JP2006118276A - Automatic opening and closing device for opening and closing member for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an automatic opening and closing device for an opening and closing member for a vehicle, which can prevent pinching caused by the opening and closing member, by accurately determining a pinched state of foreign matter, even on the occurrence of a situation such as the operation of forcedly pushing back the opening and closing member. <P>SOLUTION: This automatic opening and closing device comprises: the opening and closing member 3 which is openably and closably provided in the opening 2 of the vehicle; a driving means 9 for driving the member 3 at least in an opening or closing direction; pinching detection means A4 and A5 for detecting the pinching, caused by the member 3, by having the opening and closing member displaced in a direction opposite to a driving direction, while the member 3 is driven; a reversing operation means A6 for reversing the driving direction of the opening and closing member; and a control means 35 for controlling the means A6 in accordance with output from the means A4 and A5. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic opening / closing device for a vehicle opening / closing member mounted on a vehicle, and more particularly to an automatic opening / closing device for a vehicle opening / closing member that automatically releases a foreign object when the opening / closing member is caught.

  Opening and closing members such as doors, sunroofs, and tailgates are mounted on the vehicle so as to be openable and closable at the opening of the vehicle. For example, in a wagon car, a one-box car, etc., a tailgate is provided at the rear part of the vehicle so that cargo can be easily loaded and unloaded from the rear opening of the vehicle.

  By the way, such a tailgate is formed to be relatively large so that a relatively large opening can be opened and closed, and the opening and closing tends to be heavy accordingly. In particular, it may be difficult for women, children, etc. to open and close freely, especially on hills, the opening / closing becomes heavier due to its own weight, or conversely, the opening / closing becomes too light due to its own weight and suddenly opens and closes. There were problems such as. Furthermore, while the tailgate can obtain a relatively large opening, it is necessary to open and close the door while ensuring a space sufficient to prevent interference with an external obstacle when the door is opened and closed.

Therefore, the number of vehicles equipped with an automatic opening / closing device for tailgates that can be easily opened and closed by women and children tends to increase.
As such an automatic opening and closing device, the tailgate can be opened and closed by a hydraulic actuator and closed manually, and in particular, when a foreign object is caught during the automatic opening and closing operation of the tailgate, the automatic opening and closing operation of the tailgate is stopped. An automatic opening / closing device is disclosed in Japanese Patent Laid-Open No. 5-280250 (Patent Document 1).

  Furthermore, there is an automatic opening / closing device that automatically opens and closes the tailgate by an electric motor and a link system connected to the tailgate, and if the foreign object is caught during the operation, the opening and closing operation of the tailgate is reversed to automatically release the foreign object. It has been.

  For example, an automatic switchgear is provided with a pulse generator that outputs a pulse signal proportional to the number of rotations of the electric motor, and by integrating the pulse signal starting from when the switchgear is in the fully closed position, Open / close position is detected. Moreover, the absolute value V of the opening / closing speed of the opening / closing member is obtained from the period information of the pulse, and the door deceleration value ΔV is obtained from the change in the opening / closing speed V.

  Such a controller of the conventional automatic opening / closing device performs the pinching release control as shown in FIG. 8, for example, during the door opening / closing control. In step a1, it is determined whether the tailgate opening / closing operation is in progress. If the opening / closing operation is not in progress, the process returns from the pinching release control to the main door opening / closing control, and the door opening / closing control proceeds to step a2 to determine the absolute value of the opening / closing speed. V and the deceleration value ΔV of the tailgate are obtained. If the deceleration value ΔV exceeds the trapping detection threshold value α in step as3 and it is determined that the deceleration is rapid, the process proceeds to step a5 to display the trapping detection, otherwise the switching speed V falls below the trapping detection threshold value β in step a4. Judge. When the opening / closing speed V exceeds the threshold value β, the control is terminated as normal operation. Conversely, when the opening / closing speed V is lower, the pinching detection is displayed at step a5, and it is determined whether the operation in the opening direction is being performed at step a6. . At the time of opening operation, the control is reversed to the closing operation at step a7 to prevent interference between the tailgate and an external obstacle and the trapping of foreign matter, and at the time of closing operation, the control is reversed to the opening operation at step a8 to open the tailgate and the vehicle. The foreign object is prevented from being caught between the edges, and this control is completed.

  In this way, the controller of the automatic opening / closing device can automatically release the pinching state by reversing the door in the reverse direction of opening / closing when detecting the foreign object pinching during the opening / closing operation of the tailgate.

JP-A-5-280250

  However, in the pinching release control of FIG. 8, for example, when a load is pinched during the tailgate closing operation and the tailgate is forcibly pushed back by a nearby person, the deceleration value ΔV of the tailgate reaches the threshold value α. However, the automatic opening / closing device cancels the detection of foreign object pinching, and there is a problem that the tailgate once pushed back is automatically closed again.

  The present invention has been made paying attention to the above-mentioned problems, and even if a situation such as a forced push-back operation of the opening / closing member occurs, the vehicle can accurately determine the state of foreign object pinching and prevent pinching by the opening / closing member. An object of the present invention is to provide an automatic opening / closing device for an opening / closing member.

  In order to achieve the above object, an automatic opening / closing device for a vehicle opening / closing member according to claim 1 includes an opening / closing member provided at an opening of a vehicle so as to be opened and closed, and at least the opening / closing member in an opening direction or a closing direction. A driving means for driving; a pinching detection means for detecting pinching by the opening / closing member when the opening / closing member is displaced in a direction opposite to the driving direction during driving of the opening / closing member; and a driving direction of the opening / closing member is reversed. And a control means for controlling the reversing operation means on the basis of an output from the pinching detection means.

  The automatic opening / closing device for a vehicle opening / closing member according to claim 2 is the automatic opening / closing device for a vehicle opening / closing member according to claim 1, further comprising an operation speed detecting means capable of detecting an operation speed of the opening / closing member, and the control means. When the operating speed of the opening / closing member detected by the operating speed detecting means exceeds a predetermined operating speed, and the sandwiching detecting means detects that the opening / closing member is displaced in the direction opposite to the driving direction. The reversing operation means is controlled to reverse the driving direction of the opening / closing member.

  The automatic opening / closing device for a vehicle opening / closing member according to claim 3, wherein a driving speed calculating means for calculating a driving speed decrease amount of the opening / closing member based on a detection result of the operating speed detecting means, and the driving by the driving speed calculating means. And a second pinching detection unit that detects a foreign object pinching by the opening and closing member based on the speed reduction amount, and the control unit detects the pinching by the second pinching detection hand throw when the pinching by the opening and closing member is detected. The reversing operation means is controlled so that the driving direction of the member is reversed.

  According to the automatic opening / closing device for an opening / closing member for a vehicle according to claim 1, for example, the opening / closing member is forcibly manually pushed back in the direction opposite to the operation direction while the opening / closing member is in an automatic opening / closing operation. In this case, it is possible that the opening / closing member during operation is reversed so that the foreign object can be prevented from being caught by the opening / closing member.

  According to the automatic opening and closing device for the opening and closing member for a vehicle according to claim 2, when it is detected that the operating speed of the opening and closing member exceeds a predetermined operating speed and the opening and closing member is displaced in the direction opposite to the driving direction. The driving direction of the opening / closing member can be reversed to prevent foreign objects from being caught by the opening / closing member.

  According to the automatic opening / closing device for the opening / closing member for a vehicle according to claim 3, when foreign object pinching by the opening / closing member is detected based on the amount of decrease in the driving speed, the driving direction of the opening / closing member is reversed to prevent the foreign object from being pinched by the opening / closing member. Can be avoided.

FIG. 1 shows a vehicle provided with an automatic opening / closing device M for a vehicle opening / closing member as an embodiment of the present invention.
The vehicle 1 is a wagon car, and a substantially rectangular rear opening (opening) 2 is formed at the rear of the vehicle body. The rear opening 2 is opened and closed by a tailgate 3 as an opening / closing member. Here, the rear opening 2 is formed by left and right rear pillars 4 and 5 forming left and right side edges, and a roof end pillar 6 and tail end panel 7 forming upper and lower opening edges of the rear opening 2. The tail gate 3 as an opening / closing member is pivotally attached to the roof end pillar 6 through a pair of hinges 8, 8 at the left and right sides of the upper end portion thereof, and the lower end portion serving as a rotation end is opened by an opening / closing drive portion 9 described later. It is arranged to swing up and down in an open / close area E between the fully closed position B1 and the fully open position B2.

  In the automatic opening / closing device M, an opening / closing drive unit (drive means) 9 is mounted on a side inner panel 11 (see FIG. 2) located below one left rear pillar 4. As shown in FIG. 2, the opening / closing drive unit 9 includes a motor 12, a worm gear type reduction mechanism 13 that reduces the rotation of the motor 12, a magnet clutch 14 that is an electromagnetic clutch mechanism, and an arm 15. A swing gear train 17 having an output shaft 16 is provided, and these are housed in a drive unit casing 18, and a plurality of locations of the drive unit casing 18 are fixed to the side inner panel 11.

  The motor 12 is fixed to the drive unit casing 18 via a bracket 19, and the protruding end of the motor shaft 21 of the motor is pivotally attached to the drive unit casing 18 via a bearing 22. The motor 12 can be rotated forward and backward by a control operation of a tailgate controller 35 (hereinafter simply referred to as a tailgate ECU) 35 described later.

  A worm 23 integral with the motor shaft 21 meshes with the wheel gear 24. The wheel gear 24 is connected to the magnet clutch 14. The magnet clutch 14 includes a clutch rotating shaft 25 pivotally supported by the drive unit casing 18. The magnet clutch 14 pivotally supports a sliding contact portion (not shown) on the center side of the wheel gear 24 and is opposed to the sliding contact portion (not shown). The clutch rotor 141 is spline-coupled to the clutch rotating shaft 25 so as to rotate integrally with the clutch rotating shaft 25. The magnet clutch 14 includes an electromagnetic coil (not shown), and is formed so that the clutch rotor 141 can be brought into and out of contact with the sliding contact portion of the wheel gear 24 by turning on and off the electromagnetic force generated by the electromagnetic coil.

A pinion gear 26 is integrally coupled to one end side of the clutch rotating shaft 25, and a rotor 32 having a pair of magnet pieces 321 and 322 fixed thereto is provided at the shaft end portion.
Two Hall ICs 33 and 34 are provided in the vicinity of the outside of the rotation locus of the pair of magnet pieces 321 and 322 on the rotor 32. Here, the Hall ICs 33 and 34 are sensors that convert a change in magnetic field into a voltage. The two Hall ICs 33 and 34 output pulse signals P1 and P2 (see FIG. 5B) whose phases are shifted by 90 degrees to the tailgate ECU 35 described later each time the magnet rotates and the magnetic field changes. Is formed. That is, the Hall ICs 33 and 34 constituting the pulse signal output means can output the pulse signals P1 and P2 (see FIG. 5C) proportional to the rotational speed of the motor 12 when the clutch is engaged. It is like that.

The magnet clutch 14 is configured to transmit the rotation of the wheel gear 24 to the pinion gear 26 and to allow relative rotation against the magnetic bonding force when an external force exceeding a predetermined value is received.
The pinion gear 26 on the clutch rotating shaft 25 side meshes with the sector gear 27 on the swing gear train 17 side, and the sector gear 27 is integrally coupled to the output shaft 16. One end of the output shaft 16 protrudes from the drive unit casing 18, and the base end of the arm 15 is fixed to the protruding end. The output shaft 16 that integrally couples the sector gear 27 and the arm 15 is pivotally attached to the drive unit casing 18 via a bearing (not shown).

  The swing end of the arm 15 is connected to the lower end of the push rod 28 via a ball join 29. The upper end of the push rod 28 is connected via a ball joint 31 to a position separated from the hinge center line L1 of the pair of hinges 8 and 8 on the side end side of the tailgate 3 by a predetermined amount. Here, the wheel gear 24 side is rotationally driven by the rotational drive of the motor 12, and the sector gear 27 is swung via the magnet clutch 14 and the pinion gear 26 by the rotational force of the wheel gear 24 side. 15 is configured to swing up and down, to swing the tail gate 3 around the hinge center line L1 via the push rod 28 by swinging the arm 15, and to open and close the rear opening 2. In FIG. 1, reference numeral 10 denotes a gas spring.

The magnet clutch 14 of the opening / closing drive unit 9 has a sufficient joining force so as not to cause a relative displacement in transmitting a steady opening / closing operation force from the motor 12 to the tail gate 3, and is predetermined on the tail gate 3 side. When an external force exceeding the value is forcibly applied, even if a constant opening / closing operation force is applied from the motor 12 to the tailgate 3 by allowing relative rotational displacement, the tailgate 3 is prevented from rotating or pushed back. The magnetic force is appropriately set so that it can be performed.
Here, when the motor 12 rotates in one direction, the arm 15 swings upward from the reference position D1, and when the motor 12 rotates in the other direction, the arm 15 can swing downward from the upper end position D2. As described above, the arm 15 swings in the drive range de between the reference position D1 and the upper end position D2, so that the tailgate 3 swings up and down in the open / close region E between the fully closed position B1 and the fully open position B2. I can move.

  As shown in FIG. 4, a latch unit 36 is provided at the center of the rotational end of the tailgate 3. The latch unit 36 is turned off when the tailgate 3 reaches the position B1 ′ immediately before the full-close position B1 before the full-close position B1 during the tailgate closing operation and is output to the tailgate ECU 35 (hereinafter referred to as latch SW). 37). Here, the tailgate ECU 35 rotates the latch motor 38 in the pull-in direction in response to an OFF signal of the latch SW37. At this time, a latch (not shown) connected to the latch motor 38 is engaged with a striker 39 (see FIG. 1) facing the tail motor 3 so that the tailgate 3 is pulled into the fully closed position B1 and locked. When the tailgate 3 is pulled and held in the fully closed position B1, a full latch switch 51 (hereinafter simply referred to as a full latch SW) 51 is switched according to this and an off signal is output to the tailgate ECU 35. To do. The latch motor 38 is stopped when the full latch SW 51 is turned on. The tailgate 3 is provided with a gate closing SW 41, which can output a closing signal to the tailgate ECU 35 when a signal for automatically closing the tailgate 3 from the open state is received in the same manner as the keyless SW.

Next, when the tailgate ECU 35 receives the latch release command, the tailgate ECU 35 rotates the latch motor 38 in the release direction, and releases the latch (not shown) connected to the latch motor 38 from the striker 39. As a result, the latch SW 37 is turned on, and the motor 12 is driven to open the tailgate 3.
A pair of left and right touch sensors 42 having a predetermined length are attached to both ends of the tailgate 3 on the indoor side. When a force in the opening direction is applied to the touch sensor 42 during the automatic closing operation of the tailgate, the operation can be detected and an ON signal can be output to the tailgate ECU 35. Further, a gate handle switch (hereinafter simply referred to as a gate handle SW) 45 that is turned on when the handle is operated is provided on the tailgate handle 46 in the center of the tailgate 3. The operation is detected and an on signal is sent to the tailgate ECU 35. Can output.

The tailgate ECU 35, which is a control unit of the automatic opening / closing device M for a vehicle opening / closing member, is connected to an on-vehicle equipment controller (hereinafter simply referred to as equipment operation ECU) 43 that controls the operation of the on-vehicle equipment through a signal line.
Here, both the tailgate ECU 35 and the equipment operation ECU 43 include a microprocessor (hereinafter referred to as a CPU), and a ROM, a RAM, a timer, and an I / O port are connected to the CPU. The ROM stores a control program, an arithmetic expression, map data, and the like for an automatic opening / closing control process and a tailgate sandwiching release control process, which will be described later, and the RAM can temporarily store data processed by the CPU. It is like that. The I / O port of the tailgate ECU 35 has two Hall ICs 33 and 34 as pulse signal output means, an inversion release switch (hereinafter simply referred to as inversion release SW) 44 for releasing inversion at the time of pinching, and a gate closing SW41. Then, detection signals are input from the latch SW 37, the full latch SW 51, the touch sensor 42 and the gate handle SW 45, and drive signals are output to the motor 12, the latch motor 38, and the buzzer 47 mounted in the tailgate 3 at appropriate times. The Further, the I / O port of the equipment operation ECU 43 includes a receiving unit 481 that receives the opening / closing command signals so and sc from the keyless transmitter SW48, a door lock switch (hereinafter simply referred to as a door lock SW) 49 for the driver door, and a vehicle. The detection signal is input from the speed sensor 52.

Here, the tailgate ECU 35 has a function as a door opening / closing control means. In particular, as shown in FIG. 3, a position detecting means A1, an opening / closing speed detecting means A2, an opening / closing direction detecting means A3, a pinching detection means at closing ( The first pinch detection means A4, the open pinch detection means (first pinch detection means) A5, the reverse operation means A6, and the early pinch detection means (second pinch detection means) A7 are provided.
The position detection means A1 integrates the pulse signal P1 input from the Hall IC 33 to detect an open / close position in the open / close region E of the tailgate 3, for example, a fully closed position B1 and a fully open position B2.

The opening / closing speed detecting means A2 is based on the cycle Tb of the pulse signal P1 (see FIG. 5A), that is, the rotational angular speed V of the motor 12 according to the number of counts per unit time of the pulse signal P1, in other words, the tailgate 3 Can be calculated. Here, the opening / closing speed detection means A2 has a function as an opening / closing angular acceleration detection means (drive speed calculation means) A2-a, and further calculates a change rate ΔV = (V _n −V _n−1 ) of the rotational angular speed V. From this, the rotational angular acceleration ΔV, in other words, the speed decrease amount ΔV of the tailgate 3 is calculated.

  The opening / closing direction detecting means A3 detects the rotation direction of the pinion gear 26, that is, the opening / closing direction of the tailgate 3, based on whether the signal level of the other P2 with respect to one P1 of the pulse signal is Lo or Hi. That is, as shown in FIG. 5B, when the pulse signal P2 of the second Hall IC at the rising time tu of the pulse signal P1 of the first Hall IC 33 is Hi, the rotation is unidirectional, and here the tail gate 3 is in the opening direction. Detecting the operation. As shown in FIG. 5C, when the pulse signal P2 of the second Hall IC at the rising time tu of the pulse signal P1 of the first Hall IC is Lo, rotation in the other direction is performed, and here, the tailgate 3 operates in the closing direction. Detect that it is inside.

When the tailgate 3 is closed in the opening / closing zone E, the closing-time pinching detection means (first pinching detection means) A4 falls below a predetermined pinching determination value βd, and then reverses in the opening direction. If it is, the pinching during the closing operation is detected.
Opening pinching detection means (first pinching detection means) A5 is such that the opening / closing speed V falls below a predetermined pinching determination value βu while the tailgate 3 is open in the opening / closing region E, and then reversely operates in the closing direction. And pinching during the opening operation is detected.

The reversing operation means A6 opens when the tailgate 3 is caught during the closing operation, and closes when the catching occurs during the opening operation. In this case, the reverse operation is set to stop when the reverse operation amount reaches the specified amount.
The early pinching detection means (second pinching detection means) A7 detects pinching when the speed reduction amount of the tailgate 3 becomes larger than the threshold value.
Next, the operation of the automatic opening / closing device M for a vehicle opening / closing member having such a structure will be described along the pinching release control routine of FIGS.

Prior to the pinch release control routine, the tailgate ECU 35 performs an automatic opening / closing control process by a main routine (not shown), and the pinch release control routine is executed by an interrupt process in the middle of the main routine.
Here, an automatic opening / closing control process of a main routine (not shown) will be schematically described. First, when the driver or the like receives an opening command signal so from the keyless transmitter SW48 via the equipment operation ECU 43 when the tailgate 3 is in the fully closed state, the ECU 43 determines that the vehicle speed Vc is equal to or less than the stoppage determination speed Vc0, and the door If the lock switch 49 is off, it is confirmed that the vehicle is stopped and the door is unlocked, the latch motor 38 of the latch unit 36 is released, and the engagement between the latch and the striker 39 is released.

When the tailgate 3 is at the fully closed position B1, which is the reference position, the counter of the integrated value of the pulse signal is reset. Thereby, the deviation between the integrated value of the pulse signal and the open / close position of the slide door can always be eliminated, the open / close position of the tailgate 3 can be detected with high accuracy, and automatic open / close control with high accuracy can be performed.
When the tail gate 3 reaches the position B1 ′ immediately before full closing, the latch SW 37 is turned on, the latch motor 38 is stopped, the gate closing SW 41 is turned on, the motor 12 is rotationally driven in the opening direction, and the tail gate 3 is opened. In operation, one of the pulse signals P1 is counted in the open / close area E, and when the fully open position B2 is counted, the driving of the motor 12 is stopped. The buzzer 47 is turned on only while the motor 12 is being driven.

  Conversely, when the close command signal sc from the keyless transmitter SW48 is received via the equipment operation ECU 43 or when the on operation of the gate close SW41 is detected, the gate ECU 35 rotates the motor 12 in the closing direction and the buzzer 47 is turned on. To do. One of the pulse signals P1 is counted in the open / close region E, the position B1 'immediately before the pulse is fully closed is counted, and when the latch switch 37 is turned off, the driving of the motor 12 is stopped and the latch motor 38 is rotated in the retracting direction. A latch (not shown) is engaged with the striker 39, the tailgate 3 is pulled in and locked at the fully closed position B1, the full latch SW51 outputs an ON signal, the door fully closed state is confirmed, and the latch motor 38 is stopped.

The operation of the automatic opening / closing device M for a vehicle opening / closing member performed while such a steady operation is being performed will be described along the pinching release control routine of FIGS.
When step s1 of the pinching release control routine is reached, the opening / closing command signals so and sc from the keyless transmitter SW48 input via the equipment operation ECU 43 are received, the vehicle speed Vc is equal to or less than the stoppage determination speed Vc0, and the door lock switch 49 If is OFF, it is determined whether the vehicle is stopped and the door is unlocked. Otherwise, the control here is returned to the main routine. When step s2 is reached when the vehicle is stopped, the reverse release SW is turned on and the control here is returned to the main routine. Otherwise, the routine proceeds to step s3, where it is determined whether the automatic closing operation is currently in progress. In this case, as shown in FIG. 5C, when the pulse signal P2 at the rising time tu of the pulse signal P1 is Lo, it is detected that the tailgate 3 is operating in the closing direction, and the process proceeds to step s4, and FIG. As shown, when the pulse signal P2 at the rise time of the pulse signal P1 is Hi, it is detected that the tailgate 3 is operating in the opening direction, and the process proceeds to step s5 (see FIG. 7).

When the process proceeds to step s4 during the closing operation, the absolute value | V | of the opening / closing speed is calculated according to the count value of the pulse signal P1 per one cycle Tb shown in FIG. Further, the change rate ΔV = (V _n −V _n−1 ) of the opening / closing speed, that is, the speed reduction amount ΔV of the tailgate 3 is calculated from the difference between the previous opening / closing speed V _n−1 and the current value V _n. Store. In step s6, if the speed decrease amount ΔV exceeds the pinching detection threshold value α due to the speed change, the process proceeds to step s7, and if the change is small, the process proceeds to step s8. If the speed drop amount ΔV of the tailgate 3 is large, that is, if it exceeds the pinching detection threshold value α due to sudden deceleration, it is determined that pinching has occurred, pinching is confirmed in step s7, an alarm is given by the buzzer 47, and the current closing is performed in step s9 Since the motor 12 is in operation, the motor 12 is driven so as to reversely operate the tailgate 3 to the open operation, and this control is finished.

  On the other hand, if the speed drop amount ΔV of the tailgate 3 is small in step s6, that is, if the pinch detection threshold value α has not been reached, the process proceeds to step s8. It is determined whether or not it falls below the minimum speed βd for pinching detection. If it falls below, it is regarded as a pinching state, and the process proceeds to steps s7 and s9. If the opening / closing speed V has not reached the minimum speed βd, the process proceeds to step s11. When step s11 is reached, as shown in FIG. 5 (b), when the pulse signal P2 at the rising edge of the pulse signal P1 is Hi and the tailgate 3 is operating in the opening direction, that is, the tailgate is closed. If it is operating in the opening direction regardless of the time, it is considered that the tailgate is forcibly pushed open, and it is determined that the sandwiched state of the tailgate 3 continues. Also in this case, the process proceeds from step s11 to steps s7 and s9, the motor 12 is reversely operated, and the control of this time is finished. That is, when the tailgate 3 falls into a state in which a person or a load is caught, a person who sees the tailgate 3 manually pushes back the tailgate 3 to cancel the occurrence of the pinching, and the magnet clutch slides to open. As shown in FIG. 5B, even when the pulse signal P2 at the rising time tu of the pulse signal P1 is detected as Hi, the tailgate ECU 35 continues to be sandwiched by the tailgate 3 during the closing operation. As a result, the tailgate 3 can be reliably reversed in the opening direction, so that it is possible to safely and reliably avoid the trapping of people and luggage by the tailgate 3.

When the closing operation is detected in step s11, it is determined that the steady closing operation is being performed, and this control is terminated.
On the other hand, if the automatic closing operation is not performed from step s3, the process proceeds to step s5. Here, whether or not the automatic opening operation is being performed, that is, as shown in FIG. 5B, the pulse signal P2 at the rising time tu of the pulse signal P1. When Hi is detected, it is detected that the tailgate 3 is operating in the opening direction, and the process proceeds to step s12. Otherwise, the process returns to the main routine.

Next, when the tailgate 3 is in the opening operation and the process proceeds to step s12, the change rate ΔV = of the opening / closing speed based on the absolute value | V | of the opening / closing speed and the difference between the previous opening / closing speed V _n−1 and the current value V _n. The speed reduction amount ΔV of the tailgate 3 that is (V _n −V _n−1 ) is calculated and stored. In step s13, if the speed decrease amount ΔV exceeds the pinching detection threshold value α, the process proceeds to step s15 if the change is small in step s14. The speed drop amount ΔV of the tailgate 3 is large, that is, if the tailgate 3 interferes with an external obstacle, or if a foreign object is caught between the obstacle, the tailgate 3 suddenly decelerates to detect the jamming. Since it exceeds the value α, it is determined that the jamming has occurred, the jamming is confirmed in step s14, an alarm is given in the buzzer 47, and the motor 12 is driven so as to reverse the tailgate 3 that is open in the closing operation in step s16. Then, this control is finished.

  On the other hand, when the speed decrease amount ΔV of the tailgate 3 is small in step s13 and the process proceeds to step s15, the opening / closing speed V of the tailgate 3 is further increased between the interference with the obstacle at the time of the chain opening and the obstacle. It is determined whether or not the speed falls below the minimum speed βu for detecting a state in which a foreign object is sandwiched. If the speed is lower than that, it is regarded as an interference with an obstacle or a sandwiched state, and the process proceeds to steps s14 and s16. This control is terminated.

  When the opening / closing speed V of the tailgate 3 does not fall below the minimum speed βu, the routine proceeds to step s18 in a steady state. When step s18 is reached, as shown in FIG. 5 (c), when the pulse signal P2 at the rising edge of the pulse signal P1 is Lo and the tailgate 3 is operating in the closing direction, that is, the tailgate is opened. If the tailgate is operated in the closing direction despite the operation, it is considered that the tailgate is forcibly pushed back, and the tailgate 3 interferes with the obstacle, or a foreign object is caught between the obstacles. Is determined to continue. Also in this case, the process proceeds to steps s14 and s16, the motor 12 is reversely operated, and the control of this time is finished. That is, when the tailgate 3 interferes with an obstacle when the chain is opened or falls into a state in which a foreign object is sandwiched between the tailgate 3 and the tailgate 3 manually, the tailgate 3 is forcibly released from being caught. The magnet clutch 14 slides by pushing back, and the closing operation is performed even when the pulse signal P2 at the rising time tu of the pulse signal P1 is detected as Lo as shown in FIG. 5C. Assuming that the tailgate 3 being operated is kept being sandwiched, the tailgate 3 is reliably reversed in the closing direction to cause interference with the obstacle by the tailgate 3 or foreign matter between the obstacles. Can be safely and reliably avoided. When the opening operation is detected in step s18, it is determined that the steady opening operation is being performed, and this control is terminated.

  As described above, in the automatic opening / closing device M for the vehicle opening / closing member in FIG. 1, when the tailgate 3 is closed in the opening / closing region E, the speed decrease amount ΔV during the opening / closing operation of the tailgate 3 If it increases rapidly and the foreign object is caught at the time of opening or closing, or it is quickly judged that the object is in interference with the foreign object, the reversing operation means A6 performs the reversing operation of closing or opening the tailgate 3 and the foreign object is caught. And interference with foreign objects can be quickly released. In particular, it is possible to detect foreign object pinching relatively early by the early pinch detection means A7 prior to the closing pinch detection means A4 or the open pinch detection means A5.

  Furthermore, when the closing speed V is lower than a predetermined pinching determination value βd and reversely operates from closing to opening, that is, when the tailgate 3 is forcibly manually pushed back to avoid pinching, The tail gate 3 in the closing operation can be reversed to the opening operation to prevent the tail gate 3 from pinching foreign matter. Similarly, when the tailgate 3 is opening in the open / close region E, the opening speed V falls below a predetermined pinching determination value βu and reversely operates from opening to closing, that is, between the tailgate 3 and an external obstacle. If the tailgate 3 is forcibly manually pushed back when a foreign object is caught between them, the tailgate 3 in the open operation is reversed to the closed operation, and the tailgate 3 and an external obstacle Can prevent foreign matter from being caught between the two.

  In the above description, the vehicle opening / closing member has been described as the tailgate 3. However, the present invention is not limited to this, and the present invention is also applied to doors used for side doors, sunroofs, etc. provided in wagon cars and one-box cars. An automatic opening / closing device for a vehicle opening / closing member can be applied in the same manner, and substantially the same operational effects can be obtained.

1 is a cutaway perspective view of a main part of a rear body of a wagon vehicle to which an automatic opening / closing device for a vehicle opening / closing member according to an embodiment of the present invention is applied. It is a principal part front view of the opening / closing drive part used with the automatic opening / closing apparatus of the vehicle opening / closing member of FIG. FIG. 2 is a functional block diagram of a tailgate ECU used in the automatic opening / closing device for the vehicle opening / closing member of FIG. 1. It is a schematic block diagram of the control system of the automatic opening / closing apparatus of the vehicle opening / closing member of FIG. It is explanatory drawing of the output pulse of Hall IC used with the automatic opening / closing apparatus of the vehicle opening-and-closing member of FIG. 1, (a) is a change of the pulse number per period, (b) is a pair of when the tailgate is opened. (C) is a waveform diagram showing the relative phase change characteristics of a pair of pulses when the tailgate is closed. 2 is a partial flowchart of a pinch release control routine performed by the automatic opening / closing device for a vehicle opening / closing member in FIG. 1. FIG. 3 is a flowchart of another part of a pinch release control routine performed by the automatic opening / closing device for the vehicle opening / closing member of FIG. 1. FIG. It is a flowchart of the pinching cancellation | release control routine of the conventional automatic opening / closing apparatus.

Explanation of symbols

1 vehicle 2 rear opening (opening)
3 Tailgate (opening / closing member)
9 Opening and closing drive part (drive means)
12 Motor 33, 34 Hall IC (pulse signal output means)
35 Tailgate ECU (control means)
43 Equipment operation ECU
α Pinching determination deceleration value βd, βu Pinching determination value A1 Position detection means A2 Opening / closing speed detection means (operation speed detection means)
A3 Open / close direction detection means A4 Closed pinching detection means (first pinching detection means)
A5 Opening pinching detection means (first pinching detection means)
A6 Reverse operation means A7 Early pinching detection means (second pinching detection means)
A2-a Opening / closing angular acceleration detecting means M Automatic opening / closing device for opening / closing member for vehicle P1, P2 Pulse signal Tb Period of pulse signal ΔV = (V _n −V _n−1 ) Velocity decrease amount during opening / closing operation V Opening / closing speed

Claims (3)

An opening and closing member provided to be opened and closed at an opening of the vehicle;
Driving means for driving the opening and closing member at least in the opening direction or the closing direction;
A pinching detection means for detecting pinching by the opening and closing member when the opening and closing member is displaced in a direction opposite to the driving direction during driving of the opening and closing member;
Reversing operation means for reversing the driving direction of the opening and closing member;
An automatic opening / closing device for a vehicle opening / closing member, comprising: control means for controlling the reversing operation means based on an output from the pinching detection means. An operating speed detecting means capable of detecting the operating speed of the opening and closing member;
The control means detects that the operating speed of the opening / closing member detected by the operating speed detecting means exceeds a predetermined operating speed, and that the opening / closing member is displaced in a direction opposite to the driving direction by the pinching detection means. 2. The automatic opening / closing device for an opening / closing member for a vehicle according to claim 1, wherein the reverse operation means is controlled so as to reverse the driving direction of the opening / closing member. Driving speed calculating means for calculating a driving speed decrease amount of the opening and closing member based on a detection result of the operating speed detecting means;
Second pinching detection means for detecting foreign object pinching by the opening and closing member based on the driving speed decrease amount by the driving speed calculation means,
The control means controls the reversing operation means so that the driving direction of the opening and closing member is reversed when the pinching by the opening and closing member is detected by the second pinching detection hand throw. Automatic opening / closing device for vehicle opening / closing member.

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