JP2009161967A - Drive control unit for opening/closing body of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drive control unit for an opening/closing body of a vehicle, which can properly perform compensation at the start of operation of a capacitance type sensor for use in the detection of pinching. <P>SOLUTION: This drive unit for the opening/closing body of the vehicle comprises: the capacitance type sensor 100 which is arranged at the end 3a of the opening/closing body 3 provided in the vehicle so as to generate an approach output signal depending on a distance; and a control device which has a first comparison means 20 for generating an inversion signal when an approach output signal value reaches a first predetermined threshold value, and which performs inversion control when the inversion signal is generated during the closing operation of the opening/closing body. The control device is provided with a distance measuring means 23, a second comparison means 37 for comparing the approach output signal value with a second threshold value set lower than the first threshold one, and a compensation means 33 for offsetting the approach output signal value to a predetermined reference signal value when the approach output signal value does not reach the second threshold value in the case where the opening/closing body moves by a predetermined distance. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control device for an opening / closing body such as an automatic door provided in an automobile, for example. It relates to the device.

  Conventionally, a sliding door or a power window that automatically opens and closes an opening of a vehicle has been provided with means for preventing pinching. This means is, for example, that a sensor such as a pressure sensor or a capacitance sensor is installed on the end face on the door opening side to detect the presence of an object close to the sensor. When the presence of the door is detected, the automatic closing operation of the sliding door is stopped or the sliding door is reversed to avoid pinching.

  The pressure sensor detects that an object such as a human body is in contact with the door, while the capacitive sensor can detect the object without contact, so that the door and the object do not collide with each other. Can be detected. The sensor part of this capacitive sensor is generally composed of two flat detection electrodes facing each other. The capacitance values of these detection electrodes vary depending on the distance from an approaching object. A reference capacitor is connected to each detection electrode, and a pulse voltage is supplied through the reference capacitor. When an object approaches the detection electrode, the capacitance value of each detection electrode changes, and thus the voltage value of the detection electrode changes. Then, it is detected that an object such as a human body is approaching the door based on the amount of change in the voltage value of each detection electrode.

However, when a water droplet or the like adheres to the sensor part of the capacitance type sensor, the capacitance value easily changes. For this reason, the output value of the capacitance type sensor (the value of the proximity output signal) also changes. End up. As a result, erroneous detection is likely to occur as a sensor. Patent Documents 1 and 2 describe a technique for correcting the output value of the capacitive sensor to a reference voltage.
Japanese Patent Laid-Open No. 9-152488 JP-A-10-213669

  However, if baseline correction is performed so that the output value of the capacitive sensor is uniformly corrected to the reference voltage, even when correction is not necessary, correction is performed or correction is excessive. There is a problem that a case occurs, and as a result, the time until the pinching is detected becomes long.

  The influence of the environment that causes the proximity output signal value to deviate from the initial reference voltage is that an object such as a water drop or mud, that is, an object that does not move easily (static object) adheres to the sensor surface. The proximity output signal changes due to the movement of the door due to the static influence that the proximity output signal does not change even if the door moves and the presence of an object such as a human body, that is, an easily moving object (dynamic object) near the sensor. Can be divided into dynamic effects. FIG. 4 is a graph showing the transition of the value of the proximity output signal when baseline correction is performed when the door closing operation is started in the presence of a static object. As shown in FIG. 4, when there is a static object, the value (A) of the proximity output signal when starting the automatic closing operation of the door is deviated from the reference voltage by the voltage (E). If the offset correction of the value of the proximity output signal is not performed, the value of the proximity output signal continues to be affected to a certain degree through the automatic closing operation as represented by a dotted line in FIG. For this reason, the difference (α) between the HI threshold value, which is a threshold value for detecting pinching, and the value of the proximity output signal is smaller than the difference (C) between the HI threshold value and the reference voltage value. That is, when the object approaches the sensor, the pinching is detected at a distance smaller than the distance for correctly detecting the pinching, which causes a false detection. For this reason, when the automatic closing operation is started, the value (A) of the proximity output signal affected by the presence of the static object is offset-corrected, and the value of the proximity output signal is changed as shown by the solid line in FIG. It is necessary to match the reference voltage initially.

  FIG. 5 is a graph showing the transition of the proximity output signal when the baseline correction is performed when the door closing operation is started in the presence of the dynamic object. In contrast to the correction for the static influence described above, FIG. 5 shows that there is a possibility that an object such as a human body exists in the vicinity of the sensor before the start of the automatic closing operation, that is, a dynamic object, and that pinching occurs during the automatic closing operation. It represents a certain state. In this case, even if offset correction is performed on the value (A) of the proximity output signal when the automatic closing operation is started and the value of the proximity output signal is made to match the reference voltage (C), the object moves with the movement of the sensor. Since the door approaches the object, the sensor output signal hardly reaches the predetermined pinching detection threshold, and pinching can be detected at the position (B) in FIG. 5 without correction. However, if the door is not moved to the position of point (D) in FIG. 5, pinching cannot be detected, and there is a problem that detection is delayed.

  In addition, as shown in FIG. 4, even when correcting for static influences, the static object attached to the sensor by the automatic closing operation is removed at the position (B) in FIG. When the influence disappears, the proximity output signal transitions as represented by a one-dot chain line. In this case, normally, the value of the proximity output signal increases by the change amount (C) and reaches the threshold value, and the trapping is detected. On the other hand, the change amount (D) needs to be increased to detect the trapping. It becomes difficult to reach the pinching detection threshold. That is, there has been a problem that the detection sensitivity is lowered.

  In order to solve the above-described problems, a first aspect of the present invention provides an opening / closing body that opens and closes an opening provided in a vehicle, driving means that drives the opening / closing body, and an end of the opening / closing body. Capacitance type that generates a proximity output signal in response to a change in capacitance value when the object approaches a region that is a predetermined distance away from the edge of the body, and the capacitance value changes according to the distance. A sensor and a proximity output signal value generated by the capacitive sensor are compared with a predetermined first threshold value, and an inversion signal is generated when the proximity output signal value reaches the first threshold value. When the first comparison means generates an inversion signal when the opening / closing body controls to close the opening, the opening / closing body opens the opening by the driving means. A vehicle opening / closing body drive device comprising a control device for performing reverse control, the control device Measures the distance traveled by the opening / closing body, generates a position signal when the opening / closing body moves to a predetermined distance, the value of the proximity output signal generated by the capacitive sensor, and the first The proximity output signal does not reach the second threshold value when the second comparison unit that compares a second threshold value that is lower than the threshold value and the distance measurement unit generates the position signal. Correction means for offsetting the value of the proximity output signal to the value of a predetermined reference signal.

  In a second aspect based on the first aspect, when the distance measuring means generates the position signal and the proximity output signal has reached the second threshold value, the control means determines that the correction means Providing forbidden means for restricting setting of the value to the value of the reference signal.

  A third invention is characterized in that, in the first invention or the second invention, there is provided a switching circuit for switching the moving speed of the opening / closing body when the distance measuring means generates a position signal.

  According to a fourth aspect of the present invention, an opening / closing body that opens and closes an opening provided in a vehicle, a driving means that drives the opening / closing body, and an end of the opening / closing body are disposed at a predetermined distance from the end of the opening / closing body. When an object approaches the area, a capacitance sensor that generates a proximity output signal in response to a change in the capacitance value according to the distance and a capacitance sensor is generated. Comparing the value of the proximity output signal with a predetermined first threshold value, and having a first comparison means for generating an inverted signal when the value of the proximity output signal reaches the first threshold value, drives the drive means When the first comparison means generates an inversion signal when the opening / closing body controls the opening to be controlled, the vehicle includes a control device that performs the inversion control for the opening / closing body to open the opening by the driving means Opening and closing body drive device, the control device measures the distance traveled by the opening and closing body A distance measuring means for generating a position signal when the opening / closing body moves to a predetermined distance; a speed at which the opening / closing body moves; and a drive control of the opening / closing body at a first predetermined speed. The speed control means, the second comparison means for comparing the value of the proximity output signal generated by the capacitive sensor with the second threshold value set to a value lower than the first threshold value, and the distance measurement means are positioned. And a correction means for offsetting the value of the proximity output signal to a predetermined reference signal value when the proximity output signal does not reach the second threshold when the signal is generated. .

  In a fifth aspect based on the fourth aspect, when the distance measuring means generates the position signal and the proximity output signal has reached the second threshold value, the control means determines that the correction means Providing forbidden means for restricting setting of the value to the value of the reference signal.

  In a sixth aspect based on the fourth aspect or the fifth aspect, the control device drives the opening / closing body at a second speed lower than a predetermined first speed, When the position detection means generates a position signal, the position detection means has a switching circuit for switching between the first speed control means and the second speed control means.

  According to a seventh aspect, in the sixth aspect, the switching circuit switches from the second speed control means to the first speed control means when the position detection means generates a position signal.

  According to the first or fourth invention, the control device measures the distance that the opening / closing body moves, and the distance measuring means that generates a position signal when the opening / closing body moves to a predetermined distance; When the distance measuring unit generates the position signal, the second comparing unit that compares the value of the proximity output signal generated by the sensor with a preset second threshold value that is lower than the first threshold value, When the proximity output signal does not reach the second threshold value, a correction unit that sets (offsets) the value of the proximity output signal to a predetermined reference signal value is provided. Since the baseline correction of the proximity output signal value is performed according to each of the static influence and the dynamic influence, unnecessary correction for the dynamic influence can be avoided, and the detection capability of the pinching detection is deteriorated. Can be prevented.

  In addition, since the baseline correction is performed based on the value of the proximity output signal when the opening / closing body such as an automatic sliding door of the vehicle moves a predetermined distance, the static effect disappears due to the initial operation of the automatic closing operation of the opening / closing body. Unnecessary correction of the proximity output signal value can be avoided. As a result, it is possible to solve the problem that it is difficult to reach the pinching detection threshold value due to excessive correction.

  According to the second or fifth aspect of the invention, the correction means of the control device determines the value of the proximity output signal if the proximity output signal reaches the second threshold value when the distance measurement means generates the position signal. The reference signal value is not set. When it is determined that the proximity output signal value is greater than or equal to the second threshold value, it is determined that the environmental influence is a dynamic influence, and the value of the proximity output signal is used without correction. When the correction for matching the value of the proximity output signal with the reference voltage is performed, the arrival of the value of the proximity output signal to the first threshold is delayed by the correction amount. When there is a dynamic influence, it means that there is an object that may actually be caught by the opening / closing body in the vicinity of the sensor unit, so there is no need to correct the correction and delay the detection of the pinching, By not performing correction, it becomes possible to detect the pinching at an appropriate position.

  According to the third or sixth invention, the control device performs control to change the speed according to the position of the opening / closing body according to the position of the opening / closing body as the normal closing operation control, and further the opening / closing body from the start of the closing operation of the opening / closing body. The section until moving the predetermined distance is to close the opening / closing body at a slower speed between the preset closing speed and the closing speed according to the position of the opening / closing body in the normal closing operation control. It is possible to ensure safety by avoiding a strong collision between the object and the door.

  According to the seventh invention, the switching circuit performs control to switch from the second speed control means to the first speed control means when the position detection means generates the position signal. Thereby, the section in which the closing operation is performed at the second speed lower than the first speed is only during the predetermined section from the start of the closing operation, and the closing operation until the opening / closing body is fully closed is performed more quickly. Can do.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic side view of a vehicle provided with a drive control device for a vehicle opening / closing body according to an embodiment of the present invention. The vehicle body 1 is provided with an entrance 2 as an opening through which a passenger gets into the rear seat, and a door 3 as an opening / closing body for opening and closing the entrance 2. The door 3 is provided as a sliding door that is driven to open and close via a wire 61 by an electric motor 7 as a door opening and closing drive device, and is slidably moved in the front-rear direction of the vehicle body by being guided by a rail 62.

  A sensor unit 4 of a capacitance type sensor 100 that is a non-contact type sensor is disposed on the end surface 3 a on the fully closed side of the door 3. The sensor unit 4 is disposed from the upper end to the lower end of the end surface 3a on the fully closed side of the door 3, and is attached so as to face a pillar (B pillar) 1a that forms the entrance / exit 2 of the vehicle body 1. 2 and 3 are schematic diagrams showing the configuration of the drive control device for a vehicle opening / closing body according to the embodiment of the present invention. As shown in FIG. 2, the capacitive sensor 100 includes a sensor unit 4, a charge supply unit 101, a proximity detection unit 102 that generates a proximity output signal indicating an approach of an object to the sensor unit, and a sensor unit. And a contact detection unit 103 that generates a contact output signal indicating the contact of the object. The charge supply unit 101, the proximity detection unit 102, and the contact detection unit 103 are provided in an ECU (electronic control unit) 5.

  The ECU 5 is provided with a drive control unit 6 as a control unit that controls the drive of the electric motor 7. The drive control unit 6 includes proximity output signals and contact output signals from the proximity detection unit 102 and the contact detection unit 103. An open / close signal is input from an open / close switch (not shown) as an open / close switch means. The open / close signal may be a signal from an open / close switch provided in the vehicle body 1 or a radio wave signal from a portable key (not shown). Further, the drive control unit 6 receives door position information from the door position / speed detection unit 23 that detects the opening / closing position of the door 3.

  In FIG. 2, the sensor unit 4 of the capacitive sensor 100 is shown as a schematic cross-sectional view. The sensor unit 4 has insulation and flexibility, a covering member 13 formed in a hollow cylindrical shape, a detection electrode unit 16 fixedly disposed inside the covering member 13 and having a plurality of electrodes, and a conductive member And a GND electrode 12 that is electrically grounded. The GND electrode 12 is fixedly disposed at a position inside the covering member 13 and facing the detection electrode portion 16.

  The detection electrode unit 16 further includes two detection electrodes 8 and 9 that face each other in parallel, a shield electrode 11 that surrounds the detection electrodes 8 and 9 in a U-shape, and an insulating member 10. The insulating member 10 is disposed between the detection electrode 8 and the detection electrode 9 and between the shield electrode 11, the detection electrode 8, and the detection electrode 9.

  The detection electrode 8 and the detection electrode 9 are connected to the charge supply circuit 14 of the charge supply unit 101 via the first reference capacitor 18 and the second reference capacitor 19. The charge supply circuit 14 supplies a voltage having an equal magnitude to the first reference capacitor 18 and the second reference capacitor 19. The voltage supplied from the charge supply circuit 14 to the first reference capacitor 18 is divided by the detection electrode 8 and the first reference capacitor 18. The voltage supplied from the charge supply circuit 14 to the second reference capacitor 19 is divided by the detection electrode 9 and the second reference capacitor 19. The divided voltages are input to the sensor output detection circuit 15 of the proximity detection unit 102, respectively. When an object approaches the detection electrode 8 and the detection electrode 9, electrostatic capacitance is generated between the object and each of the detection electrode 8 and the detection electrode 9. The capacitance changes according to the distance between the object and each detection electrode 8 and detection electrode 9. As a result, the voltage input to the sensor output detection circuit 15 changes according to the capacitance generated between the object and the detection electrodes 8 and 9. The sensor output detection circuit 15 detects the difference between the input voltages, and uses the difference value signal as a proximity output signal via the offset unit 33 and supplies it to the comparison circuit 20.

  The comparison circuit 20 is connected to a door position / speed detector 23 that detects the position of the door 3 and outputs a door position signal, and a memory 21 in which a first threshold is stored in advance as a map. The first threshold value is a determination value for determining whether the electrostatic capacitance sensor 100 is caught, and is a value that changes according to the position of the door 3. The comparison circuit 20 obtains a first threshold value corresponding to the door position signal from the memory 21 based on the door position signal supplied from the door position / speed detection unit 23, and compares the first threshold value with the proximity output signal. . When the comparison circuit 20 determines that the value of the proximity output signal is larger than the first threshold value, the comparison circuit 20 outputs a proximity detection signal as an inverted signal to the drive control unit 6. With this configuration, the capacitive sensor 100 can detect the proximity of an object in a non-contact manner when the object approaches the vicinity of the sensor unit 4.

  As described above, the shield electrode 11 is disposed so as to surround the detection electrode 8 and the detection electrode 9 in a U-shape. Further, the same voltage as the voltage applied to the detection electrode 8 and the detection electrode 9 from the charge supply circuit 14 is applied to the shield electrode 11. The shield electrode 11 is connected to the comparison circuit 30.

  Since the covering member 13 has flexibility, when an external force is applied to the sensor unit 4, the covering member 13 bends, and the shield electrode 11 disposed inside the covering member 13 comes into contact with the GND electrode 12. When the shield electrode 11 contacts the GND electrode 12, the voltage value input to the comparison circuit 30 of the contact detection unit 103 decreases. The comparison circuit 30 compares the voltage value applied to the shield electrode 11 with a third threshold value stored in the memory 22 as a threshold value for detecting contact between the shield electrode 11 and the GND electrode 12. When the comparison circuit 30 determines that the voltage value of the shield electrode 11 is smaller than the third threshold value, the comparison circuit 30 outputs a contact detection signal to the drive control unit 6. With this configuration, the capacitive sensor 100 can detect contact of an object with the sensor unit 4.

Further, the door 3 is controlled by the drive control unit 6 so as to change the speed of closing the door 3 according to the position of the door 3 while the automatic closing operation is being performed. FIG. 6 is a graph showing a change in the door speed according to the position of the door when the automatic door closing operation is performed by the vehicle opening / closing body drive control apparatus according to the embodiment of the present invention. It is stored in a memory (not shown) provided in the control unit 6. The door closing speed (v ₁ (x)) represented by the solid line in FIG. 6 represents the target door speed set by the door position (x), and the door 3 becomes closer to the fully closed position. The speed of closing is reduced. Numerical values and the like shown in the graph are examples and are not limited. FIG. 7 is a graph showing a change in the speed of closing the door when the automatic closing operation by the drive control device for the vehicle opening / closing body is started from the door fully open position. As shown in FIG. 7, it is also possible to perform control so as to reduce the target speed in the peripheral influence estimation low region described later.

  FIG. 3 is a diagram showing details of a portion of the proximity detector 102 in FIG. An offset unit 33 is disposed between the sensor output detection circuit 15 and the comparison circuit 20. The offset unit 33 stores a memory 36 in which a reference value that is a predetermined reference voltage of the proximity output signal is stored, and a difference between the reference value of the memory 36 and the difference value signal supplied from the sensor output detection circuit 15 ( A difference detection circuit 35 for calculating an offset value) and an addition circuit 34. The adder circuit 34 is connected to a comparison circuit 37 that supplies an offset command signal, which will be described later. When the offset command signal is received from the comparison circuit 37, the difference (offset value) calculated by the difference detection circuit 35 is converted into a difference value signal. The added proximity output signal is supplied to the comparison circuit 20. When the addition circuit 34 does not receive the offset command signal from the comparison circuit 37, the difference (offset value) calculated by the difference detection circuit 35 is not added to the difference value signal, and the difference value signal is directly used as the proximity output signal as the comparison circuit 20. To supply.

  The electric motor 7 is provided with a rotation sensor 42 that outputs a pulse signal according to the rotation of the electric motor 7. The pulse signal output from the rotation sensor 42 is supplied to the position detection circuit 40 and the speed detection circuit 50. The position detection circuit 40 detects the position of the door 3 based on the pulse signal supplied from the rotation sensor 42, and supplies the door position signal to the comparison circuit 20, the comparison circuit 44, and the speed determination circuit 54. The comparison circuit 44 is connected to the memory 41. The memory 41 stores a movement amount threshold value for detecting that the door 3 has moved by a predetermined distance L. The comparison circuit 44 compares the door position signal supplied from the position detection circuit 40 with the movement amount threshold value stored in the memory 41. Then, when the door position signal reaches the movement amount threshold value, the comparison circuit 44 supplies the arrival signal to the comparison circuit 37 and the switching circuit 51.

  The comparison circuit 20 reads the first threshold value from the memory 21 based on the door position signal supplied from the position detection circuit 40, and compares the proximity output signal supplied from the offset unit 33 with the first threshold value. . When the comparison circuit 20 determines that the proximity output signal is larger than the first threshold value, the comparison circuit 20 supplies the proximity detection signal to the drive control unit 6.

  The comparison circuit 37 is connected to a memory 38 in which a predetermined value is stored as a second threshold value that is smaller than the first threshold value. When the arrival signal is supplied from the comparison circuit 44, the comparison circuit 37 compares the difference value signal output from the sensor output detection circuit 15 with the second threshold value stored in the memory 38. When the comparison circuit 37 determines that the difference value signal is smaller than the second threshold value, the comparison circuit 37 supplies an offset command signal to the addition circuit 34 of the offset unit 33.

A pulse signal is supplied from the rotation sensor 42 to the speed detection circuit 50. The speed detection circuit 50 detects the moving speed of the door 3 based on the pulse signal supplied from the rotation sensor 42 and supplies the door speed signal to the speed determination circuit 54. The switching circuit 51 is connected to the comparison circuit 44, the memory 52, the memory 53, and the speed determination circuit 54. The memory 52 stores the door speed (v ₁ (x)) as the target moving speed data (upper speed threshold) of the door 3 corresponding to the position of the door 3. The memory 53 stores door speed (v ₂ ) data as target movement speed data (low speed threshold) of the door 3. The door speed (v ₂ ) is set to a speed sufficiently slower than the door speed (v ₁ (x)). When the offset command signal is not supplied from the comparison circuit 37 (determined to be dynamic), the switching circuit 51 sends the door speed (v ₂ ) data stored in the memory 53 to the speed determination circuit 54. Supply. On the other hand, when the offset circuit signal is supplied from the comparison circuit 37 and the arrival signal is supplied from the comparison circuit 44, the switching circuit 51 receives the door speed (v ₁ (v ₁ ) stored in the memory 52 to the speed determination circuit 54. x)) data is supplied.

The speed determination circuit 54 is connected to the speed detection circuit 50, the position detection circuit 40, and the switching circuit 51. The speed determination circuit 54 is based on the door speed (v ₁ (x)) data or the door speed (v ₂ ) data supplied from the switching circuit 51 and the door position signal supplied from the position detection circuit 40. The target moving speed at an arbitrary position x of the door 3 is determined, and the door speed signal supplied from the speed detection circuit 50 is compared with the data of the target moving speed. The comparison result is supplied to the drive control unit 6. The drive control unit 6 controls the drive of the electric motor 7 based on the comparison result. As a result, the door 3 moves at the door speed (v ₁ (x)) or the door speed (v ₂ ).

With this configuration, when the door 3 moves at the door speed (v ₂ ) by the distance L determined as the movement amount threshold, the comparison circuit 37 determines the value of the difference value signal that is the difference between the signals of the detection electrode 8 and the detection electrode 9. And the second threshold value as the output increase regulation value. When the value of the difference value signal is larger than the second threshold value, the comparison circuit 37 outputs an offset command signal to the offset unit 33 on the assumption that a dynamic object exists around the detection electrode 8 and the detection electrode 9. Instead, the offset unit 33 supplies the difference value signal to the comparison circuit 20 as it is as a proximity output signal. When the value of the difference value signal is smaller than the second threshold value, the comparison circuit 37 supplies an offset command signal to the offset unit 33 on the assumption that an object as a static influence exists around the detection electrode 8 and the detection electrode 9. To do. Then, the offset unit 33 supplies the added proximity output value signal obtained by adding the difference (offset value) obtained by the difference detection circuit 35 to the difference value signal to the comparison circuit 20.

  Next, the control of the drive control device for the vehicle opening / closing body configured as described above will be described below with reference to the flowchart of FIG.

  Control for closing the door is started in start step ST0, and in step ST1, it is determined whether or not a closing signal for closing the door is input by an opening / closing switch as an opening / closing switch means. When the close signal from the open / close switch is input, the process proceeds to step ST2, and when the close signal is not input, step ST1 is repeatedly executed until the close signal is input.

  In step ST2, it is determined whether or not the door 3 is in the fully closed position. The automatic closing operation of the door 3 can be performed when the door 3 is in an arbitrary position other than the fully closed position. Therefore, when the door 3 is in the fully closed position, the closing operation cannot be performed, and the process proceeds to the end step and the control is terminated. If the door 3 is not in the fully closed position, the process proceeds to step ST3.

  In step ST <b> 3, the comparison circuit 20 compares the proximity output signal with the capacitance sensor pinching determination value (HI threshold value) as the first threshold value corresponding to the door position stored in the memory 21. The proximity output signal here is a signal having the same value as the difference value signal of the sensor output detection circuit 15 without the offset value added by the addition circuit 34. When the value of the proximity main force signal is larger than the HI threshold value, it is determined that an object exists in the vicinity of the sensor 4, and the process returns to step ST1, and when the value of the proximity main force signal is equal to or less than the HI threshold value, the process returns to step ST3. move on.

  In step ST4, the comparison circuit 30 compares the voltage of the shield electrode 11 with a third threshold value which is a reference signal as a touch detection threshold value. When the voltage of the shield electrode 11 is smaller than the third threshold value, it is determined that an object is in contact with the sensor 4, and the process returns to step ST1, and the door 3 is maintained at that position without moving. When the voltage of the shield electrode 11 is larger than the third threshold value, the process proceeds to step ST5.

In step ST5, a function (surrounding effect estimation operation) for estimating the presence of a static object or a dynamic object is started. In step ST5, the drive control unit 6 starts control for closing the door 3 at the door speed (v ₂ ) up to the specified position as the movement amount threshold, that is, the distance L, and proceeds to step ST6.

  In step ST6, as in step ST3, the comparison circuit 20 compares the value of the proximity output signal with the first threshold value. If the value of the proximity output signal is larger than the first threshold value, it is determined that pinching has been detected, and the process proceeds to step ST18, where, for example, the reversing operation of the door 3 or the pinching elimination operation is performed. When the value of the proximity output signal is smaller than the first threshold value, the process proceeds to step ST7.

  In step ST7, as in step ST3, the comparison circuit 20 compares the voltage of the shield electrode 11 with the touch detection threshold value. When the voltage of the shield electrode 11 is smaller than the touch detection threshold, it is estimated that the object exists in the vicinity of the sensor unit 4, and the process proceeds to step ST18 assuming that the object has been caught, and the door 3 is reversed. To eliminate pinching. When the voltage of the shield electrode 11 is larger than the touch detection threshold, the process proceeds to step ST8.

  In step ST8, the comparison circuit 44 determines whether or not the door 3 has moved by the distance L as the movement amount threshold and has reached the specified position. When the door 3 reaches the specified position, the process proceeds to step ST9. If the door 3 has not reached the specified position, the process returns to step ST5, and the estimation operation in which the peripheral influence exists is continued.

  In step ST9, the comparison circuit 37 compares the value of the difference value signal with the output increase specified value as the second threshold value. When the value of the difference value signal is smaller than the second threshold value, it is determined that a static object exists around the door 3, and the process proceeds to step ST10. If the value of the difference value signal is greater than the second threshold value, it is determined that there is a dynamic object around the door 3, and the process proceeds to step ST11.

  In step ST10, the addition circuit 34 performs control to offset the difference between the difference value signal of the detection electrode 8 and the detection electrode 9 from a predetermined reference value and supply the proximity output signal to the comparison circuit 20. When the process in step ST10 is completed, the process proceeds to step ST11.

  In step ST11, the position detection circuit 40 detects the position of the door 3 as a door position signal based on the pulse signal supplied from the rotation sensor 42. When the process of step ST11 is completed, the process proceeds to step ST12.

In step ST12, the door position signal detected by the position detection circuit 40 in step ST11 and the door speed (v ₁ (x)) data stored in the memory 52 supplied by the switching circuit 51 are sent to the speed determination circuit 54. The speed determination circuit 54 is supplied and reads the door speed data corresponding to the door position signal. When the process of step ST12 is completed, the process proceeds to step ST13.

  In step ST13, the speed determination circuit 54 compares the door speed data read in step ST12 with the door speed signal supplied from the speed detection circuit 50, and supplies the comparison result to the drive control unit 6. Based on the comparison result, the drive control unit 6 controls the motor 7 that drives the door 3 so that the door speed signal does not exceed the door speed data. When the process of step ST13 is completed, the process proceeds to step ST14.

  In step ST14, the comparison circuit 20 performs comparison in the same manner as in step ST6. If the value of the proximity output signal, which is the value of the offset difference value signal, is smaller than the first threshold value, the process proceeds to step ST15.

  In step ST15, the comparison circuit 30 performs comparison in the same manner as in step ST7. If the value of the proximity output signal, which is the value of the offset difference value signal, is larger than the third threshold value, the process proceeds to step ST14.

  In step ST <b> 16, it is determined whether the door 3 has reached the fully closed position based on the door position signal output from the position detection circuit 40. If the door 3 has reached the fully closed position, the process proceeds to step ST17. When the door 3 has not reached the fully closed position, the process returns to step ST11, and the closing operation of the door 3 is continued until the door 3 reaches the door fully closed position.

In step ST17, the door 3 is closed, assuming that the door 3 has reached the fully closed position.
Next, an operation when the drive control device for a vehicle opening / closing body according to the embodiment of the present invention starts a door closing operation will be described. FIG. 7 is a graph showing the door speed when the door closing operation is started from the fully opened position of the door. When the door closing operation is started from the fully open position of the door in step ST5 in FIG. 8 (point A in the figure), the drive control unit 6 sets the door 3 as the upper limit closing speed while the door 3 moves the distance L. Closes at speed (v ₂ ). If it is determined in step ST8 in FIG. 8 that the door 3 has moved by the specified distance L (point C in the figure), the output increase specified value and the difference value signal as the second threshold value in step ST9 in FIG. When the proximity output signal is larger than the second threshold value, the offset value is offset by the offset unit 33. Then, with step ST11 to step ST13 in FIG. 8, the drive control unit 6 moves the door 3 to the door speed (v ₁ (x)) which is data of the target moving speed of the door 3 corresponding to the position of the door 3. Closed according to. The drive control unit 6 causes the door 3 to close according to the door speed (v ₁ (x)) until it is determined in step ST14 in FIG. 8 that the door 3 has reached the fully closed position (point C, D in the figure). Point, point E).

Next, effects of the drive control device for a vehicle opening / closing body according to the embodiment of the present invention will be described. FIG. 9 is a graph showing the transition of the proximity output signal in the presence of a static object. In FIG. 9, since a static object exists when a close signal is input, the proximity output signal value shows a value (A) deviated from the reference voltage. Here, since the value (A) is equal to or less than the HI threshold value that is the sandwiching inversion threshold, the sandwiching determination control in step ST3 and step ST3 in FIG. That is, step ST5, step ST6, step ST7, and step ST8 are performed. By the peripheral influence estimation control, the door 3 is closed at a door speed (v ₂ ) as an upper limit closing speed by a predetermined distance L (step ST5 to step ST8). The proximity output signal value (B) when the door 3 moves by the distance L and the peripheral influence estimation control is completed is equal to or less than the output increase specified value as the second threshold stored in the memory 38. Therefore, in step ST9 in FIG. 8, it is estimated that a static object exists, and the value (B) of the proximity output signal at this time is a value (D) that matches the reference voltage as the reference value stored in the memory 36. (Step ST10). Even if the environmental influence disappears during the peripheral influence estimation control and the proximity output signal changes from the value (C) to the value (E), the value (D) of the proximity output signal after the peripheral influence estimation control Since the correction is performed, the corrected proximity output signal does not change from the value (D).

FIG. 10 is a graph showing the transition of the proximity output signal when the peripheral influence estimation control is performed in the presence of the dynamic object and the offset correction of the proximity output signal is not performed. In FIG. 10, when a close signal is input, since a dynamic object exists, the proximity output signal value shows a value (A) that deviates from the reference voltage by a certain amount. Here, since the value (A) is equal to or less than the HI threshold value as the sandwiching inversion threshold value, the sandwiching determination control in step ST3 and step ST3 in FIG. 8 is not performed, and the process proceeds to step ST5 where the peripheral influence estimation control is performed. Is called. By the peripheral influence estimation control, the door 3 is closed at a door speed (v ₂ ) as an upper limit closing speed by a predetermined distance L (ST4 to step ST8). Since the value (B) of the proximity output signal when the door 3 moves by the distance L and the peripheral influence estimation control is completed is equal to or greater than the output increase specified value as the second threshold stored in the memory 38, the environment The effect is estimated to be a dynamic effect and the value of the proximity output signal is not offset corrected. Since it is presumed that there is an object to be sandwiched in the case of dynamic influence, if the closing operation of the door 3 is continued as it is, the door 3 approaches the object. Then, the value of the proximity output signal becomes the value (E), reaches the HI threshold value as the pinching determination threshold value, and pinching is detected. When the proximity output signal value is the value (C) during the closing operation and the object is removed and the environmental influence disappears, the value of the proximity output signal becomes the value (D), which is represented by a two-dot chain line in FIG. Thus, the closing operation is continued.

  Although the embodiment of the present invention is described with respect to a sliding door provided in a vehicle as an example, the present invention can be similarly applied to a power window and a roof window. Further, in the embodiment of the present invention, whether the value of the proximity output signal is larger than the touch detection threshold value in step ST3 and step ST4 in the control flow diagram in FIG. 8, or whether the value of the proximity output signal is less than the HI threshold value. If it is determined and this condition is not satisfied, the process proceeds to step ST1 without performing the closing operation. However, the present invention is not limited to this. May be performed.

1 is a schematic side view of a vehicle provided with a drive control device for a vehicle opening / closing body according to an embodiment of the present invention. It is a schematic diagram which shows the structure of the drive control apparatus of the vehicle opening / closing body which concerns on embodiment of this invention. It is a schematic diagram which shows the structure of the proximity detection part of the drive control apparatus of the vehicle opening / closing body which concerns on embodiment of this invention. It is a graph which shows transition of a proximity output signal at the time of amending at the time of the start of closing operation in the presence of static influence. It is a graph which shows transition of a proximity output signal at the time of amending at the time of the start of closing operation in the presence of dynamic influence. It is a graph which shows the door closing speed change according to the door position in the automatic closing operation | movement by the drive control apparatus of the vehicle opening / closing body which concerns on embodiment of this invention. It is a graph which shows the door closing speed change at the time of the door closing operation from the fully open position of the vehicle opening-and-closing body which concerns on embodiment of this invention. It is a flowchart shown about the control point of the drive control apparatus of the vehicle opening / closing body which concerns on embodiment of this invention. It is a graph which shows transition of a proximity output signal at the time of amending environmental influence estimation control in the presence of static influence. It is a graph which shows transition of a proximity output signal when peripheral influence estimation control is performed in the presence of dynamic influence and no correction is performed.

Explanation of symbols

1 Car body 1a Pillar (B pillar)
2 Entrance / Exit 3 Door 3a End face on the fully closed side 4 Sensor part 5 ECU
6 Drive Control Unit 7 Electric Motor 14 Charge Supply Circuit 15 Sensor Output Detection Circuit 20 Comparison Circuit 23 Door Position / Speed Detection Unit 33 Offset Unit 18, 19 Reference Capacitor 100 Capacitive Sensor

Claims (7)

An opening and closing body for opening and closing an opening provided in the vehicle;
Driving means for driving the opening and closing body;
When an object approaches an area located at an end of the opening / closing body and separated from the end of the opening / closing body by a predetermined distance, the capacitance value changes according to the distance, and the capacitance value changes. A capacitive sensor that generates a proximity output signal in response to
A first comparison that compares the value of the proximity output signal generated by the capacitive sensor with a predetermined first threshold and generates an inverted signal when the value of the proximity output signal reaches the first threshold. And when the first comparing means generates an inversion signal when the opening / closing body controls to close the opening, the driving means causes the opening / closing body to be moved by the driving means. A drive device for a vehicle opening / closing body comprising a control device for performing reversal control for opening an opening,
The control device measures a distance traveled by the opening / closing body and generates a position signal when the opening / closing body moves to a predetermined distance, and a proximity output signal generated by the capacitive sensor When the distance measuring means generates a position signal, a second comparison means for comparing the value of the second threshold value set to a value lower than the first threshold value and a second threshold value set to a value lower than the first threshold value, A drive device for a vehicle opening / closing body, comprising: correction means for offsetting the value of the proximity output signal to a value of a predetermined reference signal when the threshold value is not reached.   When the distance measurement unit generates a position signal and the proximity output signal reaches a second threshold value, the control unit sets the value of the proximity output signal to the value of the reference signal. 2. The drive device for a vehicle opening / closing body according to claim 1, further comprising prohibiting means for restricting setting.   3. The vehicle opening / closing body driving device according to claim 1, wherein the control device includes a switching circuit that switches a moving speed of the opening / closing body when the distance measuring unit generates a position signal. 4. An opening and closing body for opening and closing an opening provided in the vehicle;
Driving means for driving the opening and closing body;
When an object approaches an area located at an end of the opening / closing body and separated from the end of the opening / closing body by a predetermined distance, the capacitance value changes according to the distance, and the capacitance value changes. A capacitive sensor that generates a proximity output signal in response to
A first comparison that compares the value of the proximity output signal generated by the capacitive sensor with a predetermined first threshold and generates an inverted signal when the value of the proximity output signal reaches the first threshold. And when the first comparing means generates an inversion signal when the opening / closing body controls to close the opening, the driving means causes the opening / closing body to be moved by the driving means. A drive device for a vehicle opening / closing body comprising a control device for performing reversal control for opening an opening,
The control device measures a distance that the opening / closing body moves, measures a distance measuring unit that generates a position signal when the opening / closing body moves to a predetermined distance, and measures a speed at which the opening / closing body moves, First speed control means for driving and controlling the opening / closing body at a predetermined first speed, a proximity output signal value generated by the capacitive sensor, and a value lower than the first threshold value If the proximity output signal does not reach the second threshold when the second comparison means for comparing with the second threshold and the distance measuring means generate the position signal, the value of the proximity output signal is set in advance. A drive device for a vehicle opening / closing body, comprising: correction means for offsetting to a predetermined reference signal value.   When the distance measurement unit generates a position signal and the proximity output signal reaches a second threshold value, the control unit sets the value of the proximity output signal to the value of the reference signal. 5. The drive device for a vehicle opening / closing body according to claim 4, further comprising prohibiting means for restricting setting.   The control device includes: a second speed control unit that controls the opening / closing body at a second speed lower than a predetermined first speed; and the first speed when the position detection unit generates a position signal. 6. The drive device for a vehicle opening / closing body according to claim 4, further comprising a switching circuit for switching between the control means and the second speed control means.   The vehicle switching body drive device according to claim 6, wherein the switching circuit switches from the second speed control means to the first speed control means when the position detection means generates a position signal. .

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