection sensitivity is increased, the distance Lo between obstacles at which the detection signal S becomes equal to or more than the deceleration control start value Sd or the reversal control start value St increases, and the deceleration distance Ldh and the reversal distance Lth at that time become larger. , The deceleration distance Lda and the inversion distance Lta at the time of normal sensitivity.
[0043]
Conversely, when the amplification factor of the amplifier 63 decreases and the detection sensitivity of the ultrasonic sensor unit 54 decreases, the detection signal S has the same distance Lo between obstacles as shown by the two-dot chain line in FIG. Even in some cases, it changes so as to have a smaller value. Accordingly, when the detection sensitivity is reduced, the distance Lo between obstacles at which the detection signal S becomes equal to or more than the deceleration control start value Sd and the reversal control start value St becomes large, and the deceleration distance Ldl and the reversal distance Ltl at that time are increased. Is smaller than the deceleration distance Lda and the inversion distance Lta at the time of normal sensitivity.
[0044]
A command to change the amplification factor of the amplifier 63 by the ECU 44 is issued according to a sensitivity change map (not shown) stored in the ROM 47. As shown in FIGS. 6A and 6B, the sensitivity change map uses the operating state of the slide door 13, that is, the position of the slide door 13 and the moving speed V as parameters.
[0045]
As shown in FIG. 6A, the detection sensitivity of the ultrasonic sensor unit 54 is maintained at a predetermined value, that is, a normal sensitivity when the slide door 13 is between the fully open position and a position immediately before a predetermined fully closed position. When the slide door 13 is between the fully closed position and the position immediately before the fully closed position, the slide door 13 is proportionally lowered as the slide door 13 approaches the fully closed position. That is, when the slide door 13 is between the fully closed position and the position immediately before the fully closed position, the detection sensitivity is reduced as compared to when the slide door 13 is at any other position. Here, the position immediately before the fully closed position is a position where the ultrasonic sensor unit 54 may detect the vehicle itself as an obstacle, and the slide door 13, that is, the closed side end 13 a and the closed side open end 15 a are determined in advance by an experiment or the like. Is set to a position at which the opening distance Ls between them becomes a predetermined value.
[0046]
As shown in FIG. 6B, the detection sensitivity of the ultrasonic sensor unit 54 can be increased in proportion to the increase of the moving speed V of the slide door 13. When the moving speed V of the sliding door 13 becomes equal to or lower than the preset stop determination speed Vs, it is determined that the sliding door 13 has stopped, and the detection sensitivity is reduced to the minimum value, and the obstacle 53 is substantially eliminated. Is not detected.
[0047]
Next, the operation of the power sliding door device 12 having such a structure will be described.
[0048]
When the open / close switch is operated when the slide door 13 is fully closed and a command signal for opening the slide door 13 is input to the ECU 44, the ECU 44 automatically opens the slide door 13. This automatic opening operation is performed in the following procedure.
[0049]
First, the ECU 44 rotates the drum 37 in the opening direction by operating the electric motor 26 in the forward direction, that is, in the opening direction. Thus, the rear side of the vehicle 11 of the cable 22 is wound around the drum 37, and the slide door 13 starts moving toward the fully open position while being pulled by the cable 22. At this time, the ECU 44 starts detecting the moving direction and the moving speed V of the slide door 13 based on the pulse signal from the Hall IC 31, and starts detecting the position of the slide door 13 based on the pulse signal from the Hall IC 41. When the slide door 13 moves to the fully open position, the supply of electric current is cut off and the electric motor 26 is stopped.
[0050]
Conversely, when the open / close switch is operated when the slide door 13 is fully opened and a command signal for closing the slide door 13 is input to the ECU 44, the ECU 44 automatically closes the slide door 13. . This automatic closing operation is performed in the following procedure.
[0051]
First, the ECU 44 operates the electric motor 26 in the reverse direction, that is, in the closing direction to rotate the drum 37 in the closing direction. Thereby, the front side of the vehicle 11 of the cable 22 is wound up by the drum 37, and the slide door 13 starts moving toward the fully closed position while being pulled by the cable 22. At this time, as in the case of the automatic opening operation, the ECU 44 starts detecting the moving direction and the moving speed V of the sliding door 13 and the position of the sliding door 13. Then, when the slide door 13 reaches the fully closed position, the supply of current is cut off and the electric motor 26 is stopped.
[0052]
When the above-mentioned automatic closing operation is performed, the power sliding door device 12 detects the obstacle 53 on the moving trajectory of the sliding door 13 by the ultrasonic sensor unit 54 and performs the operation of avoiding the pinching of the sliding door 13. It is made to let. Hereinafter, a control procedure of the pinching avoiding operation will be described with reference to a flowchart shown in FIG.
[0053]
First, when the slide door 13 starts moving by the automatic closing operation, it is determined in step S1 whether or not the detection signal S from the receiver 62 is equal to or more than the inversion control start value St. When it is determined that the detection signal S is equal to or less than the inversion control start value St, it is determined in step S2 whether the detection signal S is equal to or more than the deceleration control start value Sd. If it is determined in step S2 that the detection signal S is equal to or less than the deceleration control start value Sd, the slide door 13 is moved to the fully closed position by the normal operation, that is, the automatic closing operation in step S3, and the routine returns. . That is, when the detection signal S is smaller than either the deceleration control start value Sd or the reversal control start value St, the obstacle 53 is not detected, and the slide door 13 moves toward the fully closed position by a normal automatic closing operation. Will continue.
[0054]
On the other hand, when it is determined in step S2 that the detection signal S is equal to or greater than the deceleration control start value Sd, that is, when the distance between obstacles Lo becomes the deceleration distance Ld, the slide door 13 is decelerated in step S4. Will be. As described above, when the detection signal S is equal to or less than the inversion control start value St and equal to or more than the deceleration control start value Sd, the moving speed V of the sliding door 13 is reduced, and the obstacle 53 moves along the moving path of the sliding door 13. You have time to move it from above.
[0055]
If it is determined in step S1 that the detection signal S has become equal to or greater than the inversion control start value St, that is, if the distance Lo between obstacles has become the inversion distance Lt, in step S5, the slide door 13 is inverted. Will be controlled. As described above, when the detection signal S becomes equal to or more than the inversion control start value St, it is determined that the distance Lo between obstacles is close enough to cause entrapment, and the moving direction of the slide door 13 is inverted from the closing direction to the opening direction. Thus, the sliding door 13 is prevented from sandwiching the obstacle 53.
[0056]
In the power sliding door device 12, the deceleration distance Ld at which the entrapment avoiding operation is started and the reversing distance Lt change according to the position of the slide door 13 and the moving speed V.
[0057]
That is, when the slide door 13 is automatically closed between the fully open position and the position immediately before the fully closed position, the detection sensitivity of the ultrasonic sensor unit 54 is set to the normal sensitivity, and the deceleration distance Ld and the reversal distance Lt are set to the deceleration distance. Lda and the reversal distance Lta. Then, when the slide door 13 further moves and reaches the position immediately before the fully closed position, the detection sensitivity is proportionally reduced from that position to the fully closed position. Accordingly, as the detection sensitivity decreases, the deceleration distance Lda and the reversal distance Lta decrease proportionally to the deceleration distance Ldl and the reversal distance Ltl, respectively, and the deceleration distance Ld and the reversal distance Lt become larger than the opening distance Ls. Therefore, the ultrasonic sensor unit 54 is prevented from erroneously detecting the vehicle itself as an obstacle and being subjected to deceleration control and reversal control.
[0058]
As described above, in the power sliding door device 12, the ultrasonic sensor unit 54 does not erroneously detect the vehicle itself as an obstacle, and the deceleration control and the reversal control of the sliding door 13 are not performed. Twelve operation feelings can be improved.
[0059]
Further, in the power sliding door device 12, when the moving speed V of the sliding door 13 becomes equal to or less than the stop determination speed Vs and it is determined that the sliding door 13 has stopped, the detection sensitivity of the ultrasonic sensor unit 54 is minimum. Since the value is set to the value, the ultrasonic sensor unit 54 does not detect the obstacle 53 no matter how small the distance Lo between the obstacles. Therefore, even when the slide door 13 is automatically opened and closed by operating an open / close switch (not shown) provided on the interior side of the slide door 13 from outside the vehicle 11, the slide door 13 is controlled by the ECU 44 immediately after the operation. No deceleration control or reversal control is performed.
[0060]
As described above, in the power sliding door device 12, when the sliding door 13 becomes lower than the stop determination speed Vs, it is determined that there is no danger of being caught, and the obstacle 53 is not detected. The operational feeling of the device 12 can be improved.
[0061]
Further, in the power sliding door device 12, the detection sensitivity of the ultrasonic sensor unit 54 increases in proportion to the increase in the moving speed V of the sliding door 13. Accordingly, the deceleration distance Ld and the reversal distance Lt also increase and decrease in proportion to the increase and decrease in the moving speed V of the sliding door 13, and even if the coasting distance changes due to the difference in the moving speed V of the sliding door 13, the change is made accordingly. The deceleration control and the reversal control are performed at the optimal distance Lo between obstacles.
[0062]
As described above, in the power sliding door device 12, the deceleration distance Ld and the reversal distance Lt increase and decrease in proportion to the increase and decrease in the moving speed V of the sliding door 13, so that the operational feeling of the power sliding door device 12 is reduced. Can be improved.
[0063]
The present invention is not limited to the above-described embodiment, and it goes without saying that various changes can be made without departing from the scope of the invention. For example, in the above-described embodiment, the opening / closing member is the slide door 13 which can be opened and closed in the front-rear direction of the vehicle 11, but is not limited thereto. Other opening / closing members, such as a back door, which can be freely opened and closed, may be used.
[0064]
In the above-described embodiment, the detection sensitivity of the ultrasonic sensor unit 54 is changed by changing the amplification factor of the detection signal S input from the receiver 62 to the ECU 44. However, the present invention is not limited to this. Alternatively, the detection sensitivity may be changed by changing the deceleration control start value Sd or the inversion control start value St while keeping the amplification factor of the detection signal S constant.
[0065]
Further, in the above-described embodiment, the obstacle 53 is detected when the detection signal S of the receiver 62 becomes equal to or more than the deceleration control start value Sd and the reversal control start value St, but is not limited thereto. When the time until the detection wave transmitted from the transmitter 61 is received by the receiver 62 is equal to or less than a predetermined threshold, the obstacle 53 is detected, and the threshold is determined according to the operation state of the slide door 13. The detection sensitivity may be changed by changing the detection sensitivity.
[0066]
Further, in the above-described embodiment, the ultrasonic sensor unit 54 is used as the obstacle detecting means. However, the present invention is not limited to this, and another sensor whose detection wave is infrared light, laser, or the like may be used.
[0067]
Further, in the above-described embodiment, the detection signal S is compared with the deceleration control start value Sd and the inversion control start value St. However, the present invention is not limited to this, and only one of them may be compared. Good.
[0068]
【The invention's effect】
According to the present invention, the obstacle detection distance for detecting an obstacle changes to an optimal value according to the operation state of the opening / closing member, so that the operational feeling of the automatic opening / closing device for a vehicle can be improved. .
[0069]
Further, according to the present invention, it is possible to prevent the vehicle itself from being erroneously detected as an obstacle, so that the operational feeling of the automatic opening / closing device for a vehicle can be improved.
[0070]
Further, according to the present invention, the opening / closing member is operated to avoid being pinched at an optimum position according to the moving speed, so that the operational feeling of the automatic opening / closing device for a vehicle can be improved.
[0071]
Further, according to the present invention, the detection of the obstacle is not performed when the speed of the opening / closing member becomes equal to or lower than the stop determination speed, so that the entrapment is not erroneously detected when the opening / closing member is operated again. Operation feeling of the automatic opening / closing device can be improved.
[Brief description of the drawings]
FIG. 1 is a plan view showing a vehicle provided with a power sliding door device according to an embodiment of the present invention.
FIG. 2 is an enlarged plan view showing details of the power sliding door device shown in FIG.
FIG. 3 is an explanatory diagram showing a control system of the power sliding door device shown in FIG.
FIG. 4 is a correlation diagram showing a relationship between a distance between obstacles and a detection signal.
FIG. 5 is a correlation diagram showing a relationship between a detection signal and a distance to an obstacle in an anti-jamming operation.
FIG. 6A is a correlation diagram showing a relationship between the detection sensitivity of the ultrasonic sensor unit and the position of the slide door, and FIG. 6B is a relationship between the detection sensitivity of the ultrasonic sensor unit and the moving speed of the slide door. FIG.
FIG. 7 is a flowchart showing a control procedure of a pinching prevention operation in the power sliding door device shown in FIG.
[Explanation of symbols]
11 vehicles
12. Power sliding door device
13 Sliding door
13a Closed end
14 Slide rail
14a music
15 getting on and off
15a Closed side open end
16 Second sheet
17 Third sheet
18 Roller Assy
21 arm
22 Cable
23, 24 reverse pulley
25 Slide actuator
26 Electric motor
27 Rotation axis
28 Multi-pole magnetized magnet
31 Hall IC
32 drive gear
33 Large diameter spur gear
34 Small diameter spur gear
35 driven gear
36 output shaft
37 drums
38 Multi-pole magnetized magnet
41 Hall IC
42, 43 tensioner
44 Electronic Control Unit (ECU)
45 Microprocessor (CPU)
46 bus line
47 ROM
48 RAM
51 timer
52 I / O port
53 Obstacle
54 Ultrasonic Sensor Unit
55,56,57 Ultrasonic sensor
61 transmitter
62 receiver
63 amplifier
V Travel speed
S detection signal
Lo Distance between obstacles
Sd Deceleration control start value
St Inversion control start value
Ld, Ldh, Lda, Ldl Deceleration distance
Lt, Lth, Lta, Ltl Inversion distance
Ls opening distance
Vs Stop judgment speed

Claims (6)

An automatic opening / closing device for a vehicle, comprising: an opening / closing member that is openably and closably mounted on a vehicle; and driving means for driving the opening / closing member, wherein the opening / closing member is automatically opened and closed.
Each of the opening and closing members includes a transmitting unit that transmits a detection wave toward a movement locus of the opening and closing member and a receiving unit that receives a reflected wave of the detection wave, and detects an obstacle on the movement locus. Obstacle detection means for detecting,
Sensitivity changing means for changing the detection sensitivity of the obstacle detection means according to the operating state of the opening and closing member,
Control means for causing the opening / closing member to pinch and avoid operation when the obstacle detection means detects the obstacle,
An automatic opening / closing device for a vehicle, wherein an obstacle detection distance when the obstacle detecting means detects the obstacle changes according to an operation state of the opening / closing member. 2. The vehicle automatic opening / closing device according to claim 1, wherein the detection sensitivity of the obstacle detecting means is reduced when the opening / closing member is located between a fully closed position and a position immediately before a predetermined fully closed position. Automatic switchgear. 3. The automatic opening and closing device for a vehicle according to claim 2, wherein when the opening and closing member is between a fully open position and a position immediately before the fully closed position, the detection sensitivity of the obstacle detecting unit is maintained at a predetermined value, and When between the position immediately before the fully closed position and the fully closed position, the detection sensitivity of the obstacle detecting means is proportionally reduced as the opening / closing member approaches the fully closed position. apparatus. The automatic opening / closing device for a vehicle according to any one of claims 1 to 3, wherein the detection sensitivity of the obstacle detection means is reduced when a moving speed of the opening / closing member is equal to or lower than a stop determination speed. Automatic opening and closing device for vehicles. 5. The automatic opening / closing device for a vehicle according to claim 4, wherein when the moving speed of the opening / closing member is equal to or higher than the stop determination speed, the detection sensitivity of the obstacle detecting unit is increased in proportion to the increase in the moving speed. Automatic opening and closing device for vehicles. 6. The automatic opening / closing device for a vehicle according to claim 4, wherein the obstacle detecting unit does not detect the obstacle when a moving speed of the opening / closing member is equal to or less than the stop determination speed. Automatic opening and closing device for vehicles.

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