JP2009221801A - Drive control unit for opening and closing body of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drive control unit for an opening and closing body of a vehicle which enables the opening and closing body to safely operate for closing. <P>SOLUTION: This drive control unit for the opening and closing body of the vehicle comprises: the opening and closing body 3 for opening and closing an opening 2 of a vehicle body 1; a driving means 7; a touch sensor 12; an operation input means 28 for generating an opening or closing command signal; a contact determination portion 38 which determines whether or not a touch sensor output value falls within a first range after the generation of the closing command signal; and a drive control section 32 which makes the opening and closing body operate for opening and closing at a predetermined target speed, and performs pinching elimination control. The drive control unit also comprises: a stop-time contact determination section 39 which makes contact detection information stored in a storage means 30 when the touch sensor output value falls to the outside of a second predetermined range before the generation of the closing command signal; and a closing drive limiting section 33 which limits the control of the drive control section so that a closing speed of the opening and closing body can be set lower than the target speed over a predetermined distance from a closing-operation starting position when the contact detection information is stored. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a drive control device for a vehicle opening / closing body, and more particularly, in a drive control device for automatically opening / closing a vehicle opening / closing body while detecting contact of an object with a touch sensor, the object is touch sensor before the closing operation is started. It is related with the drive control apparatus of the vehicle opening-closing body which can start a closing operation | movement safely, when it continues contacting.

  2. Description of the Related Art Conventionally, a drive control device for an opening / closing body such as a sliding door or a power window that automatically opens and closes an opening of a vehicle is provided with an anti-pinch means to prevent an object from being caught between the opening and the opening during an automatic closing operation. ing. The pinching prevention means includes a contact sensor (touch sensor) or a non-contact sensor for detecting contact or proximity of an object on an end face on the door opening side, and monitors a sensor signal from the sensor to detect contact of the object. In this case, the automatic closing operation of the sliding door is stopped or the reverse opening operation is performed.

Among these vehicle opening / closing body drive control devices, there is a drive control device using a piezoelectric sensor as a touch sensor (for example, Patent Document 1). The piezoelectric sensor includes a piezoelectric element that converts an external force applied to the contact detection unit into a voltage, and outputs contact of an object as a voltage change. Since the piezoelectric sensor can detect contact of an object even in a bent form, it has an advantage that it can be easily attached to an end face of an opening / closing body provided in an automobile.
JP 2002-70418 A

  However, the piezoelectric element generates a voltage with respect to acceleration, which is a change in applied load (external force). When acceleration is not generated as a constant external force is continuously applied, the voltage change is generated. Does not occur. Therefore, when an object is in contact, such as when a person leans against the piezoelectric sensor before the closing operation of the opening / closing body starts, and the contact continues, the voltage change output from the piezoelectric sensor at the start of the closing operation is There is a problem that it is attenuated and contact cannot be detected properly. Therefore, the open / close body is closed even though the object is actually in contact with the piezoelectric sensor, and the contact is made until the load applied to the piezoelectric sensor increases and the output value of the voltage signal output from the piezoelectric sensor increases. There is a problem that the opening / closing body moves without being detected.

  The present invention has been made in view of the above problems, and reduces the speed at the start of the closing operation of the opening / closing body when there is a possibility that an object is in contact at the start of the closing operation of the opening / closing body. Accordingly, an object of the present invention is to provide a drive control device for a vehicle opening / closing body that can reduce the impact of the opening / closing body on an object or the like and can safely close and open the opening / closing body.

  In order to solve the above-mentioned problem, a first invention of the present invention is a driving means (7) for opening / closing an opening / closing body (3) for opening / closing an opening (2) provided in a vehicle body (1), and an opening / closing A touch sensor provided at an end of the body and capable of outputting an arbitrary output value upon contact with the object (12), and an operation input means for generating an open command signal or a close command signal for automatically opening and closing the open / close body (28), a contact determination unit (38) for determining whether or not the touch sensor output value is within a predetermined first range after a close command signal is generated by the operation input means, and an open command signal or a close command signal The drive control unit (32) controls the drive means to open / close the open / close body at a predetermined target speed and controls the drive means based on the determination result by the contact determination unit to stop or open the open / close body. ) The dynamic control device determines whether or not the touch sensor output value is within a predetermined second range before the close command signal is generated, and the touch sensor output value is outside the second range. When the contact detection information is stored in the storage means (30) for storing the contact detection information, the storage means (30) for storing the contact detection information, and the storage means. A closed drive restricting unit (33) for restricting the control of the drive control unit until the closing speed of the opening / closing body becomes a predetermined speed lower than the target speed until it moves a predetermined distance from the closing operation start position; It is characterized by that.

  According to this, when contact of an object to the touch sensor is detected when the opening / closing body is stopped, the opening / closing body is set to a target speed for a predetermined distance from the closing operation start position when a closing command signal is generated. It is controlled so as to close at a lower speed. If contact of an object is detected when the opening / closing body is stopped, contact may continue even when a subsequent close command signal is generated. Therefore, in such a case, by closing the opening / closing body at a low speed when the close command signal is generated, even if the object comes into contact, the impact applied to the object can be reduced. In addition, when the person in contact is a human body, it is possible to safely alert the user by moving the opening / closing body at a low speed.

  According to a second aspect of the present invention, there is provided driving means (7) for opening / closing an opening / closing body (3) for opening / closing an opening (2) provided in the vehicle body (1), and an end of the opening / closing body. A touch sensor capable of outputting an arbitrary output value by contact (12), an operation input means (28) for generating an open command signal or a close command signal to automatically open and close the open / close body, and a close command signal Later, based on the contact determination unit (38) for determining whether or not the touch sensor output value is within a predetermined first range, and the open command signal or the close command signal, the driving means is driven to control the opening / closing body to a predetermined value. A drive control device for a vehicle opening / closing body having an opening / closing operation at a target speed and a drive control section (32) for controlling the driving means based on a determination result by the contact determination section to stop or open the opening / closing body, Before the close command signal is generated, A stop contact determination unit (39) that determines whether or not the sensor output value is within a predetermined second range and outputs contact detection information when the touch sensor output value is outside the second range; Storage means (30) for storing contact detection information, and when the contact detection information is stored in the storage means, the opening / closing body from the start of closing operation of the opening / closing body until the closing speed of the opening / closing body reaches a target speed And a closed drive restricting section (33) for restricting the control of the drive control section so that the acceleration is less than a predetermined acceleration.

  According to this, when the contact of the object to the touch sensor is detected when the opening / closing body is stopped, the opening / closing body is more than when the contact of the object is not detected when the closing command signal is generated. Control is performed so as to accelerate from the stop state to the target speed at a low acceleration. As a result, as in the first aspect of the invention, it is possible to reduce the impact applied to the object when the contact of the object is continued, and to be alerted safely when a person contacts.

  According to a third invention, in the first or second invention, the second range is entirely included in the first range.

  According to this, it is possible to detect the contact of an object with higher sensitivity by narrowing the threshold range used for contact determination at the time of stop when the disturbance such as vibration affecting the piezoelectric sensor output is less than when the opening / closing body is moved. Become.

  4th invention has the opening-and-closing position detection means (34) which detects the opening-and-closing position of the said opening-closing body in any invention of 1st invention-3rd invention, The said target speed is the said opening-and-closing position. It is set to change the closing speed of the opening / closing body according to the opening / closing position detected by the detecting means.

  According to this, the opening / closing body is closed at an appropriate speed according to the opening / closing position.

  The drive control device for a vehicle opening / closing body configured as described above estimates the possibility of contact of an object when a close command signal is generated, and is safe when there is a possibility of contact of the object. The closing operation can be started. Therefore, the impact of the opening / closing body on a person or an object due to contact is reduced, and the possibility of pinching is reduced, thereby improving the safety and merchantability of the drive control device of the vehicle opening / closing body.

Hereinafter, an embodiment in which the present invention is applied to a power slide door device of an automobile will be described in detail with reference to the drawings.
FIG. 1 is a schematic side view showing a vehicle to which a power slide door device according to an embodiment is applied. FIG. 2 is a perspective view showing the detection unit of the piezoelectric sensor of the power slide door device according to the embodiment in a cutaway manner. FIG. 3 is a block diagram illustrating a schematic configuration of the power slide door device according to the embodiment. In the following description, for the sake of convenience, the traveling direction of the automobile is the front, the direction opposite to the traveling direction is the rear, the traveling direction is the right side, the left hand side is the left side, the vertical upper side is the upper side, and the vertical lower side is the lower side.

  As shown in FIG. 1, an entrance 2 is provided on the left side of a vehicle body 1 of an automobile 101 as an opening for passengers to get into the rear seat. The entrance 2 can be opened and closed. A sliding door 3 is provided as an opening / closing body. The slide door 3 is connected to a slider (not shown) slidably incorporated in a guide rail 4 provided on the left side of the vehicle body 1 so as to extend in the front-rear direction, and slides in the front-rear direction with respect to the vehicle body 1. It can be moved. As a result, the sliding door 3 has a fully closed position in which the front end face 3a faces the B pillar (center pillar) 5 of the vehicle body 1 to close the entrance / exit 2 and the front end face 3a is the rear side edge of the entrance / exit 2 It is possible to move between the fully open positions. Although not shown in FIG. 1, the guide rails 4 are also provided at the upper and lower portions of the door opening of the vehicle body 1, and the corresponding sliders are connected to the upper and lower portions of the slide door 3. Is slidably supported on the vehicle body 1 at a total of three points.

  The vehicle body 1 is provided with a motor unit 6 as drive means for driving the slide door 3 to open and close. The motor unit 6 is fixed to an electric motor 7, a speed reducer (not shown) provided on the output shaft of the motor 7, an electromagnetic clutch 8 provided on the output shaft of the speed reducer, and an output shaft of the electromagnetic clutch 8. And a drum 9 as a constituent element. A part of a cable 10 in which both ends are respectively coupled to a slider is wound around the drum 9 a plurality of times. When the motor 7 rotates in the forward direction or the reverse direction, the rotational force is transmitted to the drum 9 via the speed reducer and the electromagnetic clutch 8, and the drum 9 winds the cable 10 around the drum 9 in the forward direction or the reverse direction. The slide door 3 connected to the slider is moved in the opening / closing direction. A tensioner mechanism (not shown) for applying a predetermined tension to the cable 10 is provided at the end of the cable 10.

  The drum 9 is provided with a rotation sensor 11 that detects the rotation of the drum 9. The rotation sensor 11 is composed of a multi-pole magnet provided on the rotating shaft of the drum 9 and two Hall ICs arranged with a predetermined phase difference in the vicinity of the magnet. A pulse corresponding to the rotation of the drum 9 is output as a rotation sensor signal. The rotation sensor 11 may be a known rotation sensor such as a rotary encoder or resolver instead of the Hall IC.

  A detection portion 12a of a piezoelectric sensor (piezo sensor) 12 as a touch sensor for detecting contact of an object extends in the vertical direction on the entrance / exit 2 side of the slide door 3, that is, the front end surface 3a. As shown in FIG. 2, the piezoelectric sensor detection unit 12 a surrounds the piezo cable 13 extending in the vertical direction along the front end surface 3 a of the slide door 3 and the front end surface of the slide door 3. It is comprised from the cable holder 14 fixed to 3a.

  The piezo cable 13 includes a core electrode 15 extending in the longitudinal direction at the axis thereof, a composite piezoelectric body (piezo element) 16 surrounding the core electrode 15, a shield electrode 17 surrounding the composite piezoelectric body 16, and a shield The cable is coaxially provided with a jacket 18 that surrounds the electrode 17. The composite piezoelectric body 16 is formed by mixing ceramic piezoelectric powder with a flexible resin material. The piezo cable 13 has flexibility. The piezo cable 13 outputs the potential of the core electrode 15 as a signal.

  The core electrode 15 is connected to the piezoelectric sensor substrate 19, and a signal output from the core electrode 15 passes through a low-pass filter (LPF) 20 and an amplifier (AMP) 21 provided on the piezoelectric sensor substrate 19 and is output as a piezoelectric sensor signal. Is done. When no object is in contact with the piezoelectric sensor detection unit 12a, the piezoelectric sensor signal outputs a constant potential as a reference voltage. When the detection unit 12a receives pressure due to contact with an object or the like, polarization occurs in the composite piezoelectric body 16, and the potential of the core electrode 15 changes. Thereby, the output value of the piezoelectric sensor signal changes from the reference potential.

  The cable holder 14 is made of a resin material having flexibility, and has a substantially cylindrical support portion 22 into which the piezo cable 13 is inserted, and a piezoelectric sensor mounting portion (projecting from the front end surface 3a of the slide door 3). And an engaging portion 23 that engages (not shown). The support portion 22 is provided with a gap 24 in the engaging portion 23 so that the support portion 22 can be easily deformed together with the piezo cable 13. The engaging portion 23 is provided with a protrusion 25 for ensuring engagement with the piezoelectric sensor mounting portion.

  As shown in FIG. 3, in order to perform automatic opening / closing control of the slide door 3, that is, to perform drive control of the motor 7 and intermittent control of the electromagnetic clutch 8, a slide door ECU (electronic control unit) 100 as a control unit is provided. The motor 7 and the electromagnetic clutch 8 are connected. The sliding door ECU 100 is provided with a switching signal output by a manual / automatic switch 27 for selecting automatic opening / closing control or manual opening / closing control of the sliding door 3, an opening / closing command signal output from the opening / closing switch 28 of the slide door 3, and rotation. Based on the rotation sensor signal output from the sensor 11 and the piezoelectric sensor signal output from the piezoelectric sensor 12, drive control of the motor 7 and intermittent control of the electromagnetic clutch 8 are performed.

  The slide door ECU 100 includes an opening / closing control unit 26, a motor drive control unit 29, a memory 30, and a clutch on / off control unit 31. The opening / closing control unit 26 is constituted by, for example, a microcomputer, and includes a drive control unit 32, a closing drive restriction unit 33, an opening / closing position detection unit 34, a door speed detection unit 35, an opening / closing position determination unit 36, a door stop determination unit 37, and a contact determination. A unit 38 and a stop-time contact determination unit 39 are provided.

  The clutch on / off control unit 31 is configured by, for example, a transistor, the motor drive control unit 29 is configured by, for example, a relay, a transistor, and an FET, and the memory 30 is configured by, for example, RAM and ROM.

  The manual / automatic switch 27 is a switch for selecting either manual or automatic opening / closing operation of the slide door 3 and is provided, for example, in the driver's seat of the vehicle body 1. The manual / automatic switch 27 outputs a switching signal to the clutch on / off control unit 31 by a switch operation. The clutch on / off control unit 31 places the electromagnetic clutch 8 in a disconnected (released) or connected (coupled) state in accordance with the switching signal. When manual is selected by the manual / automatic switch 27, the electromagnetic clutch 8 is in a disconnected state, and when automatic is selected, the electromagnetic clutch 8 is in a connected state. In the following description, the manual / automatic changeover switch 27 will be described below assuming that automatic is selected.

  The open / close switch 28 is a button switch provided in the vehicle interior of the vehicle body 1 or a switch built in a door handle provided on the inner wall or outer wall of the slide door 3, and an open command for automatically opening and closing the slide door 3. A signal or a close command signal is output. The open / close switch 28 may be a remote control switch provided on the portable key, and the open or close command signal may be a radio wave signal.

  The open / close position detector 34 receives the rotation sensor signal from the rotation sensor 11 and calculates the open / close position of the slide door 3. The open / close position detection unit 34 acquires the rotation direction and the number of rotations of the drum 9 from the rotation sensor signal output from the rotation sensor 11 constituted by the two Hall ICs. The rotation sensor signal generated when rotating in the opening direction) is counted as a positive value, and the rotation sensor signal generated when the drum 9 rotates in the reverse rotation direction (the sliding door 3 closing direction) is a negative value. Is calculated to calculate the current open / close position of the slide door 3 when the fully closed position of the slide door 3 is set as the reference position (0). The calculated opening / closing position is output as an opening / closing position signal to the drive control unit 32, the closing drive restriction unit 33, and the opening / closing position determination unit 36.

  The door speed detector 35 receives the rotation sensor signal from the rotation sensor 11 and calculates the moving speed of the sliding door 3 in the opening direction or the closing direction. The door speed detection unit 35 calculates the rotation speed of the drum 9 by counting the interval between pulses of the rotation sensor signal received during a predetermined time, and calculates the moving speed of the slide door 3 from the rotation speed. The calculated movement speed is output to the drive control unit 32 and the closed drive restriction unit 33 as a movement speed signal.

  The open / close position determination unit 36 determines whether or not the slide door 3 is in the fully closed position or the fully open position based on the open / close position signal received from the open / close position detection unit 34. The open / close position determination unit 36 outputs a door full close signal to the drive control unit 32 when it is determined that the slide door 3 is in the fully closed position, and a door full open signal when it is determined that the slide door 3 is in the fully open position.

  The door stop determination unit 37 receives a rotation sensor signal from the rotation sensor 11. The door stop determination unit 37 determines that the slide door 3 is stopped when it does not receive the rotation sensor signal until the predetermined period elapses, and outputs a stop state signal to the stop contact determination unit 39. In another embodiment, the stop state of the slide door 3 may be determined by receiving a movement speed signal from the door speed detection unit 35.

  The contact determination unit 38 determines whether or not the value of the piezoelectric sensor signal is within the first range based on the piezoelectric sensor signal received from the piezoelectric sensor 12 when the close command signal is received from the open / close switch 28. The presence or absence of an object contact with the sensor 12 is detected. When the contact determination unit 38 determines that the value of the piezoelectric sensor signal is outside the first range, the contact determination unit 38 outputs a contact detection signal to the drive control unit 32 and the closed drive restriction unit 33, assuming that an object contact is detected. .

  In the first range, the lower limit value obtained by decreasing the predetermined value and the predetermined value are increased to the value (reference potential) defined as the output value in the normal state of the piezoelectric sensor signal, that is, the state where the object is not in contact. It is a fixed range defined by the upper limit value. For example, when the reference potential of the piezoelectric sensor signal is 1.25V, the lower limit value of the first range is set to 0.75V and the upper limit value is set to 1.75V.

  The contact determination unit 39 at the time of stop is a piezoelectric sensor 12 that is received from the piezoelectric sensor 12 in a state before receiving the close command signal from the open / close switch 28, that is, in the stop state of the slide door 3 to which the stop state signal is input from the door stop determination unit 37. Based on the sensor signal, it is determined whether or not the value of the piezoelectric sensor signal is within the second range. The second range is a fixed range defined by a lower limit value obtained by decreasing a predetermined value and an upper limit value obtained by increasing a predetermined value to the reference potential of the piezoelectric sensor signal. Is included. For example, when the reference potential of the piezoelectric sensor signal is 1.25V and the first range is 0.75 to 1.75V, the lower limit value of the second range is 1.00V and the upper limit value is 1.50V. Is set. When the value of the piezoelectric sensor signal is outside the second range, the stop-time contact determination unit 39 detects that the object has been touched, and the stop-time contact detection flag (contact detection information stored in the memory 30) Rewrite F) with contact detection (F = 1). The stop-time contact detection flag (F) is 0 when no contact is detected and no contact is detected.

  When receiving the close command signal from the opening / closing switch 28, the closing drive restriction unit 33 refers to the stop contact detection flag (F) in the memory 30 and determines the stop contact detection flag (F). When the stop-time contact detection flag (F) indicates that there is contact detection (F = 1), a closed drive restriction signal is output to the drive control unit 32. Further, when the closing drive restriction unit 33 outputs a closing drive restriction signal, the closing drive restriction unit 33 moves from the opening / closing position of the slide door 3 when receiving the closing command signal based on the opening / closing position signal received from the opening / closing position detection unit 34. Measure distance. The closed drive restriction unit 33 outputs a closed drive restriction release signal to the drive control unit 32 when the measured movement distance reaches a predetermined distance (L). For example, when the opening / closing movement distance of the slide door 3 is 800 mm, the predetermined distance (L) is set to 100 mm.

The drive control unit 32 controls the motor drive control unit 29 based on an open or close command signal received from the open / close switch 28 to drive the motor 7 to rotate in the open or close direction to open / close the slide door 3. When the closing operation of the sliding door 3 is performed, the drive control unit 32 controls the closing speed of the sliding door 3 with reference to the speed map stored in the memory 30 as the target speed (v _T ). FIG. 6 is a graph showing a speed change in the automatic closing operation of the slide door 3 by the drive control device for the vehicle opening / closing body according to the embodiment. As shown in FIG. 6, the specified speed (v (x)) stored as a speed map changes according to the opening / closing position (x). Based on the opening / closing position signal received from the opening / closing position detection unit 34, the drive control unit 32 has a motor driving control unit so that the closing speed of the slide door 3 matches the specified speed (v (x)) at each opening / closing position (x). 29 is controlled to increase or decrease the rotational drive of the motor 7 to control the closing speed of the slide door 3. The numerical values shown in FIG. 6 are examples and can be changed as appropriate.

However, when the drive control unit 32 receives the closed drive restriction signal from the closed drive restriction unit 33, the drive control unit 32 increases the predetermined speed (v _d ) until it moves a predetermined distance (L) from the start of the closing operation. The sliding door 3 is closed at the maximum speed. The predetermined speed (v _d ) is stored in the memory 30, and the drive control unit 32 refers to the memory 30 when receiving the closed drive restriction signal, and sets the predetermined speed (v _d ) to the target speed (v _T ). ) Is set. When the drive control unit 32 performs the closing operation with the predetermined speed (v _d ) as the target speed (v _T ), the specified speed (v (x)) at a certain position (x) is the predetermined speed. When it becomes smaller than (v _d ), the specified speed (v (x)) is set as the target speed (v _T ). The predetermined speed (v _d ) is, for example, 100 mm / s.

When the drive control unit 32 receives the closed drive restriction release signal from the closed drive restriction unit 33, the drive control unit 32 sets the specified speed (v (x)) as the target speed (v _T ). When the drive control unit 32 receives a door full-close signal from the opening / closing position determination unit 36 while the sliding door 3 is being closed, the drive control unit 32 controls the motor drive control unit 29 to drive the motor 7. Stop.

  Further, when the drive control unit 32 receives a contact detection signal from the contact determination unit 38 while the closing operation is being performed, the drive control unit 32 reversely opens the slide door 3 for the pinching elimination operation. Accordingly, the motor drive control unit 29 is controlled to rotate the motor 7 in the opening direction.

  The control point of the power slide door device configured as described above will be described with reference to the flowcharts of FIGS. 4 and 5. FIG. 4 is a flowchart showing pinching detection control by the power slide door device according to the embodiment, and FIG. 5 is a flowchart showing pinching reversal control by the power slide door device according to the embodiment.

  This will be described with reference to FIG. The control starts from the start when the door stop determination unit 37 determines that the slide door 3 is stopped. In step ST1, the stop contact determination unit 39 receives a door stop signal from the door stop determination unit 37 and resets the stop contact detection flag (F) stored in the memory 30 (F = 0). After the process is completed, the process proceeds to step ST2.

  In step ST2, the open / close position determination unit 36 determines whether or not the position of the slide door 3 is in the fully closed position based on the open / close position signal. When the determination is Yes, that is, when the slide door 3 is in the fully closed position, the process proceeds to return, and when the determination is No, the process proceeds to step ST3.

  In step ST3, the stop contact determination unit 39 determines whether or not the output value of the piezoelectric sensor signal is outside the second range. When the determination is Yes, that is, when it is determined that an object has contacted the piezoelectric sensor detection unit 12a in the stopped state of the slide door 3, the process proceeds to step ST4, and when the determination is No, the process proceeds to step ST5.

  In step ST4, the stop-time contact detection flag (F) stored in the memory 30 is set to 1. After the process is completed, the process proceeds to step ST5.

  In step ST5, it is determined whether the drive control unit 32 has received a close command signal. If the determination is Yes, the process proceeds to step ST6. If the determination is No, the process proceeds to step ST3, and steps ST3 to 5 are repeated until the determination in step ST5 is Yes.

  In step ST6, whether or not the stop contact detection flag (F) stored in the memory 30 by the closed drive restriction unit 33 is 1, that is, when the slide door 3 is stopped, an object has contacted the piezoelectric sensor detection unit 12a. Determine if something has happened. If the determination is Yes, the closed drive restriction unit 33 outputs a closed drive restriction signal to the drive control unit 32 and proceeds to step ST7. If the determination is No, the closed drive restriction unit 33 outputs the closed drive restriction signal. Without proceeding to step ST17.

In step ST17, since the contact of the object is not detected at the time of stop, it is assumed that there is no object that continues to contact the piezoelectric sensor 12 even when the close command signal is generated, and the target speed (v _T ) is set to the specified speed (v (x )) Is set. In subsequent step ST18, the drive control unit 32 controls the motor drive control unit 29 to drive the motor 7, and starts the closing operation of the slide door 3. After the process is completed, the process proceeds to step ST19.

In steps ST7 to ST9, since the contact of the object is detected at the time of stop, it is assumed that there may be an object that continues to contact the piezoelectric sensor 12 even when the close command signal is generated. Restrict. In step ST7, the drive control unit 32 receives the closed drive restriction signal, and determines whether or not the specified speed (v (x)) is greater than a predetermined speed (v _d ) based on the opening / closing position signal. If the determination in step ST7 is Yes, the process proceeds to step ST8, and the drive control unit 32 sets a predetermined speed (v _d ) as the target speed (v _T ). If the determination is No, the process proceeds to step ST9. A specified speed (v (x)) is set as the target speed (v _T ). After the process in step ST8 or step ST9 is completed, the process proceeds to step ST10.

  In step ST <b> 10, the drive control unit 32 controls the motor drive control unit 29 to drive the motor 7 and starts the closing operation of the slide door 3. After the process is completed, the process proceeds to step ST11.

  In step ST11, the open / close position determination unit 36 determines whether or not the position of the slide door 3 is in the fully closed position based on the open / close position signal. If the determination is Yes, the process proceeds to step ST20 to end the closing operation, and if the determination is No, the process proceeds to step ST12 and the closing operation is continued.

  In step ST12, based on the opening / closing position signal, the closing drive restriction unit 33 determines whether the moving distance of the slide door 3 after receiving the closing command signal has reached a predetermined distance (L). If the determination is Yes, the closed drive restriction unit 33 outputs a closed drive restriction release signal to the drive control unit 32 and proceeds to step ST14. If the determination is No, the process proceeds to step ST13.

In step ST13, the drive control unit 32 determines whether or not the specified speed (v (x)) is equal to or lower than a predetermined speed (v _d ) based on the current opening / closing position signal. If the determination is Yes, the process proceeds to step ST14, and if the determination is No, the process proceeds to step ST15.

  In step ST15, the contact determination unit 38 determines whether or not the output value of the piezoelectric sensor signal is outside the first range. When the determination is Yes, the process proceeds to step ST16 to perform the sandwiching inversion control (see FIG. 5), and when the determination is No, the process proceeds to step ST11.

In step ST14, the drive control unit 32 sets the specified speed (v (x)) as the target speed (v _T ). As a result, the closing speed of the slide door 3 follows the specified speed (v (x)).

  In step ST19, the open / close position determination unit 36 determines whether the open / close position of the slide door 3 is the fully closed position based on the open / close position signal. If the determination is yes, the process proceeds to step ST20, and if the determination is no, the process proceeds to step ST21.

  In step ST20, the drive control unit 32 controls the motor drive control unit 29 to stop the drive of the motor 7, and the closing operation of the slide door 3 ends. After stopping, the process proceeds to return and ends the control.

  In step ST21, the contact determination unit 38 determines whether or not the output value of the piezoelectric sensor signal is outside the first range. If the determination is Yes, the process proceeds to step ST22 to perform pinching inversion control, and if the determination is No, the process proceeds to step ST19.

  In steps ST16 and ST22, the drive control unit 32 performs sandwiching and reversing control based on the determination result that there is a contact determination. The sandwiching reversal control is a control for stopping the operation of the slide door 3 in the closing direction and opening the slide door 3 to the fully opened position. As shown in FIG. 5, in the sandwiching reversal control, first in step ST23, the drive control unit 32 controls the motor drive control unit 29 to stop the rotational drive of the motor 7 in the closing direction. 7 is driven to rotate in the opening direction. The rotation drive of the motor 7 in the opening direction is continued until the opening / closing position determination unit 36 determines that the opening / closing position is fully opened in step ST25, and when it is determined that the slide door 3 has reached the fully opened position, In step ST26, the rotational drive of the motor 7 is stopped and the control is terminated.

Next, the effect of this embodiment is demonstrated. This will be described with reference to FIG. If contact of an object is not detected when the sliding door 3 is stopped, a specified speed (v (x)) is set as the target speed (v _T ), and a specified speed (x) corresponding to each opening / closing position (x) ( The sliding door 3 is closed so as to coincide with v (x)). When the sliding door 3 is stopped at point A in FIG. 6, the sliding door 3 is accelerated to a predetermined acceleration up to point B, and thereafter the closing speed is adjusted so as to match the specified speed (v (x)). .

In the state where the sliding door 3 is stopped at the point A, when the closing command signal is generated from the opening / closing switch 28 after the contact of the object is detected, the closing speed at the start of the closing operation is set to 100 mm, for example. The predetermined distance (L) is limited to a predetermined speed (v _d ) set to, for example, 100 mm / s (point C). Thereafter, when the moving distance from the closing operation start position (point A) reaches a predetermined distance (L) (point D), the target speed (v _T ) is changed from the predetermined speed (v _d ) to the specified speed (v (X)), the closing speed is accelerated and follows the specified speed (v (x)) (point D). Then, the closing speed changes along the specified speed (v (x)) until the open / close position reaches the fully closed position.

As described above, immediately after the start of the closing operation when contact is detected at the time of stopping, the sliding door 3 is closed at a predetermined speed (v _d ) that is lower than the specified speed (v (x)). Therefore, even when the object is in contact with the piezoelectric sensor 12 and the slide door 3 at the start of the closing operation, the impact that the slide door 3 gives to the object can be reduced. When the person in contact is a human body, the person who is in contact is weakly pressed by the low-speed closing operation of the slide door 3 to be alerted. Since the sliding door 3 is closed at a low speed, a person who has been warned has sufficient time to leave the sliding door 3 and can be prevented from being caught by the sliding door 3.

If contact is not detected at the time of stoppage, it is assumed that there is a low possibility of pinching immediately after the start of the closing operation, and the specified speed (v (x)) is set to the target speed (v _T ) immediately after the start of the closing operation. ) Is set, and the closing operation is performed quickly.

In the power slide door device according to the present embodiment, even when the slide door 3 is closed from the point F or the point I in the vicinity of the fully closed position, the speed is appropriately limited immediately after the start of the closing operation. In the state where the slide door 3 is stopped at the point F, if a close command signal is generated after the contact of the object is detected, the slide door 3 is accelerated until reaching a predetermined speed (v _d ). (Point G) Closes at a predetermined speed (v _d ). If the predetermined speed (v _d ) matches the specified speed (v (x)) before the moving distance from the start position (point F) of the closing operation reaches the predetermined distance (L) ( The point H) and the target speed (v _T ) are changed from a predetermined speed (v _d ) to a specified speed (v (x)). Then, the closing speed changes along the specified speed (v (x)) until the open / close position reaches the fully closed position.

In the state where the slide door 3 is stopped at the point I, when a close command signal is generated after the contact of the object is detected, the slide door 3 is accelerated to reach a predetermined speed (v _d ). but before reaching the predetermined velocity _{(v d),} the predetermined velocity _{(v d)} is consistent with the specified speed (v (x)) (point J), the target speed _{(v T)} is a predetermined speed ( v _d ) is changed to a specified speed (v (x)). Then, the closing speed changes along the specified speed (v (x)) until the open / close position reaches the fully closed position.

  Next, a modified embodiment in which the present embodiment is partially modified will be described. The modified embodiment differs from the above-described embodiment only in the operation of the drive control unit 32 and the closed drive restriction unit 33. Since other apparatus configurations are the same as those of the above-described embodiment, description thereof is omitted.

  As in the above-described embodiment, the closed drive limiting unit 33 according to the modified embodiment refers to the stop-time contact detection flag (F) of the memory 30 when receiving the close command signal from the open / close switch 28, and at the time of stop. The contact detection flag (F) is determined. When the stop-time contact detection flag (F) indicates that there is contact detection (F = 1), a closed drive restriction signal is output to the drive control unit 32.

The drive control unit 32 according to the modified embodiment controls the motor drive control unit 29 based on the open or close command signal to rotationally drive the motor 7 to open / close the slide door 3. When closing the slide door 3, the drive control unit 32 refers to the speed map stored in the memory 30, sets the specified speed (v (x)) as the target speed (v _T ), and slides the slide door. The closing speed is controlled by controlling the motor drive control unit 29 so that the speed of 3 matches the specified speed (v (x)) at an arbitrary position (x). At the start of the closing operation, the drive control unit 32 accelerates the slide door 3 at a predetermined first acceleration so that the closing speed matches the specified speed (v (x)) from the stop state.

  However, when the drive control unit 32 receives the closed drive restriction signal from the closed drive restriction unit 33, the acceleration when the closing speed is made to coincide with the specified speed (v (x)) from the stop state is determined from the first acceleration. Is also limited to the second acceleration set to a low value.

  The control point of the power slide door device according to the modified embodiment configured as described above will be described with reference to the flowchart of FIG. FIG. 7 is a flowchart showing the pinching detection control by the power slide door device according to the modified embodiment.

  The control starts from the start when the door stop determination unit 37 determines that the slide door 3 is stopped. Steps ST27 to 31 and steps ST37 to 40 according to the modified embodiment are the same as steps ST1 to 5 and steps ST19 to 21 according to the embodiment, and the sandwiching inversion control is the same as the control shown in FIG. Omitted.

  In step ST32, whether or not the stop contact detection flag (F) stored in the memory 30 by the closed drive restriction unit 33 is 1, that is, when the slide door 3 is stopped, an object has contacted the piezoelectric sensor detection unit 12a. Determine if something has happened. If the determination is Yes, the closed drive restriction unit 33 outputs a closed drive restriction signal to the drive control unit 32 and proceeds to step ST33. If the determination is No, the closed drive restriction unit 33 outputs the closed drive restriction signal. Without proceeding to step ST34.

  In step ST33, the drive control unit 32 receives the closed drive restriction signal, and sets the acceleration at the time of starting the closing operation to the second acceleration. After the process is completed, the process proceeds to step ST35.

  In step ST34, the acceleration at the time when the drive control unit 32 starts the closing operation of the door 3 is set to the first acceleration. After the process is completed, the process proceeds to step ST35.

In step ST35, the drive control unit 32 sets the specified speed (v (x)) as the target speed (v _T ). After the process is completed, the process proceeds to step ST36.

  In step ST36, the drive control unit 32 controls the motor drive control unit 29 to drive the motor 7, and starts the closing operation of the slide door 3. At this time, if contact is detected when the slide door 3 is stopped, the second acceleration accelerates to the specified speed (v (x)), and if contact is not detected, the first acceleration accelerates. The

  Next, the function and effect of the modified embodiment will be described. FIG. 8 is a graph showing a speed change in the automatic closing operation of the slide door 3 by the power slide door device according to the modified embodiment. As shown in FIG. 8, when the contact of the object is not detected when the slide door 3 is stopped, the slide door 3 is moved from the stop state (point K) to the specified speed (v (x)) by the drive control unit 32. ) Until the first acceleration. After the closing speed matches the specified speed (v (x)) (point L), the closing speed changes to match the specified speed (v (x)) until the sliding door 3 reaches the fully closed position. To do.

  If contact of an object is detected when the slide door 3 is stopped, the slide door 3 is accelerated at the second acceleration from the stop state (point K) to the specified speed (v (x)) by the drive control unit 32. 8, the closing speed coincides with the specified speed (v (x)) at point K (point M). After the closing speed matches the specified speed (v (x)), the closing speed changes to match the specified speed (v (x)) until the sliding door 3 reaches the fully closed position.

  As described above, since the closing operation is performed at the second acceleration smaller than the first acceleration immediately after the start of the closing operation when the contact of the object is detected at the time of stopping, the closing speed of the slide door 3 is reduced. The By reducing the closing speed of the slide door 3, the same effect as the above-described embodiment can be obtained. In the modified embodiment, since it is not necessary for the closed drive restricting unit 33 to measure and determine the movement distance from the stop position, the number of processing steps is reduced compared to the embodiment.

  Although the description of the specific embodiment is finished as above, the present invention is not limited to the above embodiment and can be widely modified. For example, the configuration of the slide door ECU 100 shown in the embodiment is an exemplification, and various other configurations can be adopted. It is also possible to combine the speed limit at the start of the closing operation according to the embodiment and the acceleration limit at the start of the closing operation according to the modified embodiment. In addition, it can change suitably in the range which does not deviate from the meaning of invention.

It is a typical side view showing a power slide door device concerning an embodiment applied to vehicles. It is a perspective view which fractures | ruptures and shows the detection part of the piezoelectric sensor of the power slide door apparatus which concerns on embodiment. It is a block diagram showing a schematic structure of a power slide door device concerning an embodiment. It is a flowchart which shows the pinching detection control by the power slide door apparatus which concerns on embodiment. It is a flowchart which shows the pinching inversion control by the power slide door apparatus which concerns on embodiment. It is a graph which shows the speed change in the automatic closing operation | movement of the sliding door by the power sliding door apparatus which concerns on embodiment. It is a flowchart which shows the pinching detection control by the power slide door apparatus which concerns on deformation | transformation embodiment. It is a graph which shows the speed change in the automatic closing operation | movement of the sliding door by the power sliding door apparatus which concerns on deformation | transformation embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 3 Slide door 7 Motor 11 Rotation sensor 12 Piezoelectric sensor 26 Open / close control part 28 Open / close switch 29 Motor drive control part 30 Memory 32 Drive control part 33 Closed drive restriction part 34 Opening / closing position detection part 35 Door speed detection part 36 Opening / closing position determination part 37 Door stop determination unit 38 Contact determination unit 39 Stop contact determination unit 100 Sliding door ECU

Claims (5)

Driving means for opening and closing an opening and closing body for opening and closing an opening provided in the vehicle body;
A touch sensor provided at an end of the opening and closing body and capable of outputting an arbitrary output value by contact with an object;
An operation input means for generating an open command signal or a close command signal to automatically open and close the open / close body,
A contact determination unit that determines whether or not an output value of the touch sensor is within a predetermined first range after a close command signal is generated by the operation input unit;
Based on the opening command signal or the closing command signal, the driving unit is driven to control the opening / closing body to open / close at a predetermined target speed, and the driving unit is controlled based on a determination result by the contact determination unit. A drive control device for a vehicle opening / closing body having a drive control unit for stopping or opening the opening / closing body,
Before the closing command signal is generated, it is determined whether the output value of the touch sensor is within a predetermined second range, and the output value of the touch sensor is outside the second range. A stop contact determination unit that outputs contact detection information;
Storage means for storing the contact detection information;
When the contact detection information is stored in the storage means, a predetermined speed at which the closing speed of the opening / closing body is lower than the target speed until the opening / closing body moves a predetermined distance from the closing operation start position. And a closed drive restricting part for restricting the control of the drive control part so as to satisfy the following. Driving means for opening and closing an opening and closing body for opening and closing an opening provided in the vehicle body;
A touch sensor provided at an end of the opening and closing body and capable of outputting an arbitrary output value by contact with an object;
An operation input means for generating an open command signal or a close command signal to automatically open and close the open / close body,
A contact determination unit that determines whether or not an output value of the touch sensor is within a predetermined first range after a close command signal is generated by the operation input unit;
Based on the opening command signal or the closing command signal, the driving means is driven and controlled to cause the opening / closing body to follow a predetermined target speed at a predetermined acceleration from a stopped state, to open / close at the target speed, and to determine the contact A drive control device for a vehicle opening / closing body having a drive control section for controlling the driving means based on a determination result by the section to stop or open the opening / closing body,
Before the closing command signal is generated, it is determined whether the output value of the touch sensor is within a predetermined second range, and the output value of the touch sensor is outside the second range. A stop contact determination unit that outputs contact detection information;
Storage means for storing the contact detection information;
When the contact detection information is stored in the storage means, the acceleration of the opening / closing body from the start of the closing operation of the opening / closing body to the target speed until the closing speed of the opening / closing body reaches the target speed. A drive control device for a vehicle opening / closing body, comprising: a closed drive restriction unit that restricts the control of the drive control unit to be smaller.   3. The vehicle opening / closing body drive control device according to claim 1, wherein the second range is entirely included in the first range. 4. An opening / closing position detecting means for detecting an opening / closing position of the opening / closing body;
4. The target speed is set so as to change a closing speed of the opening / closing body according to an opening / closing position detected by the opening / closing position detecting means. The drive control device for a vehicle opening / closing body according to the item.   The drive device for a vehicle opening / closing body according to claim 1, wherein the touch sensor is a piezoelectric sensor.

Images