JP2008044467A - Vehicle seat belt device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle seat belt device capable of preventing unexpected restraining actuation immediately after the start of target position follow-up control when a belt is controlled at a target position by occupant holding control. <P>SOLUTION: This vehicle seat belt device 10 is provided with a belt reel 22, a motor 23 pulling in the belt 13, a winding position detecting section 25 detecting the winding position of the belt reel, a vehicle travelling state determination section 62, and a control device 26 controlling the driving amount of the motor by controlling a current-carrying amount to the motor based on an output signal from vehicle travelling state determination, and inputting a detection signal from the winding position detecting section and executing holding control on the belt reel at a prescribed winding position, thereby holding an occupant by the belt. The control device 26 limits the current-carrying amount to the motor to not more than a prescribed value for a prescribed time after the reception of a signal from the vehicle travelling state determination section, thereby preventing unexpected restraining actuation. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a vehicle seat belt device, and more particularly to a vehicle seat belt device that restricts restraint at the start of control of occupant holding control to reduce a sudden feeling of operation.

  With regard to seat belt devices equipped to protect occupants in vehicle seats, in recent years, a technology that suppresses posture changes by restraining occupants with belts in an emergency or when running conditions are unstable has been put into practical use. Has been.

As a prior art disclosing a seat belt device, there is a system described in Patent Document 1 below. Patent Document 1 discloses an occupant restraint protection system that performs control in consideration of the situation of the host vehicle, and more efficiently performs restraint protection for the occupant.
JP 2004-291967 A

  BACKGROUND ART A vehicle seat belt device includes an electric pretensioner that includes a belt reel that winds a belt and a motor that drives the belt reel to retract the belt. According to the seat belt device of this vehicle, when detecting a predetermined traveling state that normally requires restraint control, the control device drives the motor and winds the belt to the target position with the belt reel in accordance with the traveling state. Take and restrain the crew. In the case of this restraint control, if the control is suddenly performed to the target position, the belt tension increases momentarily or the feeling of movement becomes stronger due to the removal of the belt slack, which gives the passenger discomfort. Increase.

  In order to solve the above problem, for example, a tension sensor for detecting the belt tension may be separately provided to optimize the belt tension applied to the occupant. However, providing the tension sensor separately increases the cost. Invite. In addition, even if a tension sensor is attached and occupant holding control is performed, detection errors, control time delays, etc. may occur, giving unnecessary occupant force to the occupant or insufficient restraint force. Also occurs.

  In view of the above problems, the object of the present invention is to prevent a sudden restraint operation immediately after the start of the target position tracking control or immediately after the restart of control when the belt is controlled to the target position by the occupant holding control. An object of the present invention is to provide a vehicle seatbelt device that can reduce control discomfort and reduce a sudden feeling of operation.

  In order to achieve the above object, a vehicle seat belt apparatus according to the present invention is configured as follows.

  A seat belt device for a first vehicle (corresponding to claim 1) includes an electric pretensioner including a belt reel that winds the belt, and a motor that drives the belt reel to retract the belt. A winding position detecting means for detecting the winding position of the belt reel, a traveling state determining means for determining that the traveling state of the vehicle has changed to a predetermined state, and a signal output from the traveling state determining means to the motor Control means for controlling the drive amount of the motor by controlling the energization amount of the motor, and for controlling the holding of the belt reel at the predetermined winding position by inputting the detection signal from the winding position detecting means and holding the occupant by the belt And. In the above configuration, the control means limits the motor energization amount for a predetermined time after receiving a signal from the traveling state determination means to a predetermined value or less. Immediately after the control means starts the target position follow-up control or immediately after the control is resumed, the energization amount of the motor is limited for a predetermined time, so that no sudden restraint operation is performed.

  The seat belt device of the second vehicle (corresponding to claim 2) has the same configuration as the seat belt device of the first vehicle, and the control means is energized after receiving a signal from the traveling state judging means. When the amount converges to a predetermined value, the energization amount when driving the motor to a predetermined winding position is limited to a predetermined value or less.

  The third vehicle seat belt device (corresponding to claim 3) has the same configuration as that of the first vehicle seat belt device, and the control means receives the signal from the traveling state determination means and then winds the vehicle. When the take-up position converges to a predetermined range, the amount of energization when driving the motor to the predetermined take-up position is limited to a predetermined value or less.

  The fourth vehicle seat belt device (corresponding to claim 4) is the above-described first to third vehicle seat belt device, in which the vehicle running state change and the belt withdrawal occur simultaneously when the energization amount is limited. Is characterized in that the restriction of the energization amount is released and the winding operation is performed to the target position.

  According to the present invention, in a vehicle seat belt apparatus including an electric pretensioner including a belt reel and a motor, the control means includes a motor energization amount immediately after starting target position tracking control and immediately after restarting control. Is limited to a predetermined time, or the energization amount when driving the motor to a predetermined winding position is limited to a predetermined value or less, so that it is possible to prevent sudden restraint operation, thereby reducing the discomfort of restraint control. , Can reduce the sudden feeling of operation.

  DESCRIPTION OF EMBODIMENTS Preferred embodiments (examples) of the present invention will be described below with reference to the accompanying drawings.

  FIG. 1 shows, as an example, a state in which a seat belt device is installed in a driver's seat, FIG. 2 shows a configuration of a retractor for a seat belt, and FIG. 3 shows an overall configuration of a control system for a vehicle seat belt device.

  In FIG. 1, a seat belt device 10 includes a belt (webbing) 13 that restrains the body of an occupant 11 to a seat 12. The belt 13 includes a belt portion 13 a that restrains the upper body of the occupant 11 and a belt portion 13 b that restrains the waist of the occupant 11. One end of the belt portion 13b is fixed to the vehicle body portion at the lower part of the passenger compartment by an anchor plate 14. The belt portion 13 a is folded back by a through anchor 15 provided near a shoulder of the occupant 11, and an end portion thereof is connected to a belt reel of the retractor 16. A tongue plate 17 is attached to the other common end of the belt 13. The tongue plate 17 is detachably attached to a buckle 18 fixed to the lower edge of the seat 12. The buckle 18 is provided with a buckle switch 19 that detects the connection of the tongue plate 17.

  FIG. 2 shows a main configuration of the seat belt retractor 16. The retractor 16 includes a belt reel (spindle) 22 that is rotatably provided in the housing 21 and a motor 23 that rotationally drives the belt reel 22. The belt reel 22 is coupled to the end of the belt portion 13 a of the belt 13, and the belt portion 13 a is wound around the belt reel 22. The shaft 22 a of the belt reel 22 is connected to the drive shaft 23 a of the motor 23 via a power transmission mechanism (gear mechanism) 24. The belt reel 22 is rotationally driven by a motor 23 via a power transmission mechanism 24. The retractor 16 includes a winding position detector 25 connected to the shaft 22a of the belt reel 22.

  When the motor 23 rotates forward in the above, the belt 13 (belt portion 13a) is drawn and wound on the belt reel 22. When the motor 23 reverses, the belt reel 22 rotates to send out the belt 13 (belt portion 13a). By pulling the belt 13 by the rotation of the belt reel 22, the belt tension is increased and the restraint of the occupant 11 is increased. By feeding the belt 13 by the rotation of the belt reel 22, the belt tension is lowered and the restraint of the occupant 11 is eased. In this way, the position and posture holding control of the occupant 11 in the seat 12 is performed.

  The winding position detection unit 25 is preferably configured using a rotation angle sensor. For example, a magnetic sensor formed by combining a magnetic disk and two Hall ICs is used as the rotation angle sensor. The minimum resolution angle of the rotation angle sensor is, for example, 4 °, and is about 1.3 to 1.6 mm when converted into the belt length. As the winding position detection unit 25, a belt length sensor can be used instead of the rotation angle sensor.

  According to the winding position detection unit 25, it is possible to detect the belt winding position by the belt reel 22 by detecting the rotation angle of the belt reel 22 with a built-in rotation angle sensor. A detection signal output from the winding position detection unit 25 is input to the control device 26. The operation of the retractor 16 is controlled by the control device 26. The control device 26 controls the belt winding operation by the retractor 16 by controlling the energization amount of the drive current I1 supplied from the power source 27 to the motor 23 by the energization amount adjusting unit 28. The retractor 16 controlled by the control device 26 is configured as an electric pretensioner for maintaining the position and posture of the occupant 11.

  The seat belt device 10 and the retractor 16 included therein are devices on the driver's seat side, but the same seat belt device and retractor are also provided on the passenger seat side. In the following, the “R side” is the driver seat side, and the “L side” is the passenger seat side.

  With reference to the block diagram of FIG. 3, the control system of the seat belt device 10 and the like will be described from the viewpoint of hardware.

  In FIG. 3, the control device 26 described above is composed of a CPU. A block 30 including the control device 26 represents an electric pretensioner unit for holding the position / posture of the occupant 11 by a seat belt. The block 30 includes a power source 31, an in-vehicle network (CAN) communication unit 32, a rotation angle interface (rotation angle I / F) unit 33, and a communication unit 34 on the input side of the control device (CPU) 26, and on the output side thereof. An R-side motor drive control unit 35, an L-side motor drive control unit 36, and a recording unit 37 are provided. The recording unit 37 is a memory that stores data and a control program.

  Further, on the input side of the block 30, a block showing the above retractor 16 is provided as an example of a seat belt retractor. The retractor 16 includes a rotation angle interface (rotation angle I / F) unit 41 for transmitting a detection signal output from the winding position detection unit 25 described above to the control device 26. The rotation angle interface unit 41 is connected to the rotation angle interface unit 33 in the block 30 and sends a detection signal to the rotation angle interface unit 33. The retractor 16 is provided for each of the driver's seat side and the passenger seat side.

  The input side of the block 30 further includes an ACC (Adaptive Cruise Control) unit (control unit such as an obstacle detection device) 42, a VSA (Vehicle Stability Assist) unit (vehicle behavior stabilization control unit) 43, FI / AT ( A Fuel Injection / Automatic Transmission (44) unit, an SRS (Supplement Restraint System) unit (auxiliary restraint device unit) 45, and the like are provided. These input side elements include a vehicle running state detection unit such as a vehicle speed sensor. The ACC unit 42, the VSA unit 43, the FI / AT unit 44, and the like supply their output signals to the in-vehicle network communication unit 32 through the in-vehicle network 46. The SRS unit 45 includes an SRS control unit 45a that receives signals from the R-side buckle 47R and the L-side buckle 47L, and a communication unit 45b. Here, the R-side buckle 47R corresponds to the buckle 17 on the driver's seat side, and the L-side buckle 47L is a buckle of a seat belt device equipped on the passenger seat side. Each signal output from the R side buckle 47R and the L side buckle 47L is a detection signal of a built-in buckle switch. When receiving a signal from the R side buckle 47R or the L side buckle 47L, the SRS control unit 45a transmits the signal to the communication unit 32 of the block 30 via the communication unit 45b. Further, the SRS unit 45 supplies a warning signal to the warning lamp 48 when the seat belt is not normally used when the vehicle is traveling.

  An R-side motor 51 and an L-side motor 52 are provided on the output side of the block 30. The R-side motor 51 is a driving motor for the seat belt device 10 on the driver's seat side, and is disposed corresponding to the R-side motor drive control unit 35. The R-side motor drive control unit 35 controls the energization amount from the power source (+ V) 27 based on a control command signal from the control device 26 and supplies a drive current to the R-side motor 51. The block 53 is a grounding part. The L-side motor 52 is a driving motor for the seat belt device 10 in the passenger seat, and is disposed corresponding to the L-side motor drive control unit 36. The L-side motor drive control unit 36 controls the energization amount from the power source (+ V) 54 based on a control command signal from the control device 26 and supplies a drive current to the L-side motor 52. The block 55 is a grounding part. The grounding portions 53 and 55 are grounding terminals that form part of the vehicle body.

  FIG. 4 is a functional block diagram conceptually showing the basic configuration of the control system of the seatbelt device 10 according to the present embodiment. This control system includes, as main elements, the winding position detection unit 25, the vehicle travel state detection unit 61, the vehicle travel state determination unit 62, the seat belt device control unit 63, and the belt drive unit 64 described above. Has been.

  The vehicle running state detection unit 61 includes a plurality of various sensors such as a vehicle body longitudinal acceleration sensor, a vehicle body lateral direction (lateral direction) acceleration sensor, a vehicle speed sensor, a steering angle sensor, a wheel speed sensor, a roll angle sensor, and a turning direction sensor. At least one of them is used.

  The vehicle travel state determination unit 62 is realized by the arithmetic processing function of the control device (CPU) 26 described above, and compares the detection signal supplied from the vehicle travel state detection unit 61 with a reference value prepared in advance. Judgment processing about the running state of the car is performed.

  The seat belt device control unit 63 includes the arithmetic processing function of the control device (CPU) 26 described above, and an R side motor drive control unit 35 and an L side motor drive control unit 36. The belt driving unit 64 is the retractor 16 described above, and more specifically, the R side motor 51 and the L side motor 52 described above.

  Next, an example of operation control of the seat belt device 10 performed by the seat belt device control unit 63 based on the configuration of the control system shown in FIG. 4 will be described with reference to the flowchart shown in FIG. The flowchart of FIG. 5 shows the flow of control operation after the occupant 11 is seated on the seat 12, the belt 13 is attached to his / her body, the tongue plate 17 is connected to the buckle 18, and the buckle switch 19 is turned on. . In this example, an example of the R-side motor 51 will be described.

  When the occupant 11 sits on the seat 12, the belt 13 is wound around the body, and the tongue plate 17 is coupled to the buckle 18 (R side buckle 47R), the belt 13 is attached to the occupant 11 body. At this time, the buckle switch 19 is turned on (step S11).

  In the seat belt device 10 in which the belt is mounted on the body of the occupant 11, as a basic operation, personal information and setting information of the occupant 11 are acquired in step S12. It is assumed that the occupant information and the setting information are prepared in advance and stored in the recording unit 37 shown in FIG. Crew information includes gender information, physique information, and the like. The setting information is information set as a preference according to the intention of the occupant 11.

  In subsequent steps S13 and S14, based on the acquired occupant information and setting information, the R-side motor 51 is operated to perform the belt winding operation by the belt reel 22 (step S13). Adjustment is performed until it becomes satisfactory (step S14). If YES is determined in determination step S14, the reference position is stored (step S15). Data relating to the reference position is stored in the recording unit 37 described above.

  Next, in determination step S16, it is determined whether or not there is a change in the traveling state of the vehicle. If the determination in step 16 is NO, the control operation flow ends immediately. If the determination is YES, step S17 and subsequent steps are executed.

  The determination step S16 for confirming a change in the traveling state of the vehicle is periodically executed while the vehicle is traveling and the appropriate holding operation control of the seat belt device 10 is required.

  The determination in the determination step S16 is performed by the vehicle travel state detection unit 61 and the vehicle travel state determination unit 62. Various contents of the vehicle running state determined in the determination step S16 are included. “Vehicle running state” includes, for example, a change in normal driving state such as a slightly large steering operation / accelerator operation, in addition to an emergency state such as skidding and sudden deceleration. There is also a traveling state in which the occupant is swung from side to side. For example, when the lateral acceleration is greater than or equal to a predetermined value (and is preferably a value such that the lock mechanism does not operate. The lock mechanism operates at about 0.35 to 0.45 G), the steering operation has exceeded a predetermined level. Or when the wheel slips during turning. Note that the steering operation described above includes not only an occupant's operation but also a change in driving direction due to automatic steering and external force.

  When it is determined in the determination step S16 that “the vehicle driving state has changed”, a target position corresponding to a seat belt restraint state set in advance corresponding to the change in the vehicle driving state is set (step S16). S17). In a normal case, since the running state of the vehicle becomes unstable and an emergency state occurs, the target position is set in the direction of increasing the belt restraint. When the target position is set in step S17, a motor holding current for controlling the winding operation of the R-side motor 51 is determined so as to correspond to the target position.

  The motor energization amount to the R-side motor 51 that determines the motor holding current is limited to a predetermined value or less for a predetermined time at this stage (step S18). The motor energization amount is limited by, for example, fixing the energization amount (fixing the PWM duty to a predetermined value) or changing the energization amount within a predetermined range.

  In the next step S19, the control of the holding current for changing the belt winding amount by the R-side motor 51 is started on the premise that the energization amount restriction is valid based on step S18.

  As a basic operation example of the seat belt device 10, when holding control is executed, the R-side motor 51 is driven with a required energization amount, whereby the belt reel 22 winds up the belt portion 13 a of the belt 13, The belt portion 13 a is pulled into the retractor 16. By maintaining the required motor energization amount of the R-side motor 51 as a holding current, the belt winding amount is set at a desired target position.

  In the case of the present embodiment, in the initial state, the motor energization amount is limited for a predetermined time, and the holding current is limited.

  More specifically, with respect to the control of the holding current for setting the target position, as shown in FIG. 5, the “current value” determined by the holding current as the control target is stabilized to the “target position” by steps S20 to S30. Control continues until the states match.

  In determination step S20, it is determined whether or not a predetermined time has elapsed. In the case of YES at determination step 20, the energization amount restriction is invalidated (step S21). As a result, the restriction on the motor energization amount, that is, the holding current is released, and normal holding current control can be performed. Thereafter, the process proceeds to determination step S22.

  If NO in step S20, the process proceeds to determination step S22. In determination step S22, it is determined whether or not the current value does not match the target position.

  When the current value does not coincide with the target position in the determination step S22 (YES), it is determined in the next determination step S23 whether or not there is a running state change. If YES in the determination step S23, the process proceeds to step S24. In step S24, the energization amount restriction is invalidated. Thereafter, the process proceeds to determination step S25.

  If the determination step S23 is NO, the process proceeds to the next determination step S25. In determination step S25, the magnitude relationship between the current value and the target position is determined. When the current value is smaller than the target position, the motor energization amount is increased (step S26), and when the current value is larger than the target value, the motor energization amount is decreased (step S27). Thereafter, the process proceeds to determination step S28.

  When the current value matches the target position in the determination step S22 (NO), it is determined in the determination step S29 whether or not there is “convergence”. The determination of convergence is performed using either “motor energization amount information” or “belt winding position information”. If YES in the determination step S29, the process proceeds to step S30. In step S30, the energization amount restriction is enabled. Thereafter, the process proceeds to determination step S28. If NO in determination step S29, the process immediately proceeds to determination step S28.

  In determination step S28, it is determined whether or not the running state of the vehicle is stable. If the running state is not stable, the process returns to step S22, and the above steps S22 to S30 are repeated. While the running state is not stable, control for matching the current value with the target position is performed.

  When it is determined in the determination step S28 that the traveling state is stable, the process proceeds to the next determination step S31. In the determination step 31, it is determined whether or not a lock mechanism (not shown) is operating in the retractor 16 of the seat belt device 10. When the lock mechanism is not operated, the process proceeds to the end terminal. When the lock mechanism is activated, the process proceeds to the end terminal after executing the lock release control (step S32). Although not shown in FIG. 2, the lock mechanism is usually provided in association with the shaft 22 a of the belt reel 22.

  When the vehicle is traveling and proper operation control of the seat belt device 10 is necessary, the above control process is continued.

  As described above, the electric pretensioner using the R-side motor 51 is configured. The position and posture of the occupant 11 are properly maintained by the electric pretensioner.

  In the control shown in FIG. 5, when belt holding control is performed at the target position, the motor energization amount is limited during the initial predetermined time at the start of the control, and control for reducing discomfort is performed. Thereafter, normal holding current control is performed.

  According to the discomfort reduction control at the start of control in the holding control, first, the energization amount for a predetermined time after receiving the detection signal from the vehicle running state determination unit 62 is limited to a predetermined value or less. That is, the motor energization amount is limited for a predetermined time immediately after the seat belt device controller 63 starts the target position tracking control or immediately after the control is resumed.

  Secondly, after receiving the detection signal from the vehicle running state determination unit 62 and when the energization amount has converged to a predetermined value (using the information of the motor energization amount in step S29), to the predetermined winding position The energization amount when driving the motor is limited to a predetermined value or less (step S30).

  Third, after receiving the detection signal from the vehicle running state determination unit 62 and when the winding position converges to a predetermined range (using the information on the winding position in step S29), the predetermined winding position The energization amount when driving the motor is limited to a predetermined value or less (step S30).

  As described above, it is possible to prevent a sudden restraining operation when the seat belt device 10 starts up in the holding control.

  FIG. 6 is a graph showing an image of discomfort reduction control. In the coordinate system of FIG. 6, the horizontal axis represents time, and the vertical axis represents current indicating the motor energization amount. The time point 0 on the time axis is a time point when the target position is set under the premise of “change in running state”. In the graph, the time interval T1 is a predetermined time during which the discomfort reduction control is performed. Thereafter, normal holding current control in which the energization amount restriction is disabled is performed.

  Next, a modified example of the control flow will be described with reference to FIG. In this control flow, the content of “with running state change” is, for example, “lateral G> | 0.35G |” (determination step S41). In the determination step S41, the flow is shown only after YES, and in the case of NO, it is omitted for convenience of explanation. If YES in determination step S41, the above-described discomfort reduction control is executed in next step S42.

  In the next stage, it is determined in determination step S43 whether or not there is belt withdrawal. If YES in determination step S43, the holding current supplied to the motor is increased (step S44). When it is determined NO in determination step S43, the motor energization amount holding control is stopped (step S45). Thereafter, the reverse rotation operation of the start-up control motor is executed (step S46).

  According to the above control, when the motor energization amount is restricted based on the discomfort reduction control, in addition to the change in the running state of the vehicle, if the belt pullout occurs simultaneously, the restriction on the motor energization amount is canceled and the target is released. The winding operation is performed to the position.

  The configurations, shapes, sizes, and arrangement relationships described in the above embodiments are merely schematically shown to the extent that the present invention can be understood and implemented. Therefore, the present invention is not limited to the described embodiments, and can be variously modified without departing from the scope of the technical idea shown in the claims.

  The present invention is used in a vehicle seat belt device to prevent abrupt restraint control from being performed at the start of holding control such as immediately after the start of target position tracking control.

It is a side view which shows the mounting state of the seatbelt apparatus in a vehicle. It is a figure which shows the principal part structure of the retractor of the seatbelt apparatus which concerns on embodiment of this invention. 1 is a block diagram illustrating an overall configuration of a control system for a seat belt device according to the present embodiment. It is a block diagram which shows the principal part structure of the control system of the seatbelt apparatus which concerns on this embodiment. It is a flowchart which shows the basic operation control of the seatbelt apparatus which concerns on this embodiment. It is a graph which shows the image of discomfort reduction control in this embodiment. It is a flowchart which shows the other control flow of operation control of the seatbelt apparatus which concerns on this embodiment.

Explanation of symbols

10 Seat belt device 11 Crew 12 Seat
13 Belt 16 Retractor
22 Belt reel 23 Motor 25 Winding position detector 26 Controller (CPU)
61 Vehicle running state detection unit 62 Vehicle running state determination unit 63 Seat belt device control unit

Claims (4)

In a vehicle seat belt apparatus including an electric pretensioner including a belt reel that winds up a belt and a motor that drives the belt reel and pulls in the belt.
Winding position detection means for detecting the winding position of the belt reel;
Traveling state determining means for determining that the traveling state of the vehicle has changed to a predetermined state;
Based on the signal output from the running state determination means, the amount of power supplied to the motor is controlled to control the drive amount of the motor, and the detection signal from the winding position detection means is input to control the belt reel. Holding control at a predetermined winding position, and a control means for holding an occupant by the belt,
The control means limits the energization amount for a predetermined time to a predetermined value or less after receiving a signal from the traveling state determination means. In a vehicle seat belt apparatus including an electric pretensioner including a belt reel that winds up a belt and a motor that drives the belt reel and pulls in the belt.
Winding position detection means for detecting the winding position of the belt reel;
Traveling state determining means for determining that the traveling state of the vehicle has changed to a predetermined state;
Based on the signal output from the running state determination means, the amount of power supplied to the motor is controlled to control the drive amount of the motor, and the detection signal from the winding position detection means is input to control the belt reel. Holding control at a predetermined winding position, and a control means for holding an occupant by the belt,
The control means receives a signal from the traveling state determination means and when the energization amount converges to a predetermined value, the energization amount when driving the motor to the predetermined winding position is a predetermined value. A vehicle seat belt device, which is limited to the following. In a vehicle seat belt apparatus including an electric pretensioner including a belt reel that winds up a belt and a motor that drives the belt reel and pulls in the belt.
Winding position detection means for detecting the winding position of the belt reel;
Traveling state determining means for determining that the traveling state of the vehicle has changed to a predetermined state;
Based on the signal output from the running state determination means, the amount of power supplied to the motor is controlled to control the drive amount of the motor, and the detection signal from the winding position detection means is input to control the belt reel. Holding control at a predetermined winding position, and a control means for holding an occupant by the belt,
The control means determines a predetermined energization amount when driving the motor to the predetermined winding position after receiving a signal from the traveling state determining means and when the winding position converges to a predetermined range. A seatbelt device for a vehicle, characterized by being limited to a value less than or equal to the value.   4. When the running state change of the vehicle and the belt withdrawal occur simultaneously when the energization amount is restricted, the energization amount restriction is canceled and the winding operation is performed to the target position. The vehicle seat belt device according to claim 1.

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