JP2015124489A - Opening/closing body drive controller for vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an opening/closing body drive controller for a vehicle capable of improving detection accuracy of pinching.SOLUTION: A DC motor drives and closes a back door through an idle running section. A door ECU calculates an absolute value DN of a rotational speed difference as a deviation between a rotational speed of the DC motor detected in the idle running section and a current rotational speed of the DC motor detected afterward to detect pinching of foreign matter on the basis of the magnitude relation between the absolute value DN of the rotational speed difference and a detection threshold Ta. A temperature of the DC motor is estimated based on the rotational speed of the DC motor detected in the idle running section, and a temperature of the atmosphere is estimated based on the temperature of the DC motor and the number of operations of the DC motor within a certain time. The detection threshold Ta is corrected so that detection sensitivity of pinching of the foreign matter is higher when the temperature of the DC motor or the temperature of the atmosphere estimated is low than when the temperature of the DC motor or the temperature of the atmosphere estimated is high.

Description

  The present invention relates to a vehicle opening / closing body drive control device having a foreign object pinching detection function at the time of opening / closing driving of an opening / closing body.

  Conventionally, various types of vehicle opening / closing body drive control devices have been proposed. For example, a vehicle opening / closing body drive control device described in Patent Document 1 stops or reverses the driving of a motor when a foreign object is caught during the raising / lowering operation of a door glass as an opening / closing body by a driving force of a DC motor. The motor drive is controlled so as to perform the pinching avoidance processing, and the rotation speed detection means for detecting the rotation speed of the motor, and the DC motor in the no-load state and the load state detected by the rotation speed detection means A rotational torque difference computing means for computing a rotational torque difference applied to the DC motor from the rotational speed difference, a judging means for judging whether or not a predetermined rotational torque difference has occurred in the rotational torque difference computing means, and the discrimination And means for instructing execution of the pinching avoidance process when it is determined that a predetermined rotational torque difference has occurred. In this case, in the determination of the degree of decrease in the rotational speed of the DC motor related to the determination of the foreign object being caught, the rotational speed is not compared with the threshold value obtained empirically or experimentally, but the foreign object is actually caught. Since the torque (rotational torque difference) applied to the DC motor at this time is directly obtained by calculation, it is possible to determine whether a foreign object is caught regardless of the assembled state.

  Further, the vehicle opening / closing body drive control device described in Patent Document 2 is based on the rotational speed of the motor in the idle running section and the subsequent operation related to the closing drive from the half door state to the fully closed state of the back door as the opening / closing body. A foreign object is detected based on the magnitude relationship between the rotational speed difference, which is a deviation of the detected current rotational speed, and a threshold value. In particular, Patent Document 2 proposes changing the pinching detection sensitivity by correcting the threshold value based on the temperature (motor temperature) estimated from the rotational speed of the motor in the idle running section. The influence of temperature characteristics is suppressed, and the inclusion of foreign matter can be detected. In addition, the preset sliding resistance (load) when the back door is driven to close is corrected based on the estimated temperature as described above, and the pinching detection sensitivity is corrected by correcting the threshold value correlated with the sliding resistance. It is proposed that the influence of the temperature characteristic of each member related to the sliding resistance can be suppressed, and foreign object pinching can be detected.

Japanese Patent No. 3411383 JP 2010-24884 A

  By the way, in Patent Document 2, the sliding resistance set in advance is corrected by the temperature estimated as described above. However, this temperature is estimated as the motor temperature. On the other hand, the temperature characteristic of each member relating to sliding resistance is determined by the ambient temperature. Therefore, if the difference between the motor temperature and the ambient temperature becomes significant, the pinching detection accuracy may be reduced.

  An object of the present invention is to provide a vehicle opening / closing body drive control device capable of further improving the pinching detection accuracy.

  A vehicle opening / closing body drive control device that solves the above problems includes a motor that opens or closes the opening / closing body through an idle running period or an idle running section, and a moving speed of the opening / closing body in a predetermined section or a preset value. Any one of a moving speed difference, which is a deviation between a reference moving speed determined by the moving speed and a current moving speed detected thereafter, an integrated value of the moving speed difference, and a moving speed change amount within a predetermined time. A calculation unit that calculates a change in the moving speed, and the inclusion of foreign matter based on the magnitude relationship between the calculated moving speed change and a threshold value that correlates with a preset sliding resistance when the opening / closing body is opened or closed. A pinch detection unit for detecting the motor, a motor temperature estimation unit for estimating the temperature of the motor based on the rotation speed of the motor detected during the idle running period or idle running period, and energization of the motor within a certain time Detect time An energizing time detecting unit, an atmosphere temperature estimating unit for estimating an atmosphere temperature based on the estimated motor temperature and the detected energizing time, and the estimated motor temperature or when the atmosphere temperature is high And a correction unit that corrects the threshold value so that the detection sensitivity of foreign object pinching by the pinch detection unit is higher.

  According to this configuration, the motor temperature estimating unit estimates the temperature of the motor based on the rotation speed of the motor detected during the idle running period or idle running section. This is because, in a no-load state (corresponding to an idling period or idling section), the motor has a characteristic that the rotational speed becomes smaller when the motor temperature is lower than when the motor temperature is high. Further, the ambient temperature estimation unit estimates the ambient temperature based on the estimated motor temperature and the detected energization time. This is because the motor has a characteristic that the temperature of the motor becomes higher than the temperature of the atmosphere when the energization time of the motor within a certain time is longer than when the energization time is short. And, when the estimated temperature of the motor is lower than when the estimated motor temperature is higher, or when the estimated atmosphere temperature is lower than when the estimated atmosphere temperature is higher, The threshold value is corrected so that the detection sensitivity of foreign object pinching increases.

  In general, if the temperature of the motor is relatively high, the change amount (increase amount) of the output torque with respect to a predetermined change amount (decrease amount) of the rotation speed of the motor becomes relatively small. If the temperature is relatively low, the change amount (increase amount) of the output torque with respect to the predetermined change amount (decrease amount) of the rotation speed of the motor becomes relatively large. That is, the change in the moving speed correlated with the amount of change in the rotational speed of the motor is, on the contrary, the higher the temperature of the motor, the higher the detection sensitivity of foreign object pinching by the pinching detection unit. The lower the is, the lower the detection sensitivity of foreign object pinching by the pinching detection unit. However, the threshold value is corrected by the correction unit such that the detection sensitivity of foreign object pinching by the pinch detection unit is higher when the estimated motor temperature is lower than when the estimated motor temperature is high, The pinching detection accuracy can be further improved.

  The preset sliding resistance is larger than the original sliding resistance if the ambient temperature is relatively high, and conversely if the ambient temperature is relatively low, the original sliding resistance is obtained. Smaller than. In other words, the threshold value correlated with the preset sliding resistance increases the detection sensitivity of foreign object pinching by the pinching detection unit as the temperature of the atmosphere increases, and conversely, the pinching detection unit as the ambient temperature decreases. Decrease the detection sensitivity of foreign matter caught by However, the threshold value is corrected by the correction unit so that the detection sensitivity of foreign object pinching by the pinch detection unit is higher when the estimated atmosphere temperature is lower than when the temperature is high. The pinching detection accuracy can be further improved.

  In particular, the estimated motor temperature and the estimated ambient temperature are respectively used for the correction of the threshold value related to the temperature characteristic of the motor and the correction of the threshold value related to the temperature characteristic of the sliding resistance. Thus, even if the difference between the temperature of the motor and the temperature of the atmosphere is significant, it is possible to suppress a decrease in the pinching detection accuracy.

In the vehicular opening / closing body drive control device, it is preferable that the energization time detection unit detects the number of operation times of the motor within the predetermined time as the energization time.
According to this configuration, since the energization time detection unit only needs to detect (count) the number of times the motor is operated within the certain time, the calculation load is less than when the energization time is detected (integrated). Can be reduced.

  The present invention has an effect of further improving the pinching detection accuracy.

The perspective view which shows the rear part of the vehicle with which one Embodiment of this invention is applied. The side view which shows the rear part of a vehicle. (A), (b) is the side view and front view which show the same embodiment in an unlatched state. (A), (b) is the side view and front view which show the same embodiment in a full latch state. The front view which shows operation | movement of the embodiment. The front view which shows operation | movement of the embodiment. The block diagram which shows the electric constitution of the same embodiment. The graph which shows the relationship between output torque and rotational speed. The graph which shows the relationship between motor temperature and atmospheric temperature. The graph which shows transition of various sliding resistance with respect to the stroke of DC motor. The graph which shows transition of the reference | standard rotation speed difference with respect to the stroke of DC motor in the various temperature state of atmospheric temperature. The graph which shows transition of the reference | standard rotation speed difference with respect to the stroke of DC motor in the various temperature state of motor temperature. The graph which shows transition of the detection threshold with respect to the stroke of DC motor in various temperature states. The flowchart which shows the control aspect of the embodiment. The flowchart which shows the control aspect of the embodiment.

Hereinafter, an embodiment of a vehicle opening / closing body drive control device will be described.
As shown in FIG. 1, an opening 2 a is formed in the rear part of the body 2 of the vehicle 1. A weather strip 4 for sealing is attached to the opening 2a over the entire circumference. Further, as shown in FIG. 2, a back door 3 as an opening / closing body is attached to the rear portion of the body 2 through a door hinge 2b provided at the upper portion of the opening 2a so as to be freely opened and closed. The back door 3 is opened by being pushed upward about the door hinge 2b, and the back door 3 is pushed up by the gas reaction force of the gas damper 6 that supports it.

  A door drive unit 7 is installed at the rear of the body 2. The door drive unit 7 includes a DC motor 71, and an elongate arm 8 is connected to the output shaft 7a so as to rotate integrally. The tip of the arm 8 is rotatably connected to one end of a rod-shaped rod 9 and the other end of the rod 9 is rotatably connected to the back door 3. Therefore, when the door drive unit 7 (DC motor 71) is rotationally driven, the rod 9 is pushed and pulled as the arm 8 rotates integrally with the output shaft 7a, so that the back door supported by the body 2 is supported. 3 is driven to open and close.

  As shown in FIG. 1, a door lock device 10 is installed at the front end of the back door 3 on the vehicle interior side. The door lock device 10 includes a DC motor 11 as a motor.

  Further, as shown in FIGS. 3A and 3B, the door lock device 10 includes a latch mechanism 12 supported by the back door 3 via a base plate (not shown) fixed to the back door 3. . The latch mechanism 12 includes a latch 13 and a pole 14 that are rotatably connected around rotation shafts 12a and 12b that are parallel to the base plate. The latch 13 (latch mechanism 12) is arranged facing the U-shaped striker 5 fixed to the lower portion of the opening 2a, and can be engaged with and disengaged from the striker 5.

  More specifically, the latch 13 has an engagement recess 13a and is formed in a U shape. One side and the other side of the engagement recess 13a (in the clockwise direction in FIG. A first claw portion 13b and a second claw portion 13c are respectively formed on the counterclockwise direction side. A first engagement portion 13d is formed at the tip of the first claw portion 13b on the opposite side of the engagement recess 13a, and a second portion of the second claw portion 13c is formed on the engagement recess 13a side. An engaging portion 13e is formed. Further, the latch 13 forms a driven convex portion 13f that extends to the opposite side of the engaging concave portion 13a with the rotating shaft 12a interposed therebetween. The latch 13 is urged toward the side that rotates in the clockwise direction in the figure by latching the other end of the latch urging spring held at one end to the base plate, and the latch installed on the base plate. When the opposing surface 13g of the first claw portion 13b comes into contact with a stopper (not shown), the rotation in this direction is restricted and held at a predetermined rotation position shown in FIG.

  On the other hand, the pole 14 is connected to the lift lever 16 via the rotation shaft 12b, and rotates integrally with the lift lever 16 around the rotation shaft 12b. The pole 14 forms an engaging end portion 14a and an extending end portion 14b extending from the rotating shaft 12b to one side and the other side (the right side and the left side in FIG. 3A), respectively. The pole 14 is attached to the side that rotates counterclockwise in the figure, that is, the side that raises the engaging end 14a, by engaging the other end of the pole biasing spring held at one end with the base plate. Be forced. Further, the pawl 14 is restricted from rotating in this direction when the stopper abutting portion 16a of the lift lever 16 connected to the pawl 14 abuts against a stopper 39 installed on the base plate, and FIG. Is held at a predetermined rotational position.

  Here, the basic operation of the latch mechanism 12 will be described. In the state where the back door 3 is opened, as shown in FIG. 3A, the latch 13 is held at a predetermined rotation position by the facing surface 13g of the first claw portion 13b coming into contact with the latch stopper. The engaging recess 13a is opened facing the approach path of the striker 5 that accompanies the closing operation of the back door 3. Further, the pole 14 is held at a predetermined rotation position by the lift lever 16 coming into contact with the stopper 39 as described above, and the engagement end portion 14a is disposed below the second claw portion 13c. ing. The state of the latch mechanism 12 at this time is referred to as an unlatched state (release state).

  Next, when the striker 5 enters the engaging recess 13a as the back door 3 is closed, the inner wall surface of the engaging recess 13a is pressed by the striker 5 so that the latch 13 is a latch biasing spring. Against this, it rotates in the illustrated counterclockwise direction and is prevented from rotating by engaging the engagement end portion 14a with the second engagement portion 13e. At this time, the back door 3 is in a half door state in which the engagement recess 13a engages with the striker 5 to prevent it from coming off, and the state of the latch mechanism 12 at this time is referred to as a half latch state.

  Subsequently, as the back door 3 is further closed, when the striker 5 further enters the engagement recess 13a, the inner wall surface of the engagement recess 13a is pressed by the striker 5 as shown in FIG. Furthermore, the latch 13 is further rotated counterclockwise in the figure against the latch urging spring, and is prevented from rotating by the engagement end portion 14a being locked to the first engagement portion 13d. At this time, the back door 3 is in a fully closed state in which the engagement recess 13a engages with the striker 5 to prevent it from coming off, and the state of the latch mechanism 12 at this time is referred to as a fully latched state (engaged state).

  Further, in the above-described half latch state or full latch state, when the pole 14 rotates in the clockwise direction shown in the figure against the pole biasing spring, the first engagement portion 13d or the second engagement portion by the engagement end portion 14a. The locking of 13e is released. At this time, the latch 13 is pressed against the inner wall surface of the engagement recess 13a by the striker 5 that retreats from the engagement recess 13a as the back door 3 starts to open due to the repulsive force of the weather strip 4, for example. Thus, it rotates in the clockwise direction shown in the figure. Then, the back door 3 can be released by releasing the engagement with the striker 5 in the engagement recess 13a.

  As shown in FIG. 3B, the door lock device 10 includes a bracket 21 made of a metal plate fixed to the back door 3, and the bracket 21 rotates integrally with the output shaft of the DC motor 11. The pinion 22 connected to is arranged. The bracket 21 has a fan-like shape made of a metal plate around a rotation shaft 23 having an axis extending in a direction different from the axis of the rotation shafts 12 a and 12 b of the latch 13 and the pole 14 and extending in parallel with the rotation axis of the pinion 22. The active lever 24 is rotatably connected. The active lever 24 has an arcuate gear portion 24 a that meshes with the pinion 22. Therefore, the rotation position of the active lever 24 is held by meshing with the pinion 22, and normally, as shown in FIG. 3 (b), a predetermined meshing with the pinion 22 at the circumferential intermediate portion of the gear portion 24a. Is set to be held at the rotation position (hereinafter referred to as “initial position”). The DC motor 11 is disposed at a predetermined initial rotation position corresponding to the initial position of the active lever 24. The active lever 24 is provided with an active lever pin 25 that protrudes in the thickness direction (the front side perpendicular to the paper surface in FIG. 3B) in the vicinity of the rotation shaft 23 and parallel to the rotation shaft 23. Yes.

  A passive lever 26 made of a metal plate as a closing side transmission member is rotatably connected to the bracket 21 around the rotation shaft 23. The passive lever 26 has a lever portion 26a extending in the radial direction from the rotating shaft 23, and a pressing piece 26b formed by bending the distal end portion of the lever portion 26a. A follower convex portion 13f of the latch 13 is disposed on the rotation trajectory of the pressing piece 26b centering on the rotation shaft 23 in the counterclockwise rotation direction in FIG. Accordingly, when the passive lever 26 is rotated in the counterclockwise direction in FIG. 3B, the latch 13 is pressed in the counterclockwise direction in FIG. 3A by the driven convex portion 13f being pressed by the pressing piece 26b. And is prevented from rotating on the pole 14 in the manner described above. For example, the latch mechanism 12 in the half latch state is switched to the full latch state shown in FIG.

  At the base end of the passive lever 26, an engagement piece 26c is formed that is disposed on the pivoting locus of the active lever pin 25 in the counterclockwise direction in FIG. ing. The passive lever 26 is biased to the side that rotates in the clockwise direction in the figure by locking the other end of a return spring (not shown) held at one end to the bracket 21. Further, the passive lever 26 is restricted from rotating in this direction when the opposing surface of the pressing piece 26b comes into contact with the passive lever stopper 21a formed on the bracket 21, and the predetermined rotation shown in FIG. It is held at the position (hereinafter referred to as “closed operation initial position”). When the passive lever 26 is in the initial position of the closing operation, the active lever pin 25 of the active lever 24 and the engagement piece 26c of the passive lever 26 held at the initial position are only a predetermined angle θ1 around the rotation shaft 23. It is separated. Accordingly, when the active lever 24 rotates from the initial position in the counterclockwise direction in FIG. 3B, the active lever pin 25 abuts on the engaging piece 26c as shown in FIG. And the engagement lever 26c is pressed by the active lever pin 25 along with the further rotation after coming into contact with the engagement strip 26c. Thereby, the passive lever 26 rotates in the illustrated counterclockwise direction, and the latch mechanism 12 is switched to the fully latched state in the above-described manner.

  Thereafter, when the active lever 24 rotates clockwise (returns) and returns to the initial position, the passive lever 26 released from the active lever pin 25 is urged by the return spring to close the initial position of the closing operation. Rotate to return. Then, as shown in FIG. 4, the latch 13 is released from the passive lever 26.

  As shown in FIG. 3B, a bell crank 32 made of a metal plate as an open-side transmission member is rotatably connected to the bracket 21 around a rotation shaft 31 parallel to the rotation shaft 23. The bell crank 32 has a first lever portion 32a and a second lever portion 32b extending from the rotating shaft 31 to one side in the radial direction and the other side (upper left side and lower side in FIG. 3B). The bell crank 32 is rotated in the clockwise direction in the figure until a predetermined rotation position where the second lever portion 32b contacts the lever stopper 21d formed on the bracket 21 (hereinafter referred to as “release operation initial position”). It is regulated. When the bell crank 32 is in the release operation initial position, the first lever portion 32a is disposed on the rotation locus of the active lever pin 25 in the clockwise direction in FIG. ing. The bell crank 32 has a pressing piece 32d formed by bending the distal end portion of the second lever portion 32b.

  In addition, an open lever 34 made of a metal plate is rotatably connected to the bracket 21 around a rotation shaft 33 parallel to the rotation shafts 23 and 31. The open lever 34 has a pair of lever portions 34a and 34b extending from the rotating shaft 33 to one side in the radial direction and the other side (the upper side and the lower left side in FIG. 3B). The lever portion 34a is disposed on the rotation locus of the pressing piece 32d centering on the rotation shaft 31 in the counterclockwise rotation direction in FIG. When the bell crank 32 is rotated in the counterclockwise direction in FIG. 3B, the open lever 34 is rotated in the illustrated clockwise direction by the lever portion 34a being pressed by the pressing piece 32d.

  Further, the open lever 34 has a pressing piece 34c formed by bending the tip of the lever portion 34b, and on the rotation locus in the clockwise direction in FIG. The lift lever 16 is disposed at the top. Therefore, when the latch mechanism 12 is in the fully latched state shown in FIG. 4, when the open lever 34 rotates in the clockwise direction in FIG. 4B, the lift lever 16 is pressed by the pressing piece 34c, so that the pole 4 is rotated clockwise in FIG. 4A, and the rotation of the latch 13 by the pole 14 is released in the manner described above. Then, the latch mechanism 12 is switched to the unlatched state.

  The open lever 34 rotates in the counterclockwise direction shown in the figure when the other end of the return spring 35 held at one end by the locking piece 21c formed on the bracket 21 is locked by the lever portion 34a. Is biased to the side. The open lever 34 is restricted from rotating in this direction when the opposed surface of the lever portion 34a comes into contact with the pressing piece 32d of the bell crank 32, whose rotation is restricted at the initial position of the release operation, as shown in FIG. It is held at a predetermined rotational position shown.

  That is, the bell crank 32 is biased by the return spring 35 through the open lever 34 and is held at the initial position of the release operation. When the bell crank 32 is in the initial release operation position, the active lever pin 25 of the active lever 24 and the first lever portion 32a of the bell crank 32 held at the initial position are at a predetermined angle θ2 around the rotation shaft 23. Are only separated. Accordingly, it is assumed that the active lever 24 is rotated in the clockwise direction in FIG. 4B from the initial position. At this time, as shown in FIG. 6, the active lever 24 runs idle by a predetermined angle θ2 until the active lever pin 25 comes into contact with the first lever portion 32a, and after the contact with the first lever portion 32a. With further rotation, the first lever portion 32a is pressed by the active lever pin 25. Thereby, the bell crank 32 rotates in the illustrated counterclockwise direction and presses the lever portion 34a of the open lever 34 with the pressing piece 32d. Then, the open lever 34 rotates in the clockwise direction shown in the figure, and switches the latch mechanism 12 to the unlatched state in the manner described above.

  Thereafter, when the active lever 24 rotates counterclockwise (returns) and returns to the initial position, the bell crank 32 and the open lever 34 released from the active lever pin 25 are urged by the return spring 35. Then, it returns to each initial position and rotates. Then, the lift lever 16 (pole 14) is released from the open lever 34.

The state where the active lever 24 is not engaged with the passive lever 26 and the bell crank 32 is also referred to as a no-load state of the DC motor 11.
Next, the electrical configuration of the present embodiment will be described. As shown in FIG. 7, a door ECU (Electronic Control Unit) 40 installed in the vehicle 1 is mainly composed of, for example, a micro controller (MCU).

  The door ECU 40 is electrically connected to the door drive unit 7. The door drive unit 7 includes the DC motor 71, an electromagnetic clutch 72, and a pair of pulse sensors 73. The door ECU 40 controls the opening and closing of the back door 3 by drivingly controlling the DC motor 71. Further, the door ECU 40 controls the driving of the electromagnetic clutch 72 to switch the connection (connection / disconnection) of power transmission between the DC motor 71 and the arm 8 (back door 3). This is because the power transmission is set to the connected state only when the back door 3 is electrically opened / closed and the back door 3 is opened / closed manually to realize a smooth opening / closing operation. . Further, the door ECU 40 determines the rotation direction (forward or reverse), rotation amount and rotation speed of the DC motor 71, that is, opening / closing of the back door 3, based on a pair of pulse signals with different phases output from both pulse sensors 73. The position and opening / closing speed (movement speed) are detected. Then, the door ECU 40 drives and controls the DC motor 71 based on the pulse signal from each pulse sensor 73 so that the opening / closing speed of the back door 3 matches the target opening / closing speed, for example.

  Further, the door ECU 40 is electrically connected to a door lock drive unit 50 related to electrical drive of the door lock device 10. The door lock drive unit 50 includes the DC motor 11, a pair of pulse sensors 51, a position switch 52, a half latch switch 53, and a full latch switch 54. The door ECU 40 controls the driving of the DC motor 11 and controls the rotation of the active lever 24 via the pinion 22, and switches and controls the latch mechanism 12 in the above-described manner. Further, the door ECU 40 determines the rotation direction (forward or reverse), rotation amount (stroke), and rotation speed N of the DC motor 11, that is, the active speed N based on the pair of pulse signals output from the pulse sensors 51. The rotation position and rotation speed of the lever 24 are detected. Further, the door ECU 40 detects that the active lever 24 is at the initial position (neutral position) based on the detection signal output from the position switch 52. Further, the door ECU 40 detects that the latch mechanism 12 is in the half-latch state (the latch 13 is in the rotation position corresponding to the half-latch state) based on the detection signal output from the half-latch switch 53. Further, the door ECU 40 detects that the latch mechanism 12 is in the fully latched state (the latch 13 is in the rotation position corresponding to the fully latched state) based on the detection signal output from the full latch switch 54. The door ECU 40 drives and controls the DC motor 11 based on the pulse signals from the pulse sensors 51 and the detection signals from the switches 52 to 54.

  Further, the door ECU 40 is electrically connected to a close switch 41 and an open switch 42 installed on the back door 3 and a receiver ECU 43 mounted on the vehicle 1. The close switch 41 outputs an operation signal indicating that the back door 3 is closed by the user's operation. Based on this operation signal, the door ECU 40 causes the door drive unit 7 (the DC motor 71 and the electromagnetic clutch 72). Is controlled so as to close the back door 3 in the open state, and the door lock drive unit 50 (DC motor 11) is driven and controlled based on the transition of the latch mechanism 12 to the half latch state. 12 is switched to the full latch state. The door ECU 40 stops driving the door lock drive unit 50 (DC motor 11) when the full latch switch 54 detects the full latch state of the latch mechanism 12.

  The open switch 42 outputs an operation signal for opening the back door 3 by a user's operation. Based on this operation signal, the door ECU 40 controls the drive of the door lock drive unit 50 (DC motor 11). Then, the latch mechanism 12 in the full latch state (or the half latch state) is switched to the unlatched state, and the door drive unit 7 (the DC motor 71 and the electromagnetic clutch 72) is driven to open the back door 3 in the openable state. Operate.

  The receiver ECU 43 forms a wireless communication system with the wireless remote controller 44 carried by the user, and transmits a transmission signal for closing or opening the back door 3 transmitted by the operation of the wireless remote controller 44. In addition to receiving, the transmission signal is subjected to predetermined signal processing and output to the door ECU 40. The door ECU 40 controls the drive of the door drive unit 7 (DC motor 71 and electromagnetic clutch 72) when the back door 3 described above is closed or opened based on the transmission signal and the door lock drive unit 50 (DC motor 11). ) Drive control.

Next, a control mode of the door lock device 10 (door lock drive unit 50) by the door ECU 40 when the back door 3 is closed will be described.
FIG. 8 is a graph schematically showing the relationship between the output torque T and the rotational speed N at three different motor temperatures, assuming that the terminal voltage is constant in a general DC motor (and AC motor). . As shown in the figure, when the motor temperature is at a predetermined temperature RT of room temperature, the average rotational speed N in a state where the output torque T of the DC motor is zero (that is, no load state) is defined as NR. In this case, the change amount (increase amount) ΔT of the output torque T with respect to the predetermined change amount (decrease amount) ΔN of the rotation speed N starting from the rotation speed NR in the no-load state is substantially constant ratio SR (= ΔT / ΔN).

  Further, when the motor temperature is at a predetermined temperature HT higher than normal temperature, an average rotation speed N in a state where the output torque T of the DC motor is zero is NH. In this case, the rotational speed NH in the no-load state is larger than the rotational speed NR, and the change amount (increase amount) of the output torque T with respect to a predetermined change amount (decrease amount) ΔN starting from the rotational speed NH. ) ΔT is a substantially constant ratio SH whose magnitude (absolute value) is smaller than the ratio SR.

  Furthermore, when the motor temperature is at a predetermined temperature LT lower than room temperature, the average rotational speed N in a state where the output torque T of the DC motor is zero is defined as NL. In this case, the rotation speed NL in the no-load state is smaller than the rotation speed NR, and the change amount (increase amount) of the output torque T with respect to a predetermined change amount (decrease amount) ΔN starting from the rotation speed NL. ) ΔT has a substantially constant ratio SL whose magnitude (absolute value) is larger than the ratio SR.

  That is, the motor temperature can be estimated based on the rotational speed N of the DC motor in a no-load state (including a low-load state approximated thereto). For example, if the rotational speed N of the DC motor in the no-load state is larger than the rotational speed NR, it is estimated that the rotational speed is higher than the normal room temperature, and if it is lower than the rotational speed NR, it is estimated that the rotational speed N is lower than the normal room temperature. .

  As described above, the idle running section (corresponding to the predetermined angle θ1) is set in the stroke (rotation amount) St of the DC motor 11 correlated with the rotation position of the active lever 24. In the present embodiment, this idle running section is detected based on the detection signal of the position switch 52 and the pulse signals of both pulse sensors 51. Then, in the idle section, the rotational speed No in the unloaded state of the DC motor 11 as the reference moving speed is detected based on the pulse signals of both pulse sensors 51, and the motor temperature Tm is based on the rotational speed No. Is estimated (motor temperature estimation unit). The motor temperature Tm may be a temperature that continuously changes according to the rotation speed No, or may be a temperature that changes stepwise in a plurality of stages.

  Further, if the motor temperature is higher than the normal temperature, the magnitude (absolute value) of the change amount ΔT of the output torque T with respect to the predetermined change amount ΔN becomes smaller. Conversely, if the motor temperature is lower than the normal temperature, the predetermined change The change amount ΔT of the output torque T with respect to the amount ΔN increases. Accordingly, the amount of change in the rotational speed with reference to the rotational speed N in the no-load state (the absolute value of the rotational speed difference that is the deviation between the rotational speed N in the no-load state and the current rotational speed N) is In the same case, when the motor temperature is lower than when the motor temperature is high, the magnitude of the change amount of the output torque based on the output torque T in the no-load state is large and the load is large.

  In the present embodiment, after the stroke St of the DC motor 11 passes through the idle running section, the absolute value of the rotational speed difference between the rotational speed No and the current rotational speed N in the no-load state of the DC motor 11 as a movement speed change. A value DN (= | No−N |) is calculated (calculation means). Needless to say, the absolute value DN of the rotational speed difference immediately after passing through the idling section is zero. If the absolute value DN of the rotational speed difference is the same in consideration of the motor temperature characteristics described above, the output torque T in the no-load state and the current torque are lower when the motor temperature Tm is lower than when the motor temperature Tm is high. The magnitude of the rotational torque difference from the output torque T (equivalent to a load) is estimated to be large. Specifically, the detection threshold value Ta that is compared with the absolute value DN of the rotational speed difference in the detection of foreign object pinching is smaller when the motor temperature Tm is lower than when the motor temperature Tm is high, that is, the same rotational speed. When the absolute value DN of the difference is detected, correction is made so that the detection sensitivity of foreign object pinching becomes higher when the motor temperature is lower than when the motor temperature is high.

  FIG. 9 is a graph showing the relationship between the ambient temperature (environment temperature) and the motor temperature corresponding to the energization time of the DC motor within the latest fixed time. As shown in the figure, if the energization time of the DC motor within the latest fixed time is negligible or zero, the ambient temperature matches the motor temperature. As the energization time of the DC motor within the latest fixed time increases, the motor temperature becomes higher than the ambient temperature. This is because the DC motor is heated as the DC motor is energized. That is, the ambient temperature can be estimated by referring to the motor temperature and the energization time of the DC motor within the latest fixed time.

  In the present embodiment, the energization time of the DC motor 11 within the latest fixed time is always detected. Then, the ambient temperature is estimated based on the motor temperature Tm estimated as described above based on the rotational speed No of the DC motor 11 in the no-load state and the energization time of the DC motor 11 within the latest fixed time. The For example, if the energization time of the DC motor 11 within the latest fixed time is shorter, the ambient temperature on the low temperature side closer to the estimated motor temperature Tm is estimated, and conversely, if the energization time is longer, it is estimated. The ambient temperature on the low temperature side farther from the motor temperature Tm is estimated.

  More precisely, in the present embodiment, the number of operations CN of the DC motor 11 within the latest fixed time is always detected (energization time detection unit). Then, the ambient temperature Ts is estimated based on the motor temperature Tm estimated as described above and the number of operations CN of the DC motor within the latest fixed time (atmosphere temperature estimation unit). This is because the energization time when the DC motor 11 is operated once is substantially constant, and a substantially proportional relationship is established between the operation count CN of the DC motor 11 and the energization time. For example, if the number of operation times CN of the DC motor 11 within the latest fixed time is less, the ambient temperature Ts on the low temperature side closer to the estimated motor temperature Tm is estimated, and conversely, if the number of operations CN is greater. The ambient temperature Ts on the low temperature side farther from the estimated motor temperature Tm is estimated.

  The ambient temperature Ts may be a temperature that continuously changes according to the motor temperature Tm and the number of operations CN, or may be a temperature that changes stepwise in a plurality of stages. Alternatively, the ambient temperature Ts is continuously estimated according to any one of the motor temperature Tm and the number of operations CN, and is estimated stepwise in a plurality of stages according to either the motor temperature Tm or the number of operations CN. May be. Based on the estimated ambient temperature Ts, the sliding resistance R when the back door 3 is closed is corrected.

  FIG. 10 shows the stroke St of the DC motor 11 when the driving of the DC motor 11 is started with the transition of the latch mechanism 12 to the half latch state as a starting point and the latch mechanism 12 is switched to the full latch state, and the sliding resistance R at room temperature. It is a graph which shows the relationship. In the figure, for the sake of convenience, the sliding resistance R (positive number) is shown below the vertical axis. As described above, in the active lever 24, the idle running section of the predetermined angle θ1 is set until the active lever pin 25 contacts the engagement piece 26c, and the idle running section is completed. The stroke St of the motor 11 is Sto. That is, in the present embodiment, the no-load state is a state where the active lever 24 is not engaged with the passive lever 26 and the bell crank 32.

  As shown in FIG. 10, the sliding resistance R is the weather strip sliding resistance Rw caused by the interference with the weather strip 4, the ASSY sliding resistance Ra caused by the operation of the door lock device 10, the operation of the gas damper 6, etc. It consists of a damper sliding resistance Rd caused by Each sliding resistance Rw, Ra, Rd is experimentally acquired with respect to the stroke St of the DC motor 11. Needless to say, each sliding resistance Rw, Ra, Rd occurs after the end of the idle running section.

  Then, by adding all of the sliding resistances Rw, Ra, and Rd of each member that have been temperature-corrected based on the ambient temperature Ts, the sliding resistance R that takes into account the temperature characteristics of these members is calculated. That is, Gw represents a temperature correction gain representing the temperature characteristic of the weather strip sliding resistance Rw, Ga represents a temperature correction gain representing the temperature characteristic of the ASSY sliding resistance Ra, and Gd represents a temperature correction gain representing the temperature characteristic of the damper sliding resistance Rd. , The sliding resistance R is calculated according to the following formula (1).

Sliding resistance R = (Rw × Gw) + (Ra × Ga) + (Rd × Gd) (1)
Each temperature correction gain Gw, Ga, Gd is calculated from a map set and stored in advance based on the ambient temperature Ts estimated as described above. The temperature correction gains Gw, Ga, and Gd are basically calculated so as to increase as the estimated ambient temperature Ts increases, and conversely, decrease as the ambient temperature Ts decreases. This is because the friction coefficient of each member increases and the sliding resistance increases as the ambient temperature increases. The map for calculating each temperature correction gain Gw, Ga, Gd may change continuously according to the estimated ambient temperature Ts, or changes stepwise in a plurality of stages. There may be.

  The reference rotational speed difference V is calculated according to the following equation (2) using a coefficient K representing the motor rotational speed per load (sliding resistance). Thereby, the reference rotational speed difference V is calculated following the sliding resistance R in consideration of the temperature characteristics of each member.

Reference rotational speed difference V = K × R (2)
This reference rotational speed difference V represents the magnitude of the amount of variation from the rotational speed No (absolute value DN of the rotational speed difference) that is expected to correspond to the sliding resistance R (load) in consideration of the temperature characteristics of each member. Is.

  FIG. 11 is a graph showing the relationship between the stroke St of the DC motor 11 and the reference rotational speed difference V calculated in the above-described manner. In the figure, as the reference rotational speed difference V, a normal temperature state, a low temperature state that is lower than the normal temperature state, and a high temperature state that is a high temperature side are also drawn. Also in the figure, the reference rotational speed difference V (positive number) is shown below the vertical axis. As can be seen from the figure, the reference rotational speed difference V following the sliding resistance R is calculated so as to be smaller in the low temperature state than in the normal temperature state, and to be large in the high temperature state.

  The reference rotational speed difference Vm is calculated by taking into account the temperature characteristics of the DC motor 11 by correcting the temperature of the reference rotational speed difference V based on the motor temperature Tm. That is, when the temperature correction gain representing the temperature characteristic of the DC motor 11 is represented by Gm, the reference rotational speed difference Vm is calculated according to the following equation (3).

Reference rotational speed difference Vm = V × Gm (3)
The temperature correction gain Gm is calculated from a preset map based on the motor temperature Tm estimated as described above. The temperature correction gain Gm is basically calculated so as to increase as the estimated motor temperature Tm increases, and conversely, as the motor temperature Tm decreases. This is to absorb fluctuations in the aforementioned rotational torque difference (corresponding to the load) according to the motor temperature Tm. It should be noted that the map relating to the calculation of the temperature correction gain Gm may change continuously according to the estimated motor temperature Tm, or may change stepwise in a plurality of stages.

  FIG. 12 is a graph showing the relationship between the stroke St of the DC motor 11 and the reference rotational speed difference Vm calculated in the above-described manner. In the figure, the reference rotational speed difference Vm is drawn together with a room temperature state, a low temperature state that is lower than the normal temperature state, and a high temperature state that is a high temperature side. Also in the figure, the reference rotational speed difference Vm (positive number) is shown below the vertical axis. As can be seen from the figure, the reference rotational speed difference Vm is calculated so as to be smaller in the low temperature state than in the normal temperature state and to be large in the high temperature state. Note that the temperature correction gain Gm related to the correction of the reference rotational speed difference V is calculated based on the motor temperature Tm. Therefore, even if the reference rotational speed difference V calculated according to the equation (2) is in a low temperature state, the reference rotational speed difference Vm may be calculated as a room temperature state or a high temperature state. This is because the ambient temperature Ts is obtained by correcting the motor temperature Tm in accordance with the number of operations CN, and the motor temperature Tm can take any high temperature side higher than the ambient temperature Ts.

Then, the detection threshold value Ta related to the pinching determination is calculated according to the following equation (4) based on the corrected reference rotational speed difference Vm and the pinching determination load FL.
Detection threshold Ta = Vm + (K × FL) × Gm (4)
Note that the pinching determination load FL correlates with the pinching determination torque, and is set to a predetermined value based on the load when pinching occurs. That is, in this embodiment, when calculating the detection threshold Ta, the temperature characteristic of the DC motor 11 is also reflected in the load (FL) at the time of occurrence of pinching.

  FIG. 13 is a graph showing the relationship between the stroke St of the DC motor 11 and the detection threshold Ta calculated in the above-described manner. In the figure, the detection threshold Ta is depicted representatively in a low temperature state and a high temperature state as a whole. As is clear from the figure, the detection threshold Ta in the low temperature state is calculated to be smaller than the detection threshold Ta in the high temperature state.

  In FIG. 13, the transition of the absolute value DN of the rotational speed difference at the time of occurrence of pinching is also drawn with a bold solid line. As shown in the figure, when the detection threshold value Ta in the low temperature state is set, pinching is detected at a stroke StL where the absolute value DN of the rotational speed difference exceeds the detection threshold value Ta. On the other hand, when the detection threshold value Ta in the high temperature state is set, pinching is detected at a stroke StH (> StL) where the absolute value DN of the rotational speed difference exceeds the detection threshold value Ta. In this way, the detection threshold Ta in the low temperature state is calculated to be smaller than the detection threshold Ta in the high temperature state, so that even if the absolute value DN of the rotational speed difference is the same, the low temperature state is more likely to have foreign matter. The pinch detection sensitivity is high.

  Next, the control mode of the door lock device 10 (door lock drive unit 50) by the door ECU 40 when the back door 3 is closed will be described with reference to the flowcharts shown in FIGS. This process is started by detecting that the latch mechanism 12 is in a half-latch state based on a detection signal output from the half-latch switch 53, for example, when the back door 3 is closed manually or electrically. The

  When the processing shifts to this routine, first, the operation of the DC motor 11 is started to bring the latch mechanism 12 into the fully latched state (step S1). Then, during the idling period until the stroke St of the DC motor 11 reaches the stroke Sto, the rotational speed No of the DC motor 11 is detected (step S2).

  Subsequently, the motor temperature Tm is estimated based on the rotational speed No of the DC motor 11 in the no-load state (step S3), and the atmosphere is determined based on the motor temperature Tm and the number of operations CN of the DC motor 11 within the latest fixed time. The temperature Ts is estimated (step S4). Then, a temperature correction gain Gm is calculated based on the estimated motor temperature Tm (step S5), and temperature correction gains Gw, Ga, Gd are calculated based on the estimated ambient temperature Ts (step S6). Then, the detection threshold Ta is calculated according to the equations (1) to (4) (step S7).

  The detection threshold value Ta when all of the temperature correction gains Gw, Ga, Gd, and Gm are set to “1” is a sliding resistance that is set in advance when the back door 3 is closed (sliding at normal temperature). The threshold value is a reference that correlates to (dynamic resistance). Therefore, in step S7, the detection sensitivity of the foreign object pinching is higher when the threshold value serving as the reference is lower than when the motor temperature Tm is high, or when the threshold temperature is lower than when the ambient temperature Ts is high. It is corrected to be higher (correction unit).

  Next, it is determined whether or not the idle period has ended (step S8), and the absolute value DN of the rotational speed difference is calculated after the idle period has ended (step S9: calculation unit). Then, it is determined whether or not the absolute value DN of the rotational speed difference exceeds the detection threshold Ta (step S10: pinching detection unit). If it is determined that the absolute value DN of the rotational speed difference exceeds the detection threshold Ta, pinching occurs. A well-known pinching countermeasure process (such as stopping the DC motor 11 and reversing thereof) is executed (step S11). Then, the subsequent processing is terminated.

  On the other hand, if the absolute value DN of the rotational speed difference is determined to be equal to or smaller than the detection threshold Ta, it is determined whether or not the transition to the full latch state has been completed (step S12). If it is determined that the transition to the full latch state has not been completed, the process returns to step S9 and the same processing is repeated. That is, the detection of the pinching based on the calculation of the absolute value DN of the rotational speed difference and the magnitude comparison between the absolute value DN of the rotational speed difference and the detection threshold value Ta is completed after the transition to the full latch state after the idle running period ends. Repeat until

  When it is determined in step S12 that the transition to the full latch state is completed, the operation of the DC motor 11 is stopped (step S13). Then, in order to return the active lever 24 to the initial position, the return operation (reversal) of the DC motor 11 is started, and the DC motor 11 is stopped based on the return of the active lever 24 to the initial position (step). S14). Then, the subsequent processing is terminated.

As described in detail above, according to the present embodiment, the following operational effects can be achieved.
(1) In the present embodiment, the door ECU 40 corrects the detection threshold Ta so that the detection sensitivity of the foreign object is higher when the motor temperature Tm is lower than when the motor temperature Tm is high. The accuracy can be further improved. In addition, the detection threshold Ta is corrected by the door ECU 40 so that the detection sensitivity for foreign object pinching is higher when the ambient temperature Ts is lower than when the ambient temperature Ts is high, thereby further improving the pinching detection accuracy. be able to.

  In particular, the motor temperature Tm and the ambient temperature Ts are respectively used for correcting the detection threshold Ta related to the temperature characteristic of the DC motor 11 and correcting the detection threshold Ta related to the temperature characteristic of the sliding resistance R. Even if the difference between the temperature of 11 and the temperature of the atmosphere is significant, it is possible to suppress a decrease in pinching detection accuracy.

  (2) In the present embodiment, the door ECU 40 only needs to detect (count) the number of operations CN of the DC motor 11 within a predetermined time in the estimation of the ambient temperature Ts, and therefore detects the energization time of the DC motor 11 ( Computation load can be reduced compared with the case of integration.

  (3) In this embodiment, the correction of the detection threshold value Ta related to the temperature characteristic of the DC motor 11 and the correction of the detection threshold value Ta related to the temperature characteristic of the sliding resistance R are respectively performed, so that the DC motor within a certain period of time is performed. Even when the number of operation times CN (energization time) 11 is remarkably large, for example, it is not necessary to invalidate the pinching detection function.

In addition, you may change the said embodiment as follows.
In the embodiment, the energization time of the DC motor 11 within the latest fixed time may be used in the estimation of the ambient temperature Ts.

  In the embodiment, when the temperature correction gain Gm continuously changes according to the motor temperature Tm, a dead zone where the temperature correction gain Gm is constant may be set in the intermediate range of the motor temperature Tm. .

  In the embodiment, when the temperature correction gains Gw, Ga, and Gd continuously change according to the ambient temperature Ts, the temperature correction gains Gw, Ga, and Gd are constant at a middle range of the ambient temperature Ts. A dead zone may be set.

  -In the said embodiment, the detection time of rotational speed No in the no-load state (idle running section) of the DC motor 11 is arbitrary. For example, when the rotational speed at the end of the idle section where the rotational speed N is expected to be more stable, or when the rotational speed N is sequentially detected and the deviation between the previous rotational speed and the current rotational speed falls within a certain range The rotation speed may be.

  In the above-described embodiment, the position switch 52 for detecting the initial position (neutral position) of the active lever 24 may be omitted, and the both pulse sensors 51 may be substituted. Specifically, the pulse signals output from both pulse sensors 51 are counted by the number of pulses set in advance corresponding to the initial position of the active lever 24 based on the rotation position of the active lever 24 immediately after shifting to the unlatched state. Then, the initial position (neutral position) is detected.

  In the embodiment, in the idle running section set for the active lever 24 (DC motor 11), the passive lever 26 pressed by the engaging piece 26 c against the active lever pin 25 contacts the driven convex portion 13 f of the latch 13. It may be between. That is, the idle running section of the DC motor 11 may be set at any rotation position (stroke) as long as the latch 13 is not operated. In this case, since the rotational speed N of the DC motor 11 changes approximately in two stages, it is more preferable to detect the rotational speed No using a longer free running section.

  In the embodiment, the absolute value DN of the rotational speed difference is used in the estimation of the load when the back door 3 is closed. However, the rotational speed difference (negative number) may be used as it is. In this case, it is only necessary that the polarity of the detection threshold related to detection of foreign object pinching, the rotational speed difference at the time of pinching detection, and the magnitude relationship between the detection threshold values are matched.

In the embodiment, the moving speed of the back door 3 is detected as the rotational speed of the DC motor 11, but the moving speed of the back door 3 may be detected directly.
When the back door 3 is closed by the drive control of the door drive unit 7 by the door ECU 40, when detecting foreign object pinching based on the similar rotational speed difference (DN) of the DC motor 71, the door lock drive unit The detection threshold value for the detection may be changed by receiving (sharing) the ambient temperature information estimated in 50 drive control.

  When the back door 3 is closed by the drive control of the door drive unit 7 by the door ECU 40, when the temperature of the DC motor 71 and the ambient temperature are estimated independently, the electromagnetic clutch 72 is set in the disconnected state during the period ( The rotational speed (No) in the no-load state is detected using the idling period), and the motor temperature and the ambient temperature may be estimated according to the above embodiment.

In this case, the door lock drive unit 50 may be omitted as long as the DC motor 71 can generate a sufficient driving force to switch the door lock device 10 to the fully latched state.
The function (door release function) for switching the door lock device 10 from the fully latched state to the unlatched state may be omitted.

An AC motor may be adopted instead of the DC motor 11.
-As an opening / closing body, a swing door, a sliding door, a trunk lid, a sunroof, a window glass, etc. may be sufficient. Further, the drive mechanism that mechanically links the opening and closing body and the motor is arbitrary, and if the idle running period or idle running section of the motor is set, a link mechanism, cam mechanism, gear mechanism, cable ( A rope, belt) transmission mechanism, screw mechanism, or a combination of these may be employed as appropriate.

  The movement speed change related to the foreign object pinching determination is a movement speed that is a deviation between a movement speed of the opening / closing body in a predetermined section or a reference movement speed determined by a preset movement speed and a current movement speed detected thereafter. Any one of the difference, the integrated value of the movement speed difference, and the movement speed change amount within a predetermined time (for example, per unit time or per unit movement amount) may be used.

-It may be a vehicle opening / closing body drive control device that detects a foreign object being caught when the opening / closing body is opened.
Next, the technical idea that can be grasped from the above embodiment and other examples will be described below.

(A) a latch mechanism that is switchable in a fully latched state that holds the vehicle door in a fully closed state, a half latch state that holds the vehicle door in a half door state, and an unlatched state that does not hold the vehicle door;
A closed-side transmission member linked to the latch mechanism;
A motor that transmits a driving force to the latch mechanism via the closed-side transmission member through an idle running section, and switches the latch mechanism in a half latch state to a full latch state;
A rotation speed detector for detecting the rotation speed of the motor;
A computing unit that computes a rotational speed difference that is a deviation between the rotational speed of the motor detected in the idle running section and the current rotational speed detected thereafter;
A pinching detector that detects pinching of foreign matter based on a magnitude relationship between the calculated rotational speed difference and a preset threshold value that correlates with sliding resistance at the time of switching driving of the motor;
A motor temperature estimator for estimating the temperature of the motor based on the rotational speed of the motor detected in the idle running section;
An energization time detector for detecting the energization time of the motor within a certain time;
An ambient temperature estimation unit that estimates the ambient temperature based on the estimated motor temperature and the detected energization time;
A vehicle having a correction unit that corrects the threshold value such that the detection sensitivity of foreign object pinching by the pinch detection unit is higher when the estimated motor temperature or ambient temperature is lower than when the temperature of the atmosphere is high. Door lock device.

  DESCRIPTION OF SYMBOLS 11 ... DC motor (motor), 3 ... Back door (opening-closing body), 40 ... Door ECU (calculation part, pinching detection part, motor temperature estimation part, energization time detection part, atmosphere temperature estimation part, correction | amendment part), 51 ... Pulse sensor.

Claims (2)

A motor that opens or closes the open / close body after the idle period or idle period,
A moving speed difference which is a deviation between a moving speed of the opening / closing body in a predetermined section or a reference moving speed determined by a preset moving speed and a current moving speed detected thereafter, and an integrated value of the moving speed difference; And a calculation unit that calculates a movement speed change that is one of the movement speed change amounts within a predetermined time;
A pinching detection unit that detects pinching of foreign matter based on a magnitude relationship between the calculated movement speed change and a threshold value that correlates with a preset sliding resistance at the time of opening or closing of the opening and closing body;
A motor temperature estimator for estimating the temperature of the motor based on the rotational speed of the motor detected in the idle running period or idle running section;
An energization time detector for detecting the energization time of the motor within a certain time;
An ambient temperature estimation unit that estimates the ambient temperature based on the estimated motor temperature and the detected energization time;
A correction unit that corrects the threshold value so that the detection sensitivity of foreign object pinching by the pinching detection unit is higher when the estimated motor temperature or atmosphere temperature is lower than when the temperature is high. Opening / closing body drive control device for vehicle. In the vehicle opening / closing body drive control device according to claim 1,
The vehicular opening / closing body drive control device, wherein the energization time detection unit detects the number of operations of the motor within the predetermined time as the energization time.