JP2019019450A - Control apparatus of movable body - Google Patents

Abstract

To provide a control apparatus of a movable body suppressing wrong pinching detection.SOLUTION: A control apparatus is applied to a movable body moving between an open position that opens an opening portion of a vehicle and a close position that closes the opening portion by driving a motor. The control apparatus includes a detection unit and a correction unit as function units. The detection unit detects pinching of an object between the opening portion and the movable body, when an amount of change of a rotational speed of the motor is a determination value D or more. When a vehicle speed VS is a specified speed VSth1 or less (S202: YES), the correction unit sets as the determination value D a corrected determination value D' which is greater than a basic determination value D0 set to the determination value D when not so (S206).SELECTED DRAWING: Figure 3

Description

  The present invention relates to a control device for a moving body that is provided in a vehicle and moves between an open position and a closed position.

  Patent Document 1 describes a window glass that is provided in a vehicle and opens and closes between an open position and a closed position, and a control device therefor. The control device described in Patent Document 1 is configured to detect occurrence of object pinching by the window glass. Specifically, the control device described in Patent Document 1 detects the occurrence of pinching when the rotational speed of the motor that drives the window glass decreases by a predetermined speed or more with respect to the reference speed.

JP-A-5-280253

  Immediately after the vehicle decelerates and stops, there is a case where the vehicle body rebounds repeatedly vibrating in the vehicle front-rear direction. Due to the vibration of the vehicle body at this time, a relative acceleration with respect to the vehicle body acts on a moving body such as a window glass. Along with this, there is a possibility that the rotational speed of the motor that drives the moving body is lowered.

  In the control device of Patent Document 1, no consideration is given to the swingback that may occur when the vehicle is stopped and the accompanying reduction in the rotational speed of the motor. Therefore, in a control device that detects the occurrence of pinching based on the rotational speed of the motor, such as the control device described in Patent Document 1, when the rotational speed of the motor decreases when the vehicle decelerates and stops. There is a possibility that the pinching is erroneously detected due to the decrease in the rotation speed.

  The objective of this invention is providing the control apparatus of the moving body which suppresses the detection of incorrect pinching.

  A moving body control device for solving the above problems is applied to a moving body that moves between an open position for opening an opening of a vehicle and a closed position for closing the opening by driving a motor. A control device for a moving body, wherein a drive control unit that controls the motor, a reduction amount calculation unit that calculates a magnitude of a reduction amount of the rotation speed of the motor, and a magnitude of the reduction amount that is greater than or equal to a determination value At a certain time, a detection unit that detects the object sandwiched between the opening and the moving body, a vehicle speed acquisition unit that acquires the speed of the vehicle, and the speed of the vehicle are determined as a speed before stopping. The gist of the present invention is to include a correction unit that sets the determination value larger when the speed is equal to or less than the prescribed speed.

  In the above configuration, the determination value is set to be large when there is a possibility that the vehicle body stops at a speed equal to or lower than the specified speed and the vehicle swings back. This makes it difficult to detect pinching when there is a risk of the vehicle body swinging back, so that erroneous pinching detection can be suppressed.

  In an example of the mobile body control device, the vehicle speed acquisition unit calculates the acceleration of the vehicle based on the speed of the vehicle, and the correction unit determines that the speed of the vehicle is equal to or less than the specified speed and the acceleration. When the value is less than or equal to “0”, the determination value is set to be larger than that when it is not.

  In the above configuration, in addition to the vehicle speed being equal to or less than the specified speed, the condition that the determination value is set to be large is that the vehicle acceleration is “0” or less. Thus, the determination value can be set to be large only in a situation where there is a high probability that the vehicle will stop, in other words, when erroneous pinching is likely to occur. On the other hand, when it is difficult for erroneous detection of pinching to occur, the determination value is not set large, so that it is possible to suppress a decrease in detection accuracy when pinching actually occurs.

In the example of the control device for the moving body, the specified speed is 0 km / h.
The body swings back immediately after the vehicle stops. By increasing the determination value when the vehicle speed is 0 km / h or less as in the above configuration, it is possible to suppress erroneous detection of pinching.

  In an example of the mobile body control device, the vehicle speed acquisition unit acquires the speed of the vehicle at specified intervals, the first vehicle speed acquired last as the speed of the vehicle, and the first The acceleration is calculated based on a difference from the second vehicle speed acquired immediately before the vehicle speed is acquired.

  According to the above configuration, since the acceleration is calculated based on the two speeds of the first vehicle speed and the second vehicle speed, the acceleration can be calculated from the time when the speed is acquired at two points. Thereby, the responsiveness of the calculation of the acceleration with respect to the change of the vehicle speed can be enhanced. The acceleration can be calculated without delay, and the determination value can be set according to the running state of the vehicle.

  According to the present invention, it is possible to suppress erroneous detection of pinching and improve the accuracy of pinching detection.

The schematic diagram which shows the control apparatus of the moving body of 1st Embodiment, and the moving body provided in the vehicle. The flowchart which shows the processing routine of the pinching detection performed with the control apparatus of the said mobile body. The flowchart which shows the process routine of the determination value setting process performed with the control apparatus of the same mobile body. The timing chart when the determination value setting process is performed by the control apparatus of the mobile body. The flowchart which shows the process routine of the determination value setting process performed with the control apparatus of the moving body of 2nd Embodiment. The timing chart when the determination value setting process is performed by the control apparatus of the mobile body. The timing chart when the determination value setting process is performed by the control apparatus of the moving body of the modification example.

(First embodiment)
Hereinafter, a first embodiment in which the control device for the moving body is applied as the control device 10 for the sunroof main body 94 of the sunroof device 93 will be described.

  As shown in FIG. 1, a vehicle 90 is equipped with a sunroof device 93 and a control device 10 that controls a sunroof main body 94 of the sunroof device 93. In the following description, the front-rear direction indicated by the arrows in FIG.

A substantially square opening 92 is opened in the roof panel 91 of the vehicle 90. A sunroof device 93 that can close the opening 92 is disposed on the roof panel 91.
The sunroof device 93 includes a sunroof main body 94 as a moving body, and a drive mechanism 95 configured to be slidable in the front-rear direction. The sunroof main body 94 has a substantially square shape that matches the opening shape of the opening 92 of the roof panel 91. Hereinafter, the position of the sunroof main body 94 in a state where the sunroof main body 94 closes the entire opening 92 is referred to as a closed position. The position of the sunroof body 94 when the sunroof body 94 is slid by the drive mechanism 95 and the sunroof body 94 fully opens the opening 92 is referred to as an open position. The drive mechanism 95 sliding the sunroof body 94 backward from the closed position toward the open position is referred to as an opening operation of the sunroof body 94. The drive mechanism 95 sliding the sunroof body 94 forward from the open position toward the closed position is referred to as a closing operation of the sunroof body 94.

  The drive mechanism 95 is provided with an electric motor 96 that is a drive source for moving the sunroof body 94. The drive mechanism 95 incorporates a rotation sensor that detects the rotation of the output shaft of the motor 96. This rotation sensor generates a pulse each time the output shaft of the motor 96 makes one rotation, and outputs the pulse signal. The drive mechanism 95 is provided with a control device 10 for controlling the motor 96.

  The control device 10 is configured as a computer including an arithmetic device, a nonvolatile storage unit, a volatile storage unit, and the like. Further, the control device 10 includes a drive control unit 11, a detection unit 12, a correction unit 13, a vehicle speed acquisition unit 14, and a change amount calculation unit 15 as functional units. The control device 10 is electrically connected to an operation unit 81 provided in the interior of the vehicle 90. The operation unit 81 can be, for example, a switch using a push button for sliding the sunroof main body 94.

  The drive control unit 11 controls driving of the motor 96 based on a signal from the operation unit 81. Specifically, the drive control unit 11 controls the driving of the motor 96 to perform the opening operation or the closing operation of the sunroof body 94 or stopping the movement of the sunroof body 94.

  The change amount calculation unit 15 detects the rotational speed Mrpm of the motor 96. Specifically, the change amount calculation unit 15 detects the rotation speed Mrpm of the motor 96 based on the pulse signal output from the rotation sensor. Further, the change amount calculation unit 15 calculates the rotation speed change amount ΔMrpm as the magnitude (absolute value) of the change amount per unit time of the rotation speed Mrpm of the motor 96 from the change in the rotation speed Mrpm. The change amount calculation unit 15 can also calculate a decrease amount per unit time of the rotational speed Mrpm of the motor 96, and thus corresponds to a decrease amount calculation unit.

  The detection unit 12 estimates the position of the sunroof body 94 based on the rotation speed Mrpm of the motor 96 and the rotation angle position of the motor 96, and detects whether the sunroof body 94 has reached the open position or the closed position. Further, the detection unit 12 performs a pinching detection process for detecting that an object has been pinched between the opening 92 and the sunroof main body 94. When detecting the occurrence of pinching, the detection unit 12 causes the drive control unit 11 to execute a pinching elimination process for eliminating pinching. Moreover, the detection part 12 will output an alerting | reporting signal to the alerting | reporting part 82, if generation | occurrence | production of pinching is detected. Upon receiving the notification signal, the notification unit 82 performs a notification operation for passengers in the vehicle. As the notification unit 82, for example, a lamp that is provided in the room of the vehicle 90 and lights and blinks as a notification operation, a display that displays a predetermined warning image as a notification operation, and a speaker that generates a predetermined sound as a notification operation Etc.

  The correction unit 13 sets a determination value D used to determine whether or not an object has been caught in the pinching detection process executed by the detection unit 12. The correction unit 13 stores in advance a basic determination value D0 set as an initial value of the determination value D. The basic determination value D0 is calculated by experiments or the like as a threshold value for determining that pinching has occurred if the rotational speed change amount ΔMrpm is larger than the basic determination value D0. Further, the correction unit 13 calculates the corrected determination value D ′ by multiplying the basic determination value D0 by the correction coefficient stored in the correction unit 13. A constant larger than “1” is set in the correction coefficient. Therefore, the corrected determination value D ′ is a value larger than the basic determination value D0. That is, when the corrected determination value D ′ is set as the determination value D, the occurrence of pinching is less likely to be detected than when the basic determination value D0 is set as the determination value D. The basic determination value D0 or the corrected determination value D ′ is set as the determination value D by the correction unit 13 executing a determination value setting process described later.

  The vehicle speed acquisition unit 14 acquires the vehicle speed VS of the vehicle 90 at regular intervals. Further, the vehicle speed acquisition unit 14 calculates the acceleration G based on the vehicle speed VS. For example, the vehicle speed VS acquired last as the speed of the vehicle 90 is set as the first vehicle speed VS1. The acquisition timing of the first vehicle speed VS1 is set as the timing (n), and the vehicle speed VS acquired at the timing (n-1) immediately before the timing (n) is set as the second vehicle speed VS2. The vehicle speed acquisition unit 14 calculates the acceleration G from the difference between the first vehicle speed VS1 and the second vehicle speed VS2.

  With reference to FIG. 2, the processing routine of the pinching detection process executed by the detection unit 12 will be described. This processing routine is repeatedly executed every predetermined time when the ignition power source or accessory power source of the vehicle 90 is on.

  When the execution of this processing routine is started, the detection unit 12 first determines whether or not the sunroof device 93 is being driven in step S101. When the operation unit 81 is not operated and the sunroof device 93 is not being driven (S101: NO), this processing routine is once ended. On the other hand, when the operation part 81 is operated and the sunroof apparatus 93 is driving (S101: YES), a process transfers to step S102.

  In step S <b> 102, the detection unit 12 determines whether or not the rotation speed change amount ΔMrpm of the motor 96 is larger than the determination value D. That is, in step S102, it is determined whether pinching has occurred. As described above, the determination value D is a value that is set to determine that pinching has occurred if the rotational speed change amount ΔMrpm is greater than the determination value D, and is set by the correction unit 13. When the rotational speed change amount ΔMrpm of the motor 96 is equal to or less than the determination value D (S102: NO), this processing routine is temporarily ended. On the other hand, when the rotation speed change amount ΔMrpm of the motor 96 is larger than the determination value D (S102: YES), the process proceeds to step S103.

  In step S <b> 103, the detection unit 12 causes the drive control unit 11 to start executing the pinching elimination process. In the pinching elimination process, the rotation direction of the driving force transmitted from the output shaft of the motor 96 is reversed before and after the execution of the process is started. For example, when execution of the pinching elimination process is started while the sunroof opening operation is being performed, the moving direction of the sunroof body 94 is switched and the closing operation is started. On the other hand, when execution of the pinching elimination process is started while the sunroof closing operation is being performed, the movement direction of the sunroof body 94 is switched and the opening operation is started. Furthermore, the detection unit 12 outputs a notification signal. When the detection unit 12 detects that the sunroof main body 94 has moved to the closed position or the open position after the start of the pinching elimination process, the drive control unit 11 ends the execution of the pinching elimination process. Thereafter, this processing routine is terminated.

  Next, with reference to FIG. 3, a processing routine for determination value setting processing executed by the correction unit 13 will be described. This processing routine is repeatedly executed every predetermined time when the ignition power source or accessory power source of the vehicle 90 is on.

  When this processing routine is executed, first, in step S201, the correction unit 13 determines whether or not the acceleration G of the vehicle 90 is a value equal to or less than “0”. That is, it is determined whether the vehicle 90 is accelerating or not. When the acceleration G is a value larger than “0” (S201: NO), the process proceeds to step S203. In step S203, the basic determination value D0 is set as the determination value D, and then this processing routine is temporarily terminated. On the other hand, when the acceleration G is a value equal to or less than “0” (S201: YES), the process proceeds to step S202.

  In step S202, the correction unit 13 determines whether or not the vehicle speed VS is equal to or less than the specified speed VSth1. In the present embodiment, “10 km / h” is set as the value for determining that the vehicle is just before stopping in the specified speed VSth1. When the vehicle speed VS is higher than the specified speed VSth1 (S202: NO), the process proceeds to step S203. In step S203, the correction unit 13 sets the basic determination value D0 as the determination value D, and then this processing routine is temporarily terminated.

  On the other hand, when the vehicle speed VS is equal to or lower than the specified speed VSth1 in step S202 (S202: YES), the process proceeds to step S204. In step S204, the correction unit 13 determines whether or not the vehicle speed VS is “0”. When the vehicle speed VS is “0” (S204: YES), the process proceeds to step S205.

  In step S205, the correction unit 13 determines whether or not the elapsed time T after the vehicle speed VS becomes “0” is smaller than the specified time Tth1. The elapsed time T starts counting from the time when the vehicle speed VS becomes “0” by the correction unit 13 and is initialized to “0” when the vehicle speed VS changes. The specified time Tth1 is stored in advance in the correction unit 13 as an elapsed time until the vehicle body swingback that may occur when the vehicle stops is converged from the time when the vehicle stops. When the elapsed time T is equal to or longer than the specified time Tth1 (S205: NO), the process proceeds to step S203. In step S203, the correction unit 13 sets the basic determination value D0 as the determination value D, and then this processing routine is temporarily terminated. On the other hand, when the elapsed time T is smaller than the specified time Tth1 in step S205 (S205: YES), the process proceeds to step S206. In step S206, the corrected determination value D ′ is set as the determination value D by the correction unit 13, and then this processing routine is temporarily ended.

  If the vehicle speed VS is not “0” in step S204 (S204: NO), the process of step S205 is skipped and the process proceeds to step S206. In step S206, the corrected determination value D ′ is set as the determination value D by the correction unit 13, and then this processing routine is temporarily ended.

  Whether the corrected determination value D ′ is set as the determination value D or the basic determination value D0 is set as the determination value D according to the state of the vehicle by repeatedly executing the processing routine shown in FIG. Is switched. In other words, correction for increasing the determination value D or initialization of the correction is executed. That is, when the vehicle speed VS is equal to or less than the specified speed VSth1 and the acceleration G is equal to or less than “0”, the determination value D can be set larger than when the vehicle speed VS is not equal to “0”.

  The operation of the control device 10 according to the first embodiment will be described with reference to FIG. In FIG. 4, the vehicle speed VS, the acceleration G, and the determination value D set by executing the processing routine shown in FIG. 3 are indicated by solid lines. Furthermore, in FIG. 4, the determination value D set by the control device as a comparative example is indicated by a two-dot chain line. The control device of the comparative example sets the corrected determination value D ′ to the determination value D when the vehicle acceleration G is a negative value, and is based on the determination value D when the vehicle acceleration G is not a negative value. The determination value D0 is set.

  In the example shown in FIG. 4, the vehicle 90 starts from the time t11. The vehicle 90 accelerates at a constant acceleration G during a period from timing t11 to timing t13, and travels at a constant speed from timing t13 to timing t14. The vehicle speed VS reaches the specified speed VSth1 at timing t12. Prior to timing t11, the vehicle 90 is stopped in a state where the elapsed time T from when the vehicle speed VS becomes “0” is equal to or longer than the specified time Tth1.

  Prior to timing t11, the elapsed time T from when the vehicle speed VS becomes “0” is equal to or longer than the specified time Tth1 (S205: NO), so that the basic determination value D0 is included in the determination value D as indicated by the solid line. It is set (S203). Since the acceleration G is a positive value during the period from the timing t11 to the timing t13 (S201: NO), the basic determination value D0 is set as the determination value D (S203). During the period from timing t13 to timing t14, since the vehicle 90 is traveling at a constant speed, the acceleration G is “0” (S201: YES), but the vehicle speed VS is higher than the specified speed VSth1 (S202: NO). The basic determination value D0 is set as the determination value D (S203).

  The vehicle 90 starts decelerating at a constant acceleration G from time t14, and stops at time t16 when the vehicle speed VS becomes “0”. Note that the vehicle speed VS reaches the specified speed VSth1 at the timing t15. The timing t17 is a timing after the lapse of the specified time Tth1 from the timing t16. During the period from timing t14 to timing t15, the acceleration G is a negative value (S201: YES), and the vehicle speed VS is greater than the specified speed VSth1 (S202: NO). It is set (S203). Between timing t15 and timing t16, the acceleration G is a negative value (S201: YES), and the vehicle speed VS is equal to or less than the specified speed VSth1 (S202: YES). Furthermore, since the vehicle speed VS is not “0” (S204: NO), the corrected determination value D ′ is set as the determination value D (S206).

  After timing t16, the acceleration G is “0” (S201: YES), and the vehicle speed VS is equal to or less than the specified speed VSth1 (S202: YES). Further, the vehicle speed VS is “0” (S204: YES). In the period from the timing t16 to the timing t17, since the elapsed time T from the timing t16 when the vehicle speed VS becomes “0” is shorter than the specified time Tth1 (S205: YES), the determination value D is the corrected determination value D ′. Is set (S206). After time t17, since the elapsed time T is equal to or longer than the specified time Tth1 (S205: NO), the basic determination value D0 is set as the determination value D (S203).

  On the other hand, in the control device of the comparative example, as shown by the two-dot chain line, the basic determination value D0 is set as the determination value D before the timing t14 when the acceleration G is not a negative value. Then, the corrected determination value D ′ is set as the determination value D in the period from the timing t14 to the timing t16 in which the acceleration G is a negative value. Since the acceleration G is not a negative value after timing t16, the basic determination value D0 is set as the determination value D.

Next, effects of the control device 10 according to the first embodiment will be described.
(1) When the vehicle speed VS is 10 km / h or less, it can be determined that the vehicle 90 may stop soon. When the vehicle 90 stops, the vehicle body may swing back immediately after that. If the rotational speed of the motor 96 decreases due to such swinging back, it may be a cause of erroneous pinching detection. In particular, in the case of the sunroof device 93 that opens and closes the opening 92 by sliding the sunroof main body 94 in the vehicle front-rear direction, the relative acceleration with respect to the vehicle body acts on the sunroof main body 94 due to the rebound generated when the vehicle 90 stops. Thus, the rotational speed Mrpm of the motor 96 is likely to decrease, and erroneous pinching detection is easily performed.

  Here, according to the processing routine of the pinching detection process described with reference to FIG. 2, the occurrence of pinching is less likely to be detected as the determination value D is larger. Therefore, when the processing routine shown in FIGS. 2 and 3 is repeatedly executed, the vehicle speed VS is not more than the specified speed VSth1 and the acceleration G is not more than “0”. Occurrence is difficult to detect.

  In the control device 10, when there is a possibility that the vehicle body swings back such that the vehicle speed VS is equal to or lower than the specified speed VSth1, a determination value D ′ after correction that is larger than the basic determination value D0 is set as the determination value D. As a result, it is difficult to detect pinching when there is a risk of the vehicle body swinging back, so that erroneous pinching detection can be suppressed.

  (2) Even if the vehicle speed VS is 10 km / h or less, the vehicle 90 may not stop immediately and may not swing back. In the control device 10, the condition that the corrected determination value D ′ is set to the determination value D is that the acceleration of the vehicle is a value of “0” or less. As a result, the determination value D can be set large only in a situation where there is a high probability that the vehicle 90 will stop, in other words, when erroneous pinching is likely to occur. On the other hand, the determination value D is not set to a large value when erroneous detection of pinching is unlikely to occur, so that it is possible to suppress a decrease in detection accuracy when pinching actually occurs.

  (3) As described with reference to FIG. 4, when the control device 10 according to the present embodiment is applied to a vehicle traveling under the same conditions, the case where the control device of the comparative example is applied is compared. The period during which the determination value D is increased is different. In the control device of the comparative example, the corrected determination value D ′ is set to the determination value D also during the period from the timing t14 when the vehicle 90 starts to decelerate to the timing t15 when the vehicle speed VS reaches the specified speed VSth1. On the other hand, according to the control device 10, the basic determination value D0 is set as the determination value D in the period from the timing t14 to the timing t15. That is, according to the control device 10 of the present embodiment, it is possible to suppress erroneous detection of pinching while shortening the period during which pinching is difficult to be detected.

  (4) The control device 10 calculates the acceleration G from the difference between the two speeds of the first vehicle speed VS1 and the second vehicle speed VS2. Since the acceleration G can be calculated from the two speeds, the responsiveness of calculating the acceleration G with respect to the change in the vehicle speed VS can be improved. That is, the calculation of the acceleration G can be performed without delay, and the determination value D can be set according to the traveling state of the vehicle 90.

In addition, the said 1st Embodiment can also be implemented with the following forms which changed this suitably.
In the first embodiment, the vehicle speed acquisition unit 14 acquires the first vehicle speed VS1 acquired last and the timing (n-1) immediately before the timing (n) at which the first vehicle speed VS1 was acquired. The acceleration G was calculated from the difference from the second vehicle speed VS2. What is necessary is just to detect an acceleration from the vehicle speed acquired at several timings not only in the calculation aspect of such acceleration G. FIG. For example, the vehicle speed VS acquired at the timing (n-2) immediately before the timing (n-1) is set as the third vehicle speed VS3, and the first vehicle speed VS1 acquired at the timing (n) and the timing (n-2). The acceleration G can also be calculated from the difference from the acquired third vehicle speed VS3.

(Second Embodiment)
Next, a control device according to the second embodiment will be described. In the first embodiment, the correction unit 13 executes the processing routine illustrated in FIG. 3 as the determination value setting process. In the second embodiment, the correction unit 13 performs the process illustrated in FIG. 3 as the determination value setting process. A processing routine shown in FIG. 5 is executed instead of the routine. Since other configurations are the same as those in the first embodiment, description thereof is omitted.

  The processing routine shown in FIG. 5 is executed when the vehicle speed VS is equal to or less than the start speed VSth2 and exceeds the start speed VSth2, and is predetermined in a period from when the vehicle speed VS becomes “0” until the specified time Tth1 elapses. Repeated every hour. The start speed VSth2 is set to a speed higher than the specified speed VSth1.

  When this processing routine is executed, first, in step S301, the correction unit 13 determines whether or not the vehicle speed VS is equal to or less than the specified speed VSth1. When the vehicle speed VS is higher than the specified speed VSth1 (S301: NO), the process proceeds to step S302. In step S302, the basic determination value D0 is set as the determination value D by the correction unit 13, and then this processing routine is temporarily terminated.

  On the other hand, when the vehicle speed VS is equal to or lower than the specified speed VSth1 in step S301 (S301: YES), the process proceeds to step S303. In step S303, the correction unit 13 determines whether or not the vehicle speed VS is “0”. If the vehicle speed VS is “0” (S303: YES), the process proceeds to step S304.

  In step S304, the correction unit 13 determines whether or not the elapsed time T after the vehicle speed VS becomes “0” is smaller than the specified time Tth1. When the elapsed time T is equal to or longer than the specified time Tth1 (S304: NO), the process proceeds to step S302. In step S302, the basic determination value D0 is set as the determination value D by the correction unit 13, and then this processing routine is temporarily terminated. On the other hand, when the elapsed time T is smaller than the specified time Tth1 in step S304 (S304: YES), the process proceeds to step S305. In step S305, the corrected determination value D ′ is set as the determination value D by the correction unit 13, and then this processing routine is temporarily terminated.

  On the other hand, when the vehicle speed VS is not “0” in step S303 (S303: NO), the process of step S304 is skipped and the process proceeds to step S305. In step S305, the corrected determination value D ′ is set as the determination value D by the correction unit 13, and then this processing routine is temporarily terminated.

  By repeatedly executing the processing routine shown in FIG. 5, the determination value D can be set larger when the vehicle speed VS is less than or equal to the specified speed VSth1 as compared to when it is not.

Next, the operation of the control device 10 according to the second embodiment will be described with reference to FIG.
In FIG. 6, the vehicle 90 starts from the time t21. The vehicle 90 accelerates at a constant acceleration G during a period from timing t21 to timing t24, and travels at a constant speed from timing t24 to timing t25. The vehicle speed VS reaches the specified speed VSth1 at timing t22, and reaches the start speed VSth2 at timing t23.

  Before the timing t23 when the vehicle speed VS reaches the start speed VSth2, the execution of the processing routine shown in FIG. 5 is not started, and therefore, the basic determination value D0 that is an initial value is set as the determination value D. During the period from the timing t23 to the timing t25, the vehicle speed VS is higher than the specified speed VSth1 (S301: NO), so the basic determination value D0 is set as the determination value D (S302).

  The vehicle 90 starts decelerating at a constant acceleration G from time t25, and stops at time t27 when the vehicle speed VS becomes “0”. Note that the vehicle speed VS reaches the specified speed VSth1 at timing t26. The timing t28 is a timing after the lapse of the specified time Tth1 from the timing t27.

  During the period from the timing t25 to the timing t26, the vehicle speed VS is higher than the specified speed VSth1 (S301: NO), so the basic determination value D0 is set as the determination value D (S302). During the period from the timing t26 to the timing t27, the vehicle speed VS is equal to or less than the specified speed VSth1 (S301: YES). Furthermore, since the vehicle speed VS is not “0” (S303: NO), the corrected determination value D ′ is set as the determination value D (S305). In the period from the timing t27 to the timing t28, since the elapsed time T from the timing t27 when the vehicle speed VS becomes “0” is shorter than the specified time Tth1 (S304: YES), the determination value D is the corrected determination value D ′. Is set (S305). Then, after the timing t28, the elapsed time T is equal to or longer than the specified time Tth1 (S304: NO), so the basic determination value D0 is set as the determination value D (S302).

Next, effects of the control device according to the second embodiment will be described.
(5) Similar to the first embodiment, the determination value D can be corrected by executing the determination value setting process. Thereby, it is possible to suppress erroneous detection of pinching.

  (6) Compared with the first embodiment, the determination value setting process can be executed without calculating the acceleration G. That is, it is possible to suppress detection of erroneous pinching without calculating the acceleration G.

In addition, the following elements can be changed in common with each of the above embodiments.
A value smaller than “10 km / h” can be set as the specified speed VSth1. For example, the specified speed VSth1 may be “5 km / h” or “0 km / h”. If a value smaller than “10 km / h” is set as the specified speed VSth1, whether the vehicle is about to stop by the process of step S202 (FIG. 3) or step S301 (FIG. 5) using the specified speed VSth1. It can be determined whether or not. Note that the vehicle body swings back immediately after the vehicle stops, and therefore, when the vehicle speed is 0 km / h or less, the determination value is increased so that pinching is easily detected by mistake. False detection can be suppressed.

  In the above embodiment, the corrected determination value D ′ is calculated by multiplying the basic determination value D0 by the correction coefficient. Instead, the corrected determination value D ′ may be calculated by adding a predetermined correction value to the basic determination value D0. Furthermore, a configuration in which the relaxation determination value D1 is stored in the correction unit 13 in advance as a value larger than the basic determination value D0 may be employed. In step S206 of FIG. 3 or S305 of FIG. 5, by setting the relaxation determination value D1 to the determination value D, the determination value D is larger when the vehicle speed VS is equal to or less than the specified speed VSth1 compared to when it is not. Can be set to a value. Even when the relaxation determination value D1 is set in this way, it can be said that the basic determination value D0 is corrected to the relaxation determination value D1.

  In each of the above embodiments, the determination value D is increased by setting the corrected determination value D ′ as the determination value D when the vehicle speed VS is equal to or less than the specified speed VSth1. As a mode in which the determination value D is set to be large, the determination value D can be gradually increased from when the vehicle speed VS becomes equal to or less than the specified speed VSth1, as shown in FIG.

  In the example shown in FIG. 7, the basic determination value D0 is set to the determination value D in the period from the timing t31 when the vehicle starts to the timing t35 when the vehicle decelerates and the vehicle speed VS reaches the specified speed VSth1. The determination value D is gradually increased from the timing t35. The determination value D is increased so as to be equal to the corrected determination value D ′ at timing t36 when the vehicle speed VS becomes “0”. In the period from the timing t36 to the timing t37, the determination value D is maintained at the corrected determination value D ′. The basic determination value D0 is set to the determination value D at the timing t37 when the specified time Tth1 has elapsed from the timing t36.

  Note that the degree of increase of the determination value D and the magnitude of the corrected determination value D ′ are determined by changing the value of the correction coefficient that is multiplied by the basic determination value D0 when calculating the corrected determination value D ′. The vehicle speed VS during deceleration can be increased as the vehicle speed VS increases. Alternatively, the degree of increase in the determination value D and the corrected determination value D ′ increase as the magnitude of the braking force applied to the wheels during deceleration of the vehicle or the force with which the driver of the vehicle operates a braking operation member such as a brake pedal increases. Can be increased. When the vehicle stops from a state where the vehicle speed VS is high, or when a large braking force is applied, there is a possibility that the amount of swinging that may occur when the vehicle is stopped increases. In such a case, by making the determination value D large and making it difficult for pinching to be detected, it is possible to further suppress pinching erroneous detection due to swinging back.

  In the pinching detection process of each of the above embodiments, when the rotational speed change amount ΔMrpm of the motor 96 is larger than the determination value D, the detection unit 12 detects pinching. As the pinching detection process, pinching is detected when the deviation amount of the rotation speed Mrpm from the reference motor rotation speed determined as the rotation speed of the motor 96 when no pinching has occurred is larger than the determination value E. It can also be configured as follows. That is, it is determined that pinching has occurred when the amount of decrease in the rotational speed Mrpm relative to the reference motor rotational speed is large. As the determination value setting process in this case, when the vehicle speed VS is equal to or less than the specified speed VSth1, the determination value E may be set to a larger value than when the vehicle speed VS is not. In this way, by setting the determination value so as to make it difficult to detect pinching when erroneous pinching is easily detected, the pinching is detected when erroneous pinching is easily detected, as in the above embodiments. False detection can be suppressed.

  The reference motor rotation speed can be estimated according to the position of the sunroof main body 94 at the time when the pinching detection process is executed. For example, the correction unit 13 stores a map indicating the relationship between the position of the sunroof body 94 and the rotational speed Mrpm of the motor 96 while the vehicle 90 is stopped, and correlates with the position of the sunroof body 94 based on the map. The rotation speed Mrpm to be used can be set as the reference motor rotation speed.

  In the pinching detection process of each of the above embodiments, when the rotational speed change amount ΔMrpm of the motor 96 is larger than the determination value D, the detection unit 12 detects pinching. As the pinching detection process, when the rotation speed Mrpm of the motor 96 is lower than the reference motor rotation speed determined as the rotation speed of the motor 96 when no pinching has occurred for a longer time than the determination time Tth2. In addition, it can be configured to detect pinching. That is, even if the driving of the sunroof device 93 is started, it is determined that pinching has occurred when the rotation speed Mrpm of the motor 96 does not increase and the low state continues. As the determination value setting process in this case, when the vehicle speed VS is equal to or less than the specified speed VSth1, the determination time Tth2 as a determination value may be set to a larger value than when the vehicle speed VS is not. As a result, similar to the above-described embodiments, erroneous detection of pinching can be suppressed when erroneous pinching is easily detected.

  The determination value setting process can be executed only when the sunroof main body 94 is in the closing operation. By executing the determination value setting process only in situations where pinching is likely to occur, the frequency with which the correction of the determination value D is executed can be reduced.

  In each of the above embodiments, as the pinching elimination process, the process of inverting the moving direction of the sunroof main body 94 is exemplified. As the pinching elimination process, a process of stopping the driving of the motor 96 and stopping the movement of the sunroof main body 94 may be employed.

  In step S103 of FIG. 3, the detection unit 12 causes the drive control unit 11 to start execution of the pinching elimination process and outputs a notification signal. The execution of the pinching elimination processing may be started without outputting the notification signal, or the notification signal may be output without starting execution of the pinching elimination processing. Further, instead of or in addition to these processes, other processes may be executed.

  In each of the above embodiments, the sunroof device 93 that opens and closes the opening 92 when the sunroof main body 94 as a moving body slides in the vehicle front-rear direction is illustrated. The sunroof device 93 does not slide in the longitudinal direction of the vehicle, opens the opening by moving the vehicle upward (tilt up), and closes the opening by lowering (tilt down) by the amount of tilt up. A sunroof device provided with a sunroof can also be employed.

  The moving body is not limited to the sunroof main body 94. For example, the same configuration as that of the control device 10 of the above-described embodiment can be applied to moving bodies such as an electric hardtop and an active spoiler. In addition, as the moving body, a window glass, a door, or the like that is electrically opened and closed can be adopted, and the same configuration as that of the control device 10 of the above-described embodiment can be applied to such a moving body.

Next, technical ideas that can be grasped from the above embodiment will be described.
(A) The decrease amount calculation unit calculates a decrease amount of the rotation speed of the motor per unit time as the decrease amount.

  (B) The reduction amount calculation unit calculates, as the reduction amount, a deviation amount of the actual motor rotation speed with respect to a reference motor rotation speed that is determined as the rotation speed of the motor when pinching has not occurred.

  (C) A detection unit is provided for detecting pinching of an object between the opening and the moving body when a period during which the rotation speed is lower than a reference motor rotation speed is equal to or longer than a determination time.

  DESCRIPTION OF SYMBOLS 10 ... Control apparatus, 11 ... Drive control part, 12 ... Detection part, 13 ... Correction part, 14 ... Vehicle speed acquisition part, 15 ... Change amount calculation part, 81 ... Operation part, 82 ... Notification part, 90 ... Vehicle, 91 ... Roof panel, 92 ... opening, 93 ... sunroof device, 94 ... sunroof body, 95 ... drive mechanism, 96 ... motor.

Claims (4)

A moving body control device applied to a moving body that moves between an open position for opening an opening of a vehicle and a closed position for closing the opening by driving a motor,
A drive control unit for controlling the motor;
A reduction amount calculation unit that calculates the magnitude of the reduction amount of the rotation speed of the motor;
A detection unit that detects the object sandwiched between the opening and the moving body when the magnitude of the reduction amount is equal to or greater than a determination value;
A vehicle speed acquisition unit for acquiring the speed of the vehicle;
And a correction unit configured to set the determination value larger when the vehicle speed is equal to or lower than a predetermined speed determined as a speed before stopping. The vehicle speed acquisition unit calculates the acceleration of the vehicle based on the speed of the vehicle,
The said correction | amendment part sets the said determination value large compared with the case where it is not so, when the speed of the said vehicle is below the said regulation speed and the said acceleration is "0" or less. Control device for moving objects. The control device for a moving body according to claim 1, wherein the specified speed is 0 km / h. The vehicle speed acquisition unit acquires the speed of the vehicle at specified intervals, and acquires the first vehicle speed acquired last as the speed of the vehicle and immediately before the time when the first vehicle speed was acquired. The mobile body control device according to claim 2, wherein the acceleration is calculated based on a difference from the second vehicle speed.