JP2019090243A - Operation power acquisition device for vehicle opening/closing body and control device for vehicle opening/closing body - Google Patents

Abstract

To accurately acquire operation power applied on an operation handle by a user when opening/closing an opening/closing body of a vehicle.SOLUTION: An operation power acquisition device for a vehicle opening/closing body which acquires operation power applied on an operation handle by a user when opening/closing an opening/closing body of a vehicle includes: a rotational axis connected to the operation handle and rotating around a center of the axis in accordance with operation of the operation handle by the user; an elastic body bending in a rotational direction of the rotational axis in accordance with rotation of the rotational axis; a rotation angle sensor detecting a rotation angle of the rotational axis; and an arithmetic processing unit calculating operation power applied on the operation handle based on the rotation angle of the rotational axis detected with the rotation angle sensor and a spring constant of the elastic body.SELECTED DRAWING: Figure 2

Description

  The present disclosure relates to an operation force acquisition device for a vehicle opening and closing body that acquires an operation force applied to an operation handle by a user when opening and closing an opening and closing body of a vehicle, and a vehicle opening and closing control device that controls a drive device for a vehicle opening and closing body. .

  Conventionally, as a torque detection device in an electric power steering apparatus, a first shaft attached to a steering wheel, a second wheel connected to a steering wheel through a link, and a second angularly movable relative to the first shaft It is known to electrically detect the relative rotation angle of the first and second axes generated in response to the torque applied between the axis and the first and second axes (see, for example, Patent Document 1). In this torque detection device, the first and second shafts can be displaced relative to each other via pins, the first shaft is provided with the first ring body, and the second shaft is fitted with the first ring body. A second ring body is provided having a ring groove to be mated. Also, in the diameter direction of the first and second ring bodies, a spring groove for resiliently holding a helical spring is formed, and the helical spring has its axial center horizontal and is not open from the outer opening of the spring groove. Be inserted.

  Also, conventionally, as an operation force sensor for detecting an operation force applied to a flip-up back door, an operation belt for closing operation attached to the inner side surface of the back door and an inner side of the back door rotatably supported And the rotating body connected to the operating belt and rotated by the operating force applied to the operating belt, and the rotating body is biased in the direction opposite to the rotating direction by the operating force applied to the operating belt There is also known one including a coil spring, a reference position stopper for restricting rotation of the coil spring by a biasing force at a reference position, and a rotation angle detector for detecting a rotation angle from the reference position of the rotation body. (See, for example, Patent Document 2). The operation force sensor detects the rotation angle detected by the rotation angle detector as an operation force.

Japanese Patent Publication No.4-3242 JP 2001-13021 A

  Here, for example, when attempting to open and close an opening / closing body such as a door of a vehicle with power from a driving device according to the steering wheel operation of the user, the operating force applied to the steering wheel by the user is properly acquired It is necessary to determine the assist force by the drive device. However, the above-described torque detection device and operation force sensor detect the relative rotation angle between two axes and the rotation angle of the rotating body, that is, the amount of operation of the steering wheel and the operation belt by the user. It does not detect itself. Then, when the assist force by the drive device is set based on the operation amount of the steering wheel by the user, the assist force from the drive device may be too strong depending on the magnitude of the operation force actually applied to the steering wheel by the user. Conversely, there is a risk of acting as a braking force.

  Therefore, the present disclosure has as its main object to accurately acquire the operation force applied to the operation handle by the user when opening and closing the opening and closing body of the vehicle.

  The operation force acquisition device of the present disclosure is connected to the operation handle in the operation force acquisition device for the vehicle opening and closing body that acquires the operation force applied to the operation handle by the user when opening and closing the opening and closing body of the vehicle. A rotation axis that rotates around an axial center according to the operation of the operation handle, an elastic body that bends in the rotation direction of the rotation axis according to the rotation of the rotation axis, and a rotation that detects a rotation angle of the rotation axis It includes an angle sensor, and an operation processing unit that calculates the operation force applied to the operation handle based on the rotation angle of the rotation shaft detected by the rotation angle sensor and the spring constant of the elastic body. .

  In this operation force acquisition device, when the operation handle is operated by the user in order to open and close the opening and closing body of the vehicle, the rotation axis rotates around the axial center in accordance with the operation of the operation handle by the user. The elastic body bends in the rotation direction of the rotation shaft. Then, the rotation angle of the rotation shaft is detected by the rotation angle sensor, and the operation force applied to the operation handle is calculated by the arithmetic processing unit based on the rotation angle of the rotation shaft and the spring constant of the elastic body. Thus, by appropriately determining the spring constant of the elastic body in advance, it is possible to accurately acquire the operating force applied to the operation handle by the user when opening and closing the vehicle opening and closing body.

  Further, the arithmetic processing unit may calculate, as the operation force, a product value of the rotation angle detected by the rotation angle sensor and a spring constant of the elastic body. .

  Furthermore, the operation handle may be coupled to the rotation shaft so as to be rotatable around an axis of the rotation shaft, and the elastic body is disposed around the rotation shaft, The first torsion coil spring is compressed according to the rotation of the rotation shaft when the operation handle is operated in the direction to open the opening / closing body, and is disposed around the rotation axis and in the direction to close the opening / closing body And a second torsion coil spring that is compressed according to the rotation of the rotation shaft when the operation handle is operated. As a result, it is possible to accurately acquire the operation force of the user in both the opening direction and the closing direction of the opening / closing body.

The opening and closing body may be a slide door slidably supported by a vehicle body of the vehicle, and a spring constant of the first and second torsion coil springs is "k", and a weight of the opening and closing body is Is “M”, the gravitational acceleration is “g”, the inclination angle of the vehicle is “φ”, the dynamic friction coefficient between the opening / closing body and the vehicle body is “μ ′”, and the axial center of the rotation axis When the length from the position of the operating handle to the operating point of the operating handle is “L” and the absolute value of the maximum allowable rotation angle of the operating handle is “θ _max ”
k = L · (M · g · sin | φ | + μ ′ · M · g · cos | φ |) / θ _max
May be satisfied. As a result, the spring constants of the first and second torsion coil springs can be made appropriate, and the operation force applied to the operation handle by the user can be obtained with high accuracy.

  A vehicle opening / closing body control device according to the present disclosure is a vehicle opening / closing body control device that controls a drive device that opens / closes the opening / closing body based on the operation force acquired by any of the operation force acquisition devices. Based on the weight of the body, the inclination angle of the vehicle, and the dynamic friction coefficient between the opening and closing body and the vehicle body, the required operating force required to move the opening and closing body against gravity is calculated. At the same time, the driving force is calculated by subtracting the operating force acquired by the operating force acquiring device from the calculated required operating force to calculate the assisting force, and the driving device is controlled to output the assisting force.

  As described above, according to the operation force acquisition device of the present disclosure, the operation force applied to the operation handle by the user can be accurately acquired when the opening and closing body of the vehicle is opened and closed. Therefore, according to the vehicle opening / closing body control device that controls the drive device for the opening / closing body based on the operation force acquired by the operation force acquisition device, the posture of the opening / closing body (vehicle) is adjusted based on the operation force by the user. It is possible to properly set the assist force by the drive device and execute the smooth and safe opening and closing assist of the opening and closing body.

  In addition, the vehicle opening / closing body control device of the present disclosure multiplies the operation force acquired by the operation force acquisition device by a predetermined coefficient to calculate an assist force, and outputs the assist force. May be controlled.

1 is a schematic configuration view showing a vehicle equipped with an operation force acquisition device and a vehicle control device according to the present disclosure. It is a control block diagram of a vehicle opening and closing body control device of this indication. It is a perspective view showing the operation handle mechanism which constitutes the operation force acquisition device of this indication. (A) And (b) is explanatory drawing which shows the force which acts on the opening-closing body of the vehicle of FIG. It is a flowchart which shows an example of the assist control routine performed by the vehicle opening-closing body control apparatus of this indication.

  Next, an embodiment of the present disclosure will be described with reference to the drawings.

  FIG. 1 is a schematic configuration view showing a vehicle 1 equipped with an operation force acquisition device and a vehicle opening / closing body control device in the present disclosure, and FIG. 2 is a control block diagram of the vehicle opening / closing body control device in the present disclosure. The vehicle 1 shown in FIG. 1 has left and right rear slide doors (hereinafter simply referred to as “right”) which are slidably supported by the vehicle body 2 in the longitudinal direction of the vehicle via guide rails provided on side outer panels of the vehicle body 2 respectively. It has a slide door ") Ds. Each slide door Ds includes an operation handle mechanism 10 constituting the operation force acquisition device of the present disclosure, a door drive device 20 (see FIG. 2) for automatically opening and closing the slide door Ds, and the operation handle mechanism 10 A vehicle opening / closing body control device 30 that functions as an operation force acquisition device of the present disclosure and controls the door drive device 20 is incorporated.

  As shown in FIG. 3, the operation handle mechanism 10 has a stick-like operation handle 11 operated by the user, a base member 12, a rotary shaft 14 rotatably supported by the base member 12, a first A second torsion coil spring (elastic body) SP1, SP2 and a rotation angle sensor 15 for detecting the rotation angle of the rotation shaft 14 are included. As shown, a pair of support portions 13 rotatably supporting corresponding end portions of the rotary shaft 14 is fixed to the base member 12 via bearings (not shown).

  The rotary shaft 14 has a large diameter portion formed in a central portion in the longitudinal direction, and a pair of small diameter portions smaller in diameter than the large diameter portion extending in the axial direction from both ends of the large diameter portion. The base of the operating handle 11 is fixed to the large diameter portion of the rotating shaft 14, and the operating handle 11 extends such that its axis is orthogonal to the axis of the rotating shaft 14. Thereby, the operation handle 11 is rotatable around the axial center of the rotating shaft 14. Further, the pair of small diameter portions of the rotary shaft 14 are respectively inserted into corresponding ones of the first and second torsion coil springs SP1 and SP2. The first and second torsion coil springs SP1 and SP2 have the same spring constant k and are disposed around corresponding small diameter portions of the rotary shaft 14 so that the compression directions are opposite to each other. One end of each is fixed to the corresponding small diameter portion.

  Furthermore, on the rotary shaft 14, first and second engagement members 141 and 142 engageable with engagement portions formed on corresponding one other ends of the first and second torsion coil springs SP1 and SP2, respectively. Is fixed. The first engaging member 141 engages with the engaging portion of the first torsion coil spring SP1 when the rotary shaft 14 is rotated in one direction around the axial center, and the rotary shaft 14 is another one around the axial center. It is fixed to the rotating shaft 14 so as to be separated (not engaged) from the engaging portion of the first torsion coil spring SP1 when rotating in the direction. Further, the second engagement member 142 engages with the engagement portion of the second torsion coil spring SP2 when the rotary shaft 14 is rotated in the other direction around the axial center, and the rotary shaft 14 has the axial center. It is fixed to the rotating shaft 14 so as to be separated (not engaged) from the engaging portion of the second torsion coil spring SP2 when it is rotated in the above one direction.

  Thus, when the operation handle 11 is rotated in one direction around the axial center of the rotary shaft 14, the first engagement member 141 engages with the engagement portion of the first torsion coil spring SP1 to perform the first operation. Only the torsion coil spring SP1 is compressed according to the rotation of the rotary shaft 14. On the other hand, when the operation handle 11 is rotated in the other direction around the axial center of the rotary shaft 14, the second engagement member 142 engages with the engagement portion of the second torsion coil spring SP2. Only the second torsion coil spring SP2 is compressed according to the rotation of the rotary shaft 14. In the present embodiment, when the operation handle 11 is operated (rotated) in a direction to open the slide door Ds, the first torsion coil spring SP1 is compressed according to the rotation of the rotation shaft 14. When the operation handle 11 is operated (turned) in the direction to close Ds, the second torsion coil spring SP2 is compressed according to the rotation of the rotary shaft 14.

  Further, a pair of contact members 16 are fixed to the large diameter portion of the rotating shaft 14 so as to be located on both sides of the operation handle 11 in the rotational direction of the rotating shaft 14. Each contact member 16 is formed of an elastic material such as resin or rubber. Furthermore, a pair of stopper members 17 are disposed on the base member 12 so as to be able to abut on the corresponding contact members 16. In the present embodiment, each stopper member 17 is supported by the base member 12 via a washer (rigid body collar) 18 for height adjustment.

  Thereby, when the operating handle 11 is rotated in one direction around the axial center of the rotating shaft 14, one of the contact members 16 of the rotating shaft 14 abuts on the corresponding stopper member 17, whereby the operating handle The rotation of 11 in the one direction is restricted. In addition, when the operating handle 11 is rotated in the other direction around the axial center of the rotating shaft 14, the other contact member 16 of the rotating shaft 14 abuts on the corresponding stopper member 17, thereby the operating handle 11. Rotation in the other direction is restricted. In the present embodiment, the pair of contact members 16 and the pair of stopper members 17 can turn the operation handle 11 by the same angle on one side and the other side in the rotational direction of the rotary shaft 14 about the neutral point. Are provided on the base member 12 or the rotary shaft 14.

  The rotation angle sensor 15 is a noncontact sensor that detects the rotation angle θ (rad) of the rotation shaft 14 without contact, and is a magnetic sensor including, for example, a Hall element or an MR element. By adopting such a noncontact sensor, noise resistance can be improved while suppressing cost increase. As shown in FIG. 3, the rotation angle sensor 15 is installed on the base member 12 so as to face the one end of the rotation shaft 14 at a distance, and is connected to the vehicle open / close controller 30. . Any sensor can be operated as the rotation angle sensor 15 as long as it can detect the rotation angle θ of the rotation shaft 14.

  In the base member 12 of the operation handle mechanism 10 as described above, the operation handle 11 projects from the vehicle compartment side panel of the slide door Ds into the vehicle compartment, and the axis of the rotary shaft 14 is in the height direction of the vehicle 1 (vertical direction Fixed to the slide door Ds so as to extend to the Thus, by rotating the operation handle 11 so as to compress the first and second torsion coil springs SP1 and SP2, the slide door Ds is opened and closed while applying the assist force from the door drive device 20, or the manual operation is performed. Only the slide door Ds can be moved in the opening direction or the closing direction.

Further, in the present embodiment, the spring constant k of the first and second torsion coil springs SP1 and SP2 of the operation handle mechanism 10 is when the slide door Ds is opened on the downhill slope (see FIG. 4A) or on the uphill slope Force Freq (gravity acting on the slide door Ds and the slide door Ds and the vehicle body 2 required to move the slide door Ds against the gravity when the slide door Ds is opened (see FIG. 4B) The following formula (1) is determined in consideration of the friction force generated between them, hereinafter referred to as "the required operating force". However, in the equation (1), “M” is the weight of the slide door Ds, “g” is the gravitational acceleration, “φ” is the inclination angle in the front-rear direction of the vehicle 1, and “μ ′ "" Is a dynamic friction coefficient between the slide door Ds and the vehicle body 2 (guide rail or the like), "L" is an operating point of the operating handle (working point, for example, the operating handle 11) from the axial center of the rotating shaft 14 "Θ _max " is the maximum allowable rotation angle of the operation handle 11 (rotation angle of the rotary shaft 14 when the rotation of the operation handle 11 is restricted by the stopper member 17 or the like) Is the absolute value of

k = L · (M · g · sin | φ | + μ '· M · g · cos | φ |) / θ _max (1)

  The door drive device 20 includes a transmission mechanism (not shown) including cables and pulleys (not shown), a motor (DC motor) 21, an electromagnetic clutch (not shown), and a sensor including a rotation sensor for detecting the rotational position of the rotor of the motor 21. And cable winding drums. As the door drive device 20, any configuration can be adopted as long as the slide door Ds can be automatically opened and closed and an assist force can be output.

  Vehicle opening / closing body control device 30 includes a microcomputer (not shown) having a CPU, a ROM, a RAM, a communication interface and the like, and a storage device 31 such as a non-volatile memory for storing various information. The rotation angle sensor 15 of the operation handle mechanism 10 and the door drive device 20 are connected. Furthermore, the vehicle opening / closing body control device 30 is connected to the navigation system 40. The navigation system 40 includes a GPS receiver and the like (not shown), and can identify the vehicle position of the vehicle 1 and can acquire information such as the inclination of the vehicle position (traveling path, parking position, stopping position). is there. The navigation system 40 transmits information on the position of the vehicle, such as a grade ditch, to the vehicle opening / closing body control device 30 in response to a request from the vehicle opening / closing body control device 30.

  Further, as shown in FIG. 2, the vehicle opening / closing body control device 30 has a hardware such as a CPU, a ROM, a RAM, a switching circuit, and a storage device 31 in cooperation with various programs installed beforehand. The motor controller 33 is constructed as a functional block. The arithmetic processing unit 32 executes various arithmetic processing when automatically opening and closing the slide door Ds or opening and closing the slide door Ds while applying an assist force from the door drive device 20. For example, the arithmetic processing unit 32 acquires (calculates) the operation force fu applied to the operation handle 11 by the user based on the signal from the rotation angle sensor 15 of the operation handle mechanism 10 described above, or the above-mentioned requested operation force The assist force Fa to be output from the door drive device 20 is calculated based on Freq and the operation force fu. Further, the motor control unit 33 controls the motor 21 of the door drive device 20 based on the target value, the command value, and the like calculated and set by the arithmetic processing unit 32.

  Next, the operation of the above-described vehicle control unit 30 will be described.

  FIG. 5 shows an example of an assist control routine executed by the vehicle opening / closing control apparatus 30 when opening / closing the slide door Ds while applying an assist force from the door drive device 20 according to the operation of the operation handle 11 by the user. It is a flowchart. In the assist control routine shown in the figure, when the vehicle 1 is parked (stopped) and the user operates the operation handle 11 to turn on a switch or flag (not shown), for example, the arithmetic processing unit of the vehicle control unit 30 32 and the motor control unit 33 cooperate.

  At the start of the routine of FIG. 5, the vehicle control unit 30 (CPU) requests the navigation system 40 to transmit the gradient ψ of the vehicle position (step S 100), and can acquire the gradient 取得 from the navigation system 40 It is determined whether or not (step S110). When it is determined in step S110 that, for example, the vehicle 1 has been system activated (IGON) and it has been possible to acquire the gradient wedge from the navigation system 40 (step S110: YES), the vehicle opening / closing control device 30 The inclination angle 40 from 40 is set to the inclination angle φ (φ = ψ) of the vehicle 1 (step S120). In addition, when it is determined in step S110 that, for example, the vehicle 1 has not been system activated (IGON) and it has not been possible to acquire a gradient wedge from the navigation system 40 (step S110: NO), the vehicle opening / closing body control device 30 Sets, for example, the slope (previous value) 取得 acquired at the previous (closest) opening / closing of the slide door Ds and stored in the storage device 31 to the inclination angle φ (φ = previous ψ) of the vehicle 1 (step S125) .

Further, vehicle opening / closing body control apparatus 30 determines whether or not inclination angle φ is set properly (step S130). If it is determined in step S130 that the inclination angle φ is set to normal (step S130: YES), the vehicle opening / closing control apparatus 30 sets a predetermined flag Fφ to a value 1 (step S140), Based on the weight M of the slide door Ds, the gravitational acceleration g and the inclination angle φ, the above-mentioned required operating force Freq is
Freq = M · g · sin | φ | + μ ′ · M · g · cos | φ |
It calculates as (step S150). If it is determined in step S130 that the inclination angle φ is not normally set due to the occurrence of an abnormality or the like (step S130: NO), the flag Fφ is set to the value 0 (step S145). Processing is skipped.

  After the process of step S150 or S145, the vehicle opening / closing body control device 30 acquires the rotation angle θ of the rotation shaft 14 from the rotation angle sensor 15 of the operation handle mechanism 10 (step S160). The product value k · | θ | of the value and the spring constant k of the first and second torsion coil springs SP1 and SP2 is calculated as the operation force fu applied to the operation handle 11 by the user (step S170). That is, when the operation handle 11 is operated by the user, the rotation shaft 14 of the operation handle mechanism 10 rotates around the axial center according to the operation of the operation handle 11, and the rotation direction (operation direction) of the operation handle 11 One of the first and second torsion coil springs SP1 and SP2 in accordance with the above is bent in the rotational direction of the rotation shaft 14. Therefore, by multiplying the rotation constant θ of the rotation shaft 14 detected by the rotation angle sensor 15 by the spring constant k of the first and second torsion coil springs SP1 and SP2 determined to satisfy the above equation (1), When opening and closing the slide door Ds, it is possible to accurately obtain the operation force fu applied to the operation handle 11 by the user.

  Furthermore, vehicle opening / closing body control device 30 determines whether or not flag Fφ is equal to 1 (step S180). When it is determined in step S180 that the flag Fφ is 1 (step S180: YES), the vehicle opening / closing body control device 30 calculates the operation force fu calculated in step S170 from the request operation force Freq calculated in step S150. Is set as the assist force Fa to be output from the door drive device 20 (step S190). On the other hand, when it is determined in step S180 that the flag Fφ is not the value 1 but the value 0 (step S180: NO), the vehicle opening / closing body control device 30 uses the operating force fu calculated in step S170. A value obtained by multiplying a predetermined coefficient α (for example, a relatively small value larger than the value 1) is set as the assist force Fa to be output from the door drive device 20 (step S195).

  Subsequently, the vehicle opening / closing body control device 30 calculates the torque to be output from the motor 21 of the door drive device 20 based on the assist force Fa set in step S190 or S195 (step S200). Based on the setting of the duty ratio when driving the motor 21, the motor 21 is controlled based on the duty ratio and the sign of the rotation angle θ, that is, the operation direction (open side or close side) of the operation handle 11 (step S 210) . This makes it possible to open and close the slide door Ds while applying an assist force from the door drive device 20.

  Further, the vehicle opening / closing body control device 30 obtains the amount of rotation of the motor 21 after the motor 21 is started based on the rotation position detected by the rotation sensor of the door drive device 20, and the calculated amount of rotation is It is determined whether or not a predetermined threshold has been reached, that is, whether the amount of movement of the slide door Ds has reached a specified value and timing for ending assist control has arrived (step S220). If it is determined in step S220 that the timing for ending the assist by the door drive device 20 has not come (step S220: NO), the vehicle opening / closing body control device 30 executes the processing of steps S160 to S220 again.

  On the other hand, when it is determined in step S220 that the timing for ending the assist by the door drive device 20 has come (step S220: YES), the vehicle opening / closing body control device 30 compares the rotational speeds of the motor 21 of the door drive device 20. Terminal control is performed to slowly open and close the slide door Ds while keeping the target value low (step S230). Then, when the slide door Ds moves to the predetermined open position or close position, the vehicle opening / closing body control device 30 ends the final control and ends the present routine.

  As described above, in the vehicle 1, when the operation handle 11 of the operation handle mechanism 10 is operated by the user in order to open and close the slide door Ds, the rotation shaft 14 has an axis according to the operation of the operation handle 11 by the user. As it rotates around the heart, either one of the first and second torsion coil springs SP1 and SP2 bends in the rotational direction of the rotation shaft 14 accordingly. Furthermore, the rotation angle θ of the rotation shaft 14 is detected by the rotation angle sensor 15, and the rotation angle θ detected by the rotation angle sensor 15 by the vehicle opening / closing controller 30 (the arithmetic processing unit 32) and the first and second torsion coils The product value k · | θ | of the springs SP1 and SP2 with the spring constant k is calculated as the operation force fu by the user (steps S100 to S145, S160, S170). Thereby, the operating force applied to the operating handle 11 by the user when opening and closing the slide door Ds is determined in advance by appropriately determining the spring constant k of the second torsion coil springs SP1 and SP in accordance with the above equation (1) It becomes possible to acquire fu precisely.

  Further, in the operation handle mechanism 10, the operation handle 11 is connected to the rotation shaft 14 so as to be rotatable around the axial center of the rotation shaft 14. In addition, the operation handle mechanism 10 is a first torsion coil disposed around the rotation axis 14 and compressed according to the rotation of the rotation axis 14 when the operation handle 11 is operated in the direction to open the slide door Ds. It includes a spring SP1 and a second torsion coil spring SP2 disposed around the rotation axis 14 and compressed according to the rotation of the rotation axis 14 when the operation handle 11 is operated in the direction to close the slide door Ds. . As a result, it is possible to accurately obtain the operation force fu of the user in both the opening direction and the closing direction of the slide door Ds.

  Furthermore, based on the weight M of the slide door Ds, the inclination angle φ of the vehicle 1, and the dynamic friction coefficient μ ′ between the slide door Ds and the vehicle body 2, the vehicle opening / closing body control device 30 gravitates the slide door Ds. Calculate the required operating force Freq required to move against the (step S150) and reduce the operating force fu by the user from the calculated required operating force Freq to calculate the assisting force Fa (step S190), The door drive device 20 is controlled to output the assist force (steps S200 and S210). As described above, according to the operation handle mechanism 10 and the vehicle opening / closing body control device 30, when the slide door Ds of the vehicle 1 is opened and closed, the operating force fu applied to the operation handle 11 by the user can be accurately obtained. it can. Therefore, in the vehicle 1, the assist force Fa by the door drive device 20 according to the attitude (tilt) of the slide door Ds (vehicle 1) is appropriately set based on the request operation force Freq and the operation force fu of the user. In addition, it is possible to execute the safe opening / closing assist of the slide door Ds.

  In the above embodiment, when it is determined in step S130 of FIG. 5 that the inclination angle φ is not set properly, the operation force fu acquired in step S170 is multiplied by a predetermined coefficient α. The assist force Fa is calculated (step S195), and the door drive device 20 is controlled to output the assist force Fa (steps S200 and S210). As a result, even when the tilt angle φ of the vehicle 1 can not be acquired, the opening / closing assist of the slide door Ds can be executed. The processing in steps S195, S210, and S210 may be performed on a vehicle such as the navigation system 40 that does not have the device for acquiring the inclination angle φ of the vehicle position, that is, the inclination angle φ.

  Although the operation handle mechanism 10 and the vehicle opening / closing body control device 30 are used to open and close the slide door Ds of the vehicle 1 in the above embodiment, the present invention is not limited to this. That is, the operation handle mechanism 10 and the vehicle opening / closing body control device 30 may be applied to a door that is supported openably / closably (rotationally) by the vehicle body via a hinge such as a back door of the vehicle. In addition, the operation handle 11 does not necessarily have to be fixed to the rotating shaft 14, and may be connected to the rotating shaft 14 via an interlocking mechanism such as a link mechanism, for example. Furthermore, for a vehicle that does not have an opening / closing assist function, such as a slide door, one in which the rotation angle sensor 15 is omitted from the operation handle mechanism 10 may be provided. That is, the components other than the rotation angle sensor 15 of the operation handle mechanism 10 can be made common regardless of the presence or absence of acquisition of the operation force of the user, so that the parts of the operation handle mechanism can be made common. It becomes possible to suppress the cost increase related to the opening / closing control of the opening / closing body such as the door. In addition, the vehicle opening / closing body control device 30 may be connected to a portable terminal such as a smartphone owned by the user of the vehicle 1 or may be connected, and the inclination of the vehicle position acquired by the portable terminal corresponds to the inclination angle of the vehicle 1 It may be set to φ. Furthermore, the gradient detected by the gradient sensor provided in the vehicle 1 or the gradient estimated based on the detection value of the acceleration sensor or the like may be set as the inclination angle φ of the vehicle 1.

  The invention of the present disclosure is not limited to the above embodiment, and it goes without saying that various modifications can be made within the scope of the present disclosure. Furthermore, the above-described embodiment is merely a specific form of the invention described in the section of the summary of the invention, and does not limit the elements of the invention described in the section of the summary of the invention.

  The invention of the present disclosure can be used in the manufacturing industry or the like of a vehicle control device.

  Reference Signs List 1 vehicle, 2 vehicle body, 10 operation handle mechanism, 11 operation handle, 12 base member, 13 support portion, 14 rotation shaft, 141 first engagement member, 142 second engagement member, 15 rotation angle sensor, 16 contact member , 17 stopper members, 18 washers, 20 door drive devices, 21 motors, 30 vehicle opening / closing body control devices, 31 storage devices, 32 arithmetic processing units, 33 motor control units, 40 navigation systems, Ds slide doors, SP1, SP2 torsion coil spring.

Claims (6)

In an operation force acquisition device for a vehicle opening / closing body that acquires an operation force applied to an operation handle by a user when opening / closing the opening / closing body of the vehicle,
A rotation shaft connected to the operation handle and rotating about an axial center in response to a user operation of the operation handle;
An elastic body that bends in the rotational direction of the rotation shaft according to the rotation of the rotation shaft;
A rotation angle sensor for detecting a rotation angle of the rotation shaft;
An arithmetic processing unit that calculates the operation force applied to the operation handle based on the rotation angle of the rotation shaft detected by the rotation angle sensor and the spring constant of the elastic body;
The operation force acquisition device of the vehicle opening-closing body provided with. In the operation force acquisition device for a vehicle opening and closing body according to claim 1,
The operation force acquisition device for a vehicle opening / closing body, wherein the arithmetic processing unit calculates a product value of the rotation angle detected by the rotation angle sensor and a spring constant of the elastic body as the operation force. In the operating force acquisition device for a vehicle opening and closing body according to claim 1 or 2,
The operation handle is coupled to the rotation shaft so as to be rotatable around the axis of the rotation shaft.
The elastic body is disposed around the rotation axis, and a first torsion coil spring compressed according to rotation of the rotation axis when the operation handle is operated in a direction to open the opening / closing body; And a second torsion coil spring disposed around the rotation axis and compressed according to rotation of the rotation axis when the operation handle is operated in a direction to close the opening / closing body. Operation force acquisition device. In the vehicle opening / closing body operation force acquisition device according to claim 3,
The opening and closing body is a slide door slidably supported by a vehicle body of the vehicle.
The spring constant of the first and second torsion coil springs is "k", the weight of the opening and closing body is "M", the gravitational acceleration is "g", the inclination angle of the vehicle is "φ", and the opening and closing The coefficient of dynamic friction between the body and the vehicle body is "μ '", the length from the axial center of the rotating shaft to the operating point of the operating handle is "L", and the maximum allowable rotation angle of the operating handle When the absolute value is “θ _max ”,
k = L · (M · g · sin | φ | + μ ′ · M · g · cos | φ |) / θ _max
The operation force acquisition device of the vehicle opening / closing body that satisfies A vehicle opening / closing body control device that controls a drive device that opens / closes the opening / closing body based on the operation force acquired by the operation force acquisition device according to claim 3,
Required operating force required to move the opening / closing body against gravity based on the weight of the opening / closing body, the inclination angle of the vehicle, and the dynamic friction coefficient between the opening / closing body and the vehicle body The vehicle opening / closing control that controls the drive device to calculate an assist force by subtracting the operation force acquired by the operation force acquisition device from the calculated required operation force and calculating the assist force. apparatus. A vehicle opening / closing body control device that controls a drive device that opens / closes the opening / closing body based on the operation force acquired by the operation force acquisition device according to claim 3,
The vehicle opening / closing body control device controls the drive device to calculate an assist force by multiplying the operation force acquired by the operation force acquisition device by a predetermined coefficient, and outputs the assist force.

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