JP2009138330A - Automatic opening/closing system of opening/closing body for vehicle and sensor abnormality determining method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a method for determining the presence or absence of abnormality of a sensor without giving sense of incongruity to an occupant in a vehicle. <P>SOLUTION: In an automatic opening/closing system of an opening/closing body for vehicle, a driving force transmission mechanism for transmitting driving force of an auto slide motor 11 to a slide door 1 is provided with an elastically deformable part being elastically deformed to absorb the driving force of the auto slide motor 11, and an ECU determines whether the rotary sensor causes abnormality while the slide door 1 stands still or not based on outputs of the rotary sensor when the auto slide motor 11 is temporarily driven and its driving force is absorbed by the elastically deformable part of the driving force transmission mechanism. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicle opening / closing body automatic opening / closing system for automatically opening / closing an opening / closing body provided in a vehicle, and a sensor abnormality determination method for determining abnormality of a sensor used in a vehicle opening / closing body automatic opening / closing system.

  2. Description of the Related Art Conventionally, for example, a vehicle opening / closing body automatic opening / closing system represented by an automatic sliding door system is known. In this system, the driving force of the motor is transmitted to the opening / closing body via the driving force transmission mechanism, and the rotation state such as the rotation direction and the rotation speed of the motor is detected by the sensor and fed back to the control device. Based on the output, the opening / closing state of the opening / closing body, that is, whether the opening / closing body is moving in the opening direction or moving in the closing direction, the state in the opening / closing operation of the opening / closing body, such as its moving speed or moving distance, The automatic opening / closing operation of the opening / closing body is controlled by controlling the driving of the motor according to the opening / closing state of the opening / closing body.

In this type of vehicle opening / closing body automatic opening / closing system, if an abnormality occurs in the sensor, the opening / closing state of the opening / closing body cannot be detected and the automatic opening / closing operation of the opening / closing body cannot be controlled correctly. For this reason, when an abnormality occurs in the sensor, it is required to quickly detect this. For example, in Patent Document 1, the opening / closing body is operated by a predetermined amount in either of the opening and closing directions. There has been proposed a method of determining that an abnormality has occurred in a sensor when a desired sensor output cannot be obtained.
JP 2006-9486 A

  However, in the method proposed in Patent Document 1, since the opening / closing body is actually operated by a predetermined amount to determine the abnormality of the sensor, the vehicle occupant feels uncomfortable with the behavior of the opening / closing body. There is a problem that it may mistakenly recognize that a malfunction has occurred.

  The present invention was devised to solve the problems of the prior art as described above, and is a vehicle opening / closing body that can accurately determine the presence / absence of an abnormality of a sensor without giving a sense of incongruity to a vehicle occupant. An object is to provide an automatic switching system and a sensor abnormality determination method.

  The present invention provides an elastic deformation portion that elastically deforms and absorbs the driving force of the motor in the driving force transmission mechanism that transmits the driving force of the motor to the opening and closing body, and the driving force of the motor is an elastic deformation portion of the driving force transmission mechanism. On the basis of the output of the sensor when absorbed by the sensor, it is determined whether or not an abnormality has occurred in the sensor with the opening / closing body stationary.

  According to the present invention, since it is determined whether or not an abnormality has occurred in the sensor with the opening and closing body being stationary, it is possible to accurately determine whether or not the sensor is abnormal without causing a sense of incongruity to the vehicle occupant. can do.

  Hereinafter, as a specific embodiment of the present invention, an example in which the present invention is applied to an automatic sliding door system that automatically opens and closes a sliding door of a vehicle will be described in detail with reference to the drawings.

[First Embodiment]
FIG. 1 is an external view of a vehicle equipped with the automatic sliding door system of the present embodiment, FIG. 2 is a system connection diagram showing a connection relationship of electrical elements of the automatic sliding door system of the present embodiment, and FIG. It is a schematic diagram which shows the outline | summary of the driving force transmission mechanism of the automatic slide door system of a form.

  As shown in FIG. 1, the automatic sliding door system according to the present embodiment automatically drives a sliding door 1, which is an opening / closing body provided in a vehicle V, by motor driving in accordance with, for example, a switch operation by an occupant of the vehicle V. It is a system that opens and closes. The slide door 1 is engaged with a center rail 2 provided at a vehicle body waist portion of the vehicle V by a hinge arm (not shown), and is movable along the center rail 2 between a fully closed position and a fully open position. ing. Further, a cable 3 is connected to the slide door 1, and the slide door 1 is automatically opened and closed when the cable 3 is fed by the operation of the drive unit 10.

  As shown in FIG. 2, the drive unit 10 includes an auto slide motor 11, an electromagnetic clutch 12, and a rotation sensor 13, which are configured as an integral unit. The auto slide motor 11 serves as a drive source for automatically opening and closing the slide door 1. The electromagnetic clutch 12 switches transmission / disconnection of the driving force of the automatic slide motor 11 with respect to the slide door 1. A mechanical clutch may be used instead of the electromagnetic clutch 12. The rotation sensor 13 outputs a signal corresponding to the rotation state (rotation direction or rotation speed) of the auto slide motor 11. The auto slide motor 11, the electromagnetic clutch 12, and the rotation sensor 13 constituting the drive unit 10 are respectively connected to an ECU 4 that controls the operation of the entire auto slide door system.

  In addition to the drive unit 10, the ECU 4 is instructed to switch the operation / stop of the system (that is, to switch the operation mode of the sliding door 1 between the automatic opening / closing mode and the manual mode) and the automatic switching operation of the main switch 5 and the sliding door 1. A driver's seat operation switch 6a, a door handle switch 6b, a door switch 7 for detecting the fully open of the slide door 1, a buzzer 8 for notifying the operation state of the system, a release actuator 9a for releasing the fully closed position lock of the slide door 1, A release actuator 9b for releasing the fully open position lock is connected. Further, the ECU 4 is connected to another vehicle control device such as a BCM (Body Control Module) via a communication bus TB as one node of a vehicle communication system such as a CAN (Controller Area Network) system.

  When the driver's seat operation switch 6a or the door handle switch 6b is operated by an occupant of the vehicle V when the automatic opening / closing mode is selected by the main switch 5, the ECU 4 controls other vehicles via the communication bus TB, for example. Release after confirming that the specified operation permission conditions such as the shift position is in the parking range or the side brake or foot brake is activated based on the information obtained from the device. The actuator 9a or the release actuator 9b is operated to release the fully closed position lock or the fully open position lock of the slide door 1. Then, the ECU 4 engages the electromagnetic clutch 12 of the drive unit 10 and operates the auto slide motor 11 to automatically open and close the slide door 1. Further, the ECU 4 detects the open / closed state (movement direction, movement speed, movement distance, etc.) of the slide door 1 based on the output of the rotation sensor 13 while automatically opening and closing the slide door 1, and detects the detected slide door 1. The automatic opening / closing operation of the slide door 1 is controlled by controlling the driving of the auto slide motor 11 and the switching of the engagement / disengagement of the electromagnetic clutch 12 in accordance with the open / close state.

  Further, as shown in FIG. 2, an auto closure device 20 including a closure motor 21, a half latch switch 22, a full latch switch 23, a neutral switch 24 and the like is connected to the ECU 4. The ECU 4 controls the operation of the automatic closure device 20 in conjunction with the automatic opening / closing operation of the slide door 1. That is, when it is detected by the half latch switch 22 that the sliding door 1 during the closing operation has reached the half latch position, the ECU 4 operates the closure motor 21 to rotate the latch to bring the slide door 1 to the full latch position. Pull in. When the full latch switch 23 detects that the slide door 1 has reached the full latch position, the ECU 4 reverses the closure motor 21 and stops the closure motor 21 when the neutral switch 24 is pressed.

  Further, the ECU 4 has a function of determining whether or not an abnormality has occurred in the rotation sensor 13 of the drive unit 10 as a characteristic control function in the present invention. Details will be described later.

  In the automatic sliding door system of the present embodiment, the driving force of the automatic sliding motor 11 is transmitted to the sliding door 1 via a driving force transmission mechanism as schematically shown in FIG. The driving force transmission mechanism shown in FIG. 3 winds the cable 3 connected to the slide door 1 around the drum 31, rotates the drum 31 by the driving force of the auto slide motor 11, and the cable 3 wound around the drum 31. Is configured to move the slide door 1 by performing a feeding operation along a predetermined feeding path defined by the guide rollers 32a and 32b. In this driving force transmission mechanism, tension rollers 33 a and 33 b that apply a predetermined tension to the cable 3 are disposed in the middle of the cable 3 feed path. The tension rollers 33a and 33b are supported by the springs 34a and 34b so as to be displaceable. The tension rollers 33a and 33b are pressed against the cable 3 by the springs 34a and 34b and apply tension to the cable 3.

  Here, a specific example of the rotation sensor 13 that outputs a signal corresponding to the rotation state of the auto slide motor 11 will be described in more detail with reference to FIGS. 4 and 5.

  For example, as shown in FIG. 4, the rotation sensor 13 includes two Hall elements 13a and 13b of A phase and B phase, and N poles and S poles alternately magnetized at equal intervals in the circumferential direction. 11 and a disk-shaped magnet 13c that rotates in accordance with the rotation of the motor 11, and the two Hall elements 13a and 13b are sensitive to the magnetic flux from the rotating disk-shaped magnet 13c, and a signal corresponding to the rotation state of the auto slide motor 11 is generated. Output. The A-phase and B-phase Hall elements 13a and 13b each output a one-cycle rectangular wave at the N-pole and S-pole of the disc-shaped magnet 13c. The Hall elements 13a and 13b are arranged so that a phase difference of ¼ period is generated with respect to the output of.

  FIG. 5 shows an example of output waveforms of the A phase and B phase of the rotation sensor 13 when the auto slide motor 11 is rotating forward. When the auto-slide motor 11 is rotating in the forward direction, as shown in FIG. 5, the level of the B phase is Lo when the rising edge of the A phase is input, and the level of the B layer is when the falling edge of the A phase is input. Hi. On the other hand, when the auto slide motor 11 is rotating in the reverse direction, contrary to the example shown in FIG. 5, the level of the B phase becomes Hi when the rising edge of the A phase is input, and when the falling edge of the A phase is input. The level of the B layer is Lo. Therefore, the rotational direction of the auto slide motor 11, that is, the moving direction of the slide door 1, can be detected by determining the B phase level at the time of inputting the rising edge and the falling edge of the A phase. The above is an example of determining the B phase level at the time of inputting the rising edge and the falling edge of the A phase. However, the A phase level at the time of inputting the rising edge and the falling edge of the B phase is determined. However, similarly, the moving direction of the slide door 1 can be detected.

  Further, since the rotation amount (rotation angle) of the auto slide motor 11 corresponding to one cycle of the output phases of the A phase and B phase of the rotation sensor 13 is determined, for example, the A phase ( Or the phase T of the output waveform of the B phase), that is, the time T from when the rising edge of the A phase (or B phase) is input until the next rising edge is input, The rotational speed of the slide motor 11, that is, the moving speed of the slide door 1 can be detected. Furthermore, for example, the moving distance of the slide door 1 can be detected by counting the number of times the rising edge of the A phase (or B phase) is input.

  In the automatic slide door system of the present embodiment, the rotation sensor 13 as described above is connected to the ECU 4, and the ECU 4 slides based on the output of the rotation sensor 13 while the slide door 1 is automatically opened and closed. Open / close states such as the moving direction, moving speed, and moving distance of the door 1 are detected, and the driving of the auto slide motor 11 and switching of the engagement / disengagement of the electromagnetic clutch 12 are controlled according to the detected opening / closing state of the slide door 1. Thus, the automatic opening / closing operation of the slide door 1 can be appropriately controlled. The rotation sensor 13 described above is an example of a rotation sensor that can be used in the automatic sliding door system of the present embodiment. In the automatic sliding door system of the present embodiment, in addition to this, for example, MR is used as a magnetic sensitive element. Any sensor that outputs a signal corresponding to the rotation state of the auto slide motor 11, such as a rotation sensor using an element or an optical rotation sensor that detects the rotation state of the auto slide motor 11. Is also available.

  By the way, in the rotation sensor 13 as shown in FIG. 4, for example, the output from the A phase or the B phase is interrupted due to the failure or disconnection of the A phase Hall element 13a, the failure or disconnection of the B phase Hall element 13b, or the like. There is a case. If such an abnormality occurs in the rotation sensor 13, the automatic opening / closing operation of the slide door 1 cannot be controlled appropriately. Therefore, when an abnormality occurs in the rotation sensor 13, it is required to quickly detect this. It is done. Here, in order to detect the abnormality of the rotation sensor 13, a method of actually driving the auto slide motor 11 and determining whether the output from the rotation sensor 13 is normal or not can be considered. When the slide door 1 is moved by driving the auto slide motor 11, the occupant of the vehicle V feels uncomfortable with the movement of the slide door 1 and erroneously recognizes that the auto slide door system is malfunctioning. There is.

  Therefore, in the automatic sliding door system of this embodiment, the driving force transmission mechanism for transmitting the driving force of the auto slide motor 11 to the sliding door 1 can be elastically deformed to absorb the driving force of the auto slide motor 11. Based on the output of the rotation sensor 13 when the ECU 4 temporarily drives the auto-slide motor 11 and the driving force is absorbed by the elastic deformation part of the driving force transmission mechanism. Whether or not an abnormality has occurred in the rotation sensor 13 while the slide door 1 is stationary is determined.

  For example, in the driving force transmission mechanism shown in FIG. 3, tension rollers 33a and 33b supported displaceably by springs 34a and 34b are arranged in the middle of the feeding path of the cable 3, and the springs 34a and 34b The tension rollers 33 a and 33 b supported so as to be displaceable can be elastically deforming portions that absorb the driving force of the auto slide motor 11.

  Specifically, as shown in FIG. 6, for example, when the slide door 1 is in the fully closed position, the ECU 4 engages the electromagnetic clutch 12 and temporarily drives the auto slide motor 11 in the door closing direction. Although the drum 31 is rotated by a predetermined amount by the driving force of the auto slide motor 11, the slide door 1 is already in the fully closed position, and thus remains stationary at the fully closed position. At this time, since the tension of the cable 3 in the portion where the tension roller 33a is in contact is excessive, the spring 34a is compressed and the tension roller 33a is displaced downward in the figure, and the tension of the cable 3 is adjusted. The driving force of the auto slide motor 11 is absorbed by the displacement of the tension roller 33a due to the compression of the spring 34a. At this time, since the auto slide motor 11 is temporarily driven in the door closing direction, a normal output can be obtained from the rotation sensor 13 if no abnormality has occurred in the rotation sensor 13. Therefore, the ECU 4 determines whether or not an abnormality has occurred in the rotation sensor 13 with the slide door 1 stationary at the fully closed position by determining whether or not the output of the rotation sensor 13 is normal at this time. It can be determined whether or not.

  For example, as shown in FIG. 7, when the slide door 1 is in the fully open position, the ECU 4 engages the electromagnetic clutch 12 and temporarily drives the auto slide motor 11 in the door opening direction. The drum 31 is rotated by a predetermined amount by the driving force, but since the slide door 1 is already in the fully open position, it remains stationary at the fully open position. At this time, since the tension of the cable 3 in the portion where the tension roller 33b is in contact is excessive, the spring 34b is compressed and the tension roller 33b is displaced downward in the figure, and the tension of the cable 3 is adjusted. The driving force of the auto slide motor 11 is absorbed by the displacement of the tension roller 33b due to the compression of the spring 34b. At this time, since the auto slide motor 11 is temporarily driven in the door opening direction, a normal output can be obtained from the rotation sensor 13 if no abnormality has occurred in the rotation sensor 13. Therefore, the ECU 4 determines whether or not an abnormality has occurred in the rotation sensor 13 with the slide door 1 stationary at the fully open position by determining whether or not the output of the rotation sensor 13 is normal at this time. Can be determined.

  Next, a specific example of the abnormality determination process of the rotation sensor 13 executed by the ECU 4 in the automatic sliding door system of the present embodiment as described above will be described with reference to the flowchart of FIG. An example of the processing shown in FIG. 8 is performed as a system check of the automatic sliding door system.

  When the automatic opening / closing operation of the slide door 1 is completed (Yes in Step S1), the ECU 4 starts a timer for starting a predetermined time (for example, about 30 minutes) (Step S2). Then, before the timer expires, it is determined whether all the doors of the vehicle V are closed (step S3), and it is determined whether all the doors of the vehicle V are locked ( In step S4), it is determined whether or not the vehicle communication system such as CAN is stopped (step S5), and it is determined whether or not the main switch 5 of the automatic sliding door system is switched from OFF to ON (step S6). . These determinations in steps S3 to S6 are processes for confirming the possibility that the automatic opening / closing operation of the slide door 1 will be performed immediately. If any door of the vehicle V is open (No in step S3). Determination), when any of the doors of the vehicle V is unlocked (No determination in step S4), or when the vehicle communication system is operating (No determination in step S5), When the switch 5 is switched from OFF to ON (Yes in step S6), it is determined that there is a possibility that the automatic opening / closing operation of the slide door 1 may be performed immediately, the system check is interrupted, and step S1 is performed. Return to.

  On the other hand, when the timer has expired in a state where it can be determined that there is no possibility that the automatic opening / closing operation of the slide door 1 will be performed immediately (Yes in step S7), the ECU 4 turns the electromagnetic clutch 12 in step S8. In step S9, the auto slide motor 11 is temporarily driven in the door closing direction. At this time, the driving force of the auto slide motor 11 is absorbed by the elastic deformation portion of the driving force transmission mechanism (the tension roller 33a supported by the spring 34a in the example shown in FIG. 6), and the slide door 1 is stationary at the fully closed position. The auto slide motor 11 rotates a predetermined amount while maintaining the state.

  Next, the ECU 4 releases the engagement of the electromagnetic clutch 12 in step S10, and in step S11, the output obtained from the rotation sensor 13 when the auto slide motor 11 is temporarily driven in step S9 is normal. It is determined whether or not there is. If the output of the rotation sensor 13 is normal, it is determined in step S12 that the rotation sensor 13 is normal, and an automatic opening / closing operation of the next sliding door 1 is permitted by, for example, setting an operation permission flag. . On the other hand, if the output of the rotation sensor 13 is abnormal, it is determined that an abnormality has occurred in the rotation sensor 13 in step S13, and the automatic opening / closing operation of the next sliding door 1 is performed by, for example, setting an operation prohibition flag. Is prohibited. If the ECU 4 determines that an abnormality has occurred in the rotation sensor 13 in step S13, the driver's seat operation switch 6a or the door handle switch 6b for instructing the automatic opening / closing operation of the slide door 1 has been operated. Sometimes, for example, the buzzer 8 is sounded or a message is displayed on the display monitor in the vehicle using the vehicle communication system, so that the occupant of the vehicle V is informed that an abnormality has occurred in the rotation sensor 13. You may make it do.

  As described above in detail with specific examples, according to the automatic sliding door system of the present embodiment, whether or not an abnormality has occurred in the rotation sensor 13 while the sliding door 1 is stationary is determined. Since the determination is made, it is possible to accurately determine whether or not the rotation sensor 13 is abnormal without causing the passenger of the vehicle V to feel uncomfortable.

  In addition, according to the automatic sliding door system of the present embodiment, whether the rotation sensor 13 is abnormal is determined as a system check before the sliding door 1 is automatically opened and closed, and the rotation sensor 13 is abnormal. Since the automatic opening / closing operation of the sliding door 1 is prohibited when it is determined, the problem concerned when the automatic opening / closing operation of the sliding door 1 is started in a state where the rotation sensor 13 is abnormal, for example, To avoid problems such as improper control of the auto slide motor 11 and the electromagnetic clutch 12 and placing a burden on the auto slide motor 11 and the electromagnetic clutch 12 and an increase in the load on the ECU 4. Can do.

[Second Embodiment]
Next, a second embodiment of the present invention will be described with reference to FIG. The automatic sliding door system of this embodiment is different from the first embodiment described above in part of the abnormality determination process of the rotation sensor 13 executed by the ECU 4. Since the system configuration and basic operation of the automatic sliding door system of this embodiment are the same as those of the first embodiment described above, the description thereof will be omitted below, and the rotation sensor 13 characteristic of this embodiment will be omitted. The abnormality determination process will be described.

  FIG. 9 is a flowchart showing an abnormality determination process of the rotation sensor 13 executed by the ECU 4 in the automatic sliding door system of the present embodiment. The abnormality determination process of the rotation sensor 13 shown in FIG. 9 is also performed as a system check of the automatic sliding door system as in the first embodiment, but after confirming that no passenger is present in the vehicle V. This is different from the first embodiment in that the processing is continued. In this embodiment, for example, human body detection means such as an infrared sensor, a seat pressure sensor, and an in-vehicle camera are provided in the vehicle V, and the ECU 4 uses information obtained by these human body detection means as vehicle communication such as CAN. It can be acquired via the system communication bus TB.

  In the automatic sliding door system of the present embodiment, when the automatic opening / closing operation of the sliding door 1 is completed (Yes in step S21), the ECU 4 operates a timer to operate for a predetermined time (for example, as in the first embodiment). Counting is started (step S22). Then, before the timer expires, it is determined whether all the doors of the vehicle V are closed (step S23), and it is determined whether all the doors of the vehicle V are locked ( Step S24), it is determined whether or not there are passengers in the vehicle V from information obtained from the human body detection means provided in the vehicle V via the communication bus TB of the vehicle communication system (step S25), and the automatic sliding door system It is determined whether or not the main switch 5 is switched from OFF to ON (step S26). The determinations in steps S23 to S26 are processes for confirming the possibility that the automatic opening / closing operation of the slide door 1 is performed immediately. If any of the doors of the vehicle V is open (No in step S23). Determination), when any door of the vehicle V is unlocked (No determination in step S24), or when it is determined that there is a passenger in the vehicle V (Yes in step S25). Determination) or when the main switch 5 is switched from OFF to ON (Yes in step S26), it is determined that the automatic opening / closing operation of the sliding door 1 may be performed immediately, and the system check is performed. Stop and return to step S21.

  On the other hand, if the timer has expired in a state where it can be determined that there is no possibility that the automatic opening / closing operation of the slide door 1 will be performed immediately (Yes in step S27), the ECU 4 executes the processes in and after step S28. To do. Note that the processing from step S28 to step S33 in FIG. 9 is the same as the processing from step S8 to step S13 described in the first embodiment, and thus description thereof is omitted here.

  As described above, also in the automatic sliding door system of the present embodiment, as in the first embodiment, it is determined whether or not an abnormality has occurred in the rotation sensor 13 while the sliding door 1 is stationary. Therefore, the presence / absence of abnormality of the rotation sensor 13 can be accurately determined without causing the passenger of the vehicle V to feel uncomfortable.

  Also in the automatic sliding door system of this embodiment, as in the first embodiment, the presence / absence of abnormality of the rotation sensor 13 is determined as a system check before the automatic opening / closing operation of the sliding door 1 is performed. Since the automatic opening / closing operation of the sliding door 1 is prohibited when it is determined that an abnormality has occurred in the sliding door 13, the automatic opening / closing operation of the sliding door 1 was started in a state where the abnormality occurred in the rotation sensor 13. Problems that are of concern in some cases, such as a problem that the control of the auto slide motor 11 and the electromagnetic clutch 12 is not properly performed, and the load on the ECU 4 increases. Problems can be avoided in advance.

  Furthermore, in the automatic sliding door system according to the present embodiment, after confirming that no passenger is present in the vehicle V, the process for determining whether the rotation sensor 13 is abnormal is continued. The inconvenience that the automatic opening / closing operation of the slide door 1 is started before the determination of the presence / absence of abnormality can be prevented more reliably.

[Third Embodiment]
Next, a third embodiment of the present invention will be described with reference to FIG. In the automatic sliding door system of this embodiment, the abnormality determination process of the rotation sensor 13 executed by the ECU 4 is different from the first embodiment and the second embodiment described above. Since the system configuration and basic operation of the automatic sliding door system of this embodiment are the same as those of the first embodiment described above, the description thereof will be omitted below, and the rotation sensor 13 characteristic of this embodiment will be omitted. The abnormality determination process will be described.

  FIG. 10 is a flowchart showing the abnormality determination process of the rotation sensor 13 executed by the ECU 4 in the automatic sliding door system of the present embodiment. The abnormality determination process of the rotation sensor 13 shown in FIG. 10 is performed as a preprocess when the automatic opening / closing operation of the slide door 1 is executed. Here, the case where the sliding door 1 is automatically opened and closed from the fully closed position to the fully opened position will be described as an example.

  In the automatic sliding door system of the present embodiment, when the driver's seat operation switch 6a or the door handle switch 6b is operated by an occupant of the vehicle V with the sliding door 1 in the fully closed position (Yes in step S41). In step S42, the ECU 4 determines whether or not the main switch 5 is turned on (that is, the automatic opening / closing mode is selected). If the main switch 5 is turned on, the next step S43 is performed. In step S1, it is determined whether a predetermined operation permission condition is satisfied, for example, the shift position is in the parking range or the side brake or foot brake is operated.

  When it is confirmed that a predetermined operation permission condition is satisfied (Yes in step S43), the ECU 4 engages the electromagnetic clutch 12 in step S44, and closes the automatic slide motor 11 in step S45. Drive temporarily in the direction. At this time, the driving force of the auto slide motor 11 is absorbed by the elastic deformation portion of the driving force transmission mechanism (the tension roller 33a supported by the spring 34a in the example shown in FIG. 6), and the slide door 1 is stationary at the fully closed position. The auto slide motor 11 rotates a predetermined amount while maintaining the state.

  Next, the ECU 4 releases the engagement of the electromagnetic clutch 12 in step S46, and in step S47, the output obtained from the rotation sensor 13 when the auto slide motor 11 is temporarily driven in step S45 is normal. It is determined whether or not there is. If the output of the rotation sensor 13 is normal, the ECU 4 operates the release actuator 9a to release the fully closed position lock of the slide door 1 in step S48. In step S49, the electromagnetic clutch 12 is engaged, and in step S50, the auto slide motor 11 is driven in the door opening direction. As a result, the slide door 1 is opened by the drive of the auto slide motor 11, and then the ECU 4 controls the drive of the auto slide motor 11 and the operation of the electromagnetic clutch 12 based on the output of the rotation sensor 13. The automatic opening operation is controlled (step S51).

  On the other hand, when it is determined in step S47 that the output of the rotation sensor 13 is abnormal, the ECU 4 switches the operation mode of the slide door 1 from the automatic opening / closing mode to the manual mode in step S52, and in step S53. For example, the occupant of the vehicle V is notified that an abnormality has occurred in the rotation sensor 13 by a method such as sounding the buzzer 8 or displaying a message on a display monitor in the vehicle using a vehicle communication system.

  The abnormality determination process for the rotation sensor 13 described above can also be executed as a pre-process when the slide door 1 is automatically opened and closed from the fully open position to the fully closed position. In this case, the ECU 4 temporarily drives the auto slide motor 11 in the door opening direction in step S45. At this time, the driving force of the auto slide motor 11 is absorbed by the elastic deformation portion of the driving force transmission mechanism (the tension roller 33b supported by the spring 34b in the example shown in FIG. 7), and the slide door 1 is stopped at the fully open position. While maintaining the state, the auto slide motor 11 rotates by a predetermined amount, and an output is obtained from the rotation sensor 13. If the output from the rotation sensor 13 is normal, the ECU 4 operates the release actuator 9b in step S48 to release the fully open position lock of the slide door 1, and the electromagnetic clutch 12 is engaged in step S49. Then, the auto slide motor 11 is driven in the door closing direction. As a result, the slide door 1 is closed by driving the auto slide motor 11, and then the ECU 4 controls the drive of the auto slide motor 11 and the operation of the electromagnetic clutch 12 based on the output of the rotation sensor 13. The automatic closing operation is controlled (step S51).

  As described above, also in the automatic sliding door system according to the present embodiment, whether an abnormality has occurred in the rotation sensor 13 with the sliding door 1 stationary as in the first and second embodiments. Since it is determined whether or not, the presence or absence of abnormality of the rotation sensor 13 can be accurately determined without giving a sense of incongruity to the passenger of the vehicle V.

  Further, in the automatic sliding door system of the present embodiment, the presence / absence of abnormality of the rotation sensor 13 is determined as pre-processing when the automatic opening / closing operation of the sliding door 1 is executed, and no abnormality has occurred in the rotation sensor 13. Since the automatic opening / closing operation of the slide door 1 is executed after confirming this, the slide is performed in a state where an abnormality has occurred in the rotation sensor 13 as in the first and second embodiments. Problems that are concerned when the automatic opening / closing operation of the door 1 is executed, for example, problems that the auto slide motor 11 and the electromagnetic clutch 12 are not properly controlled and a load is applied to the auto slide motor 11 and the electromagnetic clutch 12. In addition, problems such as an increase in the load on the ECU 4 can be avoided.

[Fourth Embodiment]
Next, a fourth embodiment of the present invention will be described with reference to FIG. 11 and FIG. In the automatic sliding door system of the present embodiment, energization control is performed on the electromagnetic clutch 12 to reduce the operating noise associated with the engagement of the electromagnetic clutch 12 as much as possible during the abnormality determination process of the rotation sensor 13. Since the system configuration and basic operation of the automatic sliding door system of the present embodiment are the same as those of the first embodiment described above, the description thereof will be omitted below, and the electromagnetic clutch 12 characteristic of the present embodiment will be described. The energization control will be described.

  FIG. 11 is a flowchart showing details of energization control to the electromagnetic clutch 12 during the abnormality determination process of the rotation sensor 13 executed by the ECU 4 in the automatic sliding door system of the present embodiment. Step S8 in the flowchart of FIG. Step S10 corresponds to the processing of Step S28 to Step S30 in the flowchart of FIG. 9 and Step S44 to Step S46 in the flowchart of FIG. FIG. 12 is a diagram showing the change over time of the voltage applied to the electromagnetic clutch 12 by this control.

  Also in the automatic sliding door system of the present embodiment, as in the first to third embodiments described above, the electromagnetic clutch 12 is engaged and the automatic sliding motor 11 is temporarily driven during the abnormality determination process of the rotation sensor 13. Let At this time, the ECU 4 performs energization control on the electromagnetic clutch 12 as shown in the flowchart of FIG.

  That is, first in step S61, the ECU 4 sets the voltage at which the electromagnetic clutch 12 starts to operate as a target voltage, and the boosting speed until the target voltage is reached has a relatively steep slope k1 shown in FIG. Energization of the electromagnetic clutch 12 is started. In step S62, it is determined whether or not the applied voltage to the electromagnetic clutch 12 has reached the operation start voltage of the electromagnetic clutch 12 that is the target voltage, and the operation start of the electromagnetic clutch 12 that has the applied voltage to the electromagnetic clutch 12 is the target voltage. When the voltage is reached (Yes in step S62), the energization of the electromagnetic clutch 12 is switched so that the boosting speed has a relatively gentle slope k2 shown in FIG. 12 (step S63). In step S64, it is determined whether the voltage applied to the electromagnetic clutch 12 has reached the battery voltage of the vehicle V. When the voltage applied to the electromagnetic clutch 12 has reached the battery voltage of the vehicle V (Yes in step S64). Judgment), the auto slide motor 11 is temporarily driven, and the output of the rotation sensor 13 is obtained with the slide door 1 stationary. Thereafter, in step S66, the ECU 4 stops energization of the electromagnetic clutch 12, releases the engagement of the electromagnetic clutch 12, and ends the energization control for the electromagnetic clutch 12.

  As described above, in the automatic sliding door system of the present embodiment, when the abnormality determination process of the rotation sensor 13 is performed, the electromagnetic clutch 12 is fastened while gradually increasing the voltage applied to the electromagnetic clutch 12, and the automatic sliding motor 11 is driven temporarily, so that the same effects as those of the first to third embodiments can be obtained, and in addition, the operation sound accompanying the engagement of the electromagnetic clutch 12 during the abnormality determination process of the rotation sensor 13 Can be reduced as much as possible, and the discomfort of the occupant of the vehicle V can be further reduced.

[Modification]
As mentioned above, although the 1st thru / or 4th embodiment was illustrated and explained as a concrete application example of the opening-and-closing body automatic opening and closing system for vehicles of the present invention, each above-mentioned embodiment is one application example of the present invention, It is not intended that the technical scope of the present invention be limited to the contents described in the above embodiments. That is, the technical scope of the present invention is not limited to the specific technical matters disclosed in the above embodiments, but includes various modifications, changes, alternative techniques, and the like that can be easily derived from this disclosure.

  For example, in each of the embodiments described above, in the driving force transmission mechanism that transmits the driving force of the auto slide motor 11 to the slide door 1, the tension rollers 33a and 33b supported by the springs 34a and 34b so as to be displaceable are used as the elastic deformation portions. The tension roller 33a, 33b is displaced by the compression of the springs 34a, 34b to absorb the driving force of the auto slide motor 11 that is temporarily driven. For example, the cable 3 is elastic. If this is used, the driving force of the auto slide motor 11 that is temporarily driven by the extension of the cable 3 can be absorbed by using the cable 3 as an elastic deformation portion. Further, if the guide rollers 32a and 32b for guiding the feeding operation of the cable 3 are elastically supported, the driving of the auto slide motor 11 that is temporarily driven with the guide rollers 32a and 32b as elastic deformation portions. It is also possible to absorb power. Furthermore, if a shaft having elasticity is used as a shaft connecting the drive unit 10 and the drum 31, the driving force of the auto slide motor 11 that is temporarily driven by the torsion of the shaft is absorbed by the shaft as an elastic deformation portion. It is also possible.

  Further, in each of the above embodiments, the abnormality determination process of the rotation sensor 13 is performed in a situation where the slide door 1 is in the fully closed position or the fully open position. However, the slide door 1 has the fully closed position and the fully open position. Even in the half-open state located between them, if the driving force of the auto-slide motor 11 that is temporarily driven is absorbed by the elastic deformation portion of the driving force transmission mechanism, the rotation sensor 13 is similarly applied. It is possible to determine whether there is an abnormality.

  The abnormality determination process for the rotation sensor 13 described in each of the above embodiments can also be applied as a method for determining the abnormality of the auto slide motor 11, and the rotation sensor 13 is installed on the output side of the electromagnetic clutch 12. If this is the case, the present invention can also be applied as a method for determining an abnormality of the electromagnetic clutch 12. Also in this case, whether or not there is an abnormality in the auto slide motor 11 or the electromagnetic clutch 12 is determined before the automatic opening / closing operation of the slide door 1 is started. If the automatic opening / closing operation of the sliding door 1 is prohibited, for example, when the automatic opening / closing operation of the sliding door 1 is started in a situation where the vehicle V is stopped on a steep slope, the automatic slide motor 11 or the electromagnetic clutch 12 is operated. Therefore, it is possible to avoid the inconvenience that the control cannot be performed due to the abnormality and the slide door 1 moves due to its own weight.

  Each of the above embodiments is an example in which the present invention is applied to an automatic sliding door system that automatically opens and closes a sliding door of a vehicle. However, the present invention includes, for example, an automatic back door system that automatically opens and closes a back door of a vehicle. The present invention can also be effectively applied to other automatic opening / closing systems for opening / closing bodies.

1 is an external view of a vehicle including an automatic sliding door system to which the present invention is applied. It is a system connection diagram which shows the connection relation of the electrical element of the automatic sliding door system to which this invention is applied. It is a schematic diagram which shows the outline | summary of the driving force transmission mechanism of the automatic sliding door system to which this invention is applied. It is a schematic diagram which shows the specific example of the rotation sensor with which the automatic slide door system to which this invention is applied is provided. It is a figure which shows an example of the output waveform of the rotation sensor shown in FIG. 4 when the auto slide motor is rotating forward. It is a schematic diagram which shows a mode that the driving force of the auto slide motor temporarily driven is absorbed by the elastic deformation part of a driving force transmission mechanism. It is a schematic diagram which shows a mode that the driving force of the auto slide motor temporarily driven is absorbed by the elastic deformation part of a driving force transmission mechanism. 5 is a flowchart illustrating a specific example of rotation sensor abnormality determination processing executed by an ECU in the automatic sliding door system according to the first embodiment. It is a flowchart which shows the specific example of the abnormality determination process of the rotation sensor performed by ECU in the automatic slide door system of 2nd Embodiment. It is a flowchart which shows the specific example of the abnormality determination process of the rotation sensor performed by ECU in the automatic slide door system of 3rd Embodiment. It is a flowchart which shows the detail of the energization control to the electromagnetic clutch in the abnormality determination process of the rotation sensor performed by ECU in the automatic slide door system of 4th Embodiment. It is a figure showing the time change of the voltage applied to the electromagnetic clutch at the time of performing the control shown in FIG.

Explanation of symbols

1 Sliding door (opening / closing body)
3 Cable 4 ECU (control device)
DESCRIPTION OF SYMBOLS 10 Drive unit 11 Auto slide motor 12 Electromagnetic clutch 13 Rotation sensor 31 Drum 32a, 32b Guide roller 33a, 33b Tension roller 34a, 34b Spring

Claims (11)

An opening / closing body provided in the vehicle;
A motor as a drive source for opening and closing the opening and closing body;
A driving force transmission mechanism for transmitting the driving force of the motor to the opening and closing body;
A sensor that outputs a signal corresponding to the rotation state of the motor;
A control device that detects an open / closed state of the opening / closing body based on an output of the sensor, drives and controls the motor according to the open / closed state of the opening / closing body, and controls an automatic opening / closing operation of the opening / closing body;
The driving force transmission mechanism has an elastic deformation portion that elastically deforms and absorbs the driving force of the motor,
Based on the output of the sensor when the driving force of the motor is absorbed by the elastic deformation portion of the driving force transmission mechanism, the control device causes the sensor to malfunction. An automatic opening / closing system for a vehicle opening / closing body, characterized by determining whether or not it has occurred.   The driving force transmission mechanism includes a cable member connected to the opening / closing body, a drum that rotates by the driving force of the motor to feed the cable member, and a roller that contacts the cable member, The automatic opening / closing system for a vehicle opening / closing body according to claim 1, wherein a roller is supported so as to be displaceable to be the elastic deformation portion.   The driving force transmission mechanism includes a cable member connected to the opening / closing body and a drum that rotates by the driving force of the motor to feed the cable member, and the cable member is configured to be extendable and contractible. The vehicular opening / closing body automatic opening / closing system according to claim 1, wherein the elastic deformation portion is used.   The control device temporarily drives the motor in a closing direction of the opening / closing body when a predetermined time elapses while maintaining the state where the opening / closing body is in the fully closed position, and the driving force of the motor Based on the output of the sensor when absorbed by the elastic deformation part of the driving force transmission mechanism, it is determined whether or not an abnormality has occurred in the sensor with the opening / closing body stationary at the fully closed position. The vehicle opening / closing body automatic opening / closing system according to any one of claims 1 to 3, wherein the vehicle opening / closing body automatic opening / closing system is provided.   When the control device confirms that a predetermined time has elapsed while maintaining the state in which the opening / closing body of the vehicle is in the fully closed position and that no passenger is present inside the vehicle, the closing direction of the opening / closing body The opening / closing body is stopped at the fully closed position based on the output of the sensor when the motor is temporarily driven to absorb the driving force of the motor by the elastic deformation portion of the driving force transmission mechanism. The vehicle opening / closing body automatic opening / closing system according to claim 4, wherein it is determined whether or not an abnormality has occurred in the sensor in a state where the vehicle is open.   The control device temporarily drives the motor in a closing direction of the opening / closing body when the opening / closing body receives a command of an automatic opening operation in a state where the opening / closing body is in a fully closed position, and the driving force of the motor Based on the output of the sensor when absorbed by the elastic deformation part of the driving force transmission mechanism, it is determined whether or not an abnormality has occurred in the sensor with the opening / closing body stationary at the fully closed position. The vehicle opening / closing body automatic opening / closing system according to any one of claims 1 to 3, wherein the vehicle opening / closing body automatic opening / closing system is provided.   The control device temporarily drives the motor in the opening direction of the opening / closing body and receives the driving force of the motor when the automatic closing operation command is received in a state where the opening / closing body is in the fully open position. Based on the output of the sensor when absorbed by the elastically deforming part of the force transmission mechanism, it is determined whether or not an abnormality has occurred in the sensor with the opening / closing body stationary at the fully open position. The opening / closing body automatic opening / closing system for vehicles according to any one of claims 1 to 3. An electromagnetic clutch provided between the motor and the driving force transmission mechanism, wherein the engagement and release can be switched by the control device;
8. The control device according to claim 1, wherein when the abnormality of the sensor is determined, the applied voltage to the electromagnetic clutch is gradually increased as compared with that during normal operation, and the electromagnetic clutch is engaged. The vehicle opening / closing body automatic opening / closing system according to any one of the above.   The vehicle control device according to any one of claims 1 to 8, wherein the control device prohibits the automatic opening / closing operation of the opening / closing body when it is determined that an abnormality has occurred in the sensor. Opening and closing body automatic opening and closing system.   10. The apparatus according to claim 1, further comprising: a notification device that notifies an occupant of a vehicle of the occurrence of an abnormality of the sensor when the control device determines that an abnormality has occurred in the sensor. The vehicle opening / closing body automatic opening / closing system according to item. The driving force of the motor is transmitted to the opening / closing body provided in the vehicle via the driving force transmission mechanism, and the opening / closing state of the opening / closing body is determined based on the output from the sensor that outputs a signal corresponding to the rotation state of the motor. A sensor abnormality determination method for detecting an abnormality of the sensor in a vehicle opening / closing body automatic opening / closing system that detects and controls driving of the motor according to an opening / closing state of the opening / closing body to control an automatic opening / closing operation of the opening / closing body. There,
The driving force transmission mechanism is provided with an elastic deformation portion that elastically deforms and absorbs the driving force of the motor,
Whether or not an abnormality has occurred in the sensor when the opening / closing body is stationary based on the output of the sensor when the driving force of the motor is absorbed by the elastic deformation portion of the driving force transmission mechanism A sensor abnormality determination method characterized by determining whether or not.

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