JP2021067053A - Opening/closing controller for vehicle opening/closing body - Google Patents

Abstract

To stop a vehicle opening/closing body in a short time.SOLUTION: An opening/closing controller for a vehicle opening/closing body 3 comprises: an opening/closing drive unit 4 for performing opening/closing drive on the vehicle opening/closing body 3 for opening/closing an opening 2 of a vehicle; and a control unit 29 for feedback-controlling the opening/closing drive unit 4 so that rotational speed of the opening/closing drive body 3 becomes previously set target speed. The control unit 29 executes pinching detection processing of: drive-controlling the opening/closing drive unit 4 to change the target speed TS to stoppage target speed STS so that the rotational speed of the vehicle opening/closing body 3 decreases within a set time when the rotational speed of the vehicle opening/closing body 3 becomes lower than the target speed; drive-controlling the opening/closing drive unit 4 according to the stoppage target speed STS; and stopping rotational operation of the vehicle opening/closing body 3 after a lapse of the set time.SELECTED DRAWING: Figure 1

Description

The present invention relates to an opening / closing control device for a vehicle opening / closing body.

Conventionally, when it becomes necessary to stop the vehicle opening / closing body, a pinch detection process that immediately stops the rotation of the vehicle opening / closing body (short brake: a process of short-circuiting the positive electrode and the negative electrode of the motor to stop the drive of the motor). Is known as an opening / closing control device for a vehicle opening / closing body (see, for example, Patent Document 1).

However, if the pinch detection process is executed when the moving speed of the vehicle opening / closing body is high, the vehicle opening / closing body suddenly stops, and the vehicle opening / closing body vibrates due to the reaction. When a foreign object is sandwiched between the vehicle opening / closing body and the vehicle body, it is necessary to perform a reversing process for reversing the rotation direction of the vehicle opening / closing body, but the reversing process cannot be performed when the vehicle opening / closing body is vibrating. .. In addition, the time until the vibration subsides differs depending on the inclination of the road surface, the temperature, the opening degree of the door, and the like. For this reason, it is difficult to predict and set the waiting time (short brake output time) from the execution of the pinch detection process to the execution of the inversion process, and the standby time must be set longer than necessary. ..

Japanese Unexamined Patent Publication No. 2015-74907

An object of the present invention is to provide an opening / closing control device for a vehicle opening / closing body capable of stopping the vehicle opening / closing body in a short time.

In the present invention, as a means for solving the above-mentioned problems, an opening / closing drive unit for opening / closing a vehicle opening / closing body for opening / closing an opening of a vehicle body and a rotation speed of the vehicle opening / closing body are preset target speeds. As described above, the control unit includes a control unit that feedback-controls the opening / closing drive unit, and the control unit drives and controls the opening / closing drive unit when the rotation speed of the vehicle opening / closing body is lower than the target speed. The target speed is changed to the stop target speed so that the rotation speed of the vehicle opening / closing body is decelerated at the set time, and the opening / closing drive unit is driven and controlled according to the stop target speed. Provided is an opening / closing control device for a vehicle opening / closing body, which executes a pinch detection process for stopping the rotation operation of the vehicle opening / closing body.

According to this configuration, even if it is detected that the rotation of the vehicle opening / closing body is hindered, the rotation speed of the vehicle opening / closing body is sufficiently increased instead of immediately stopping the rotation operation of the vehicle opening / closing body. I try to slow down and then stop. Therefore, vibration is less likely to be generated from the vehicle opening / closing body, and the time required from the start of the rotation operation of the vehicle opening / closing body to the complete stop can be shortened.

After the pinch detection process is completed, the control unit preferably drives and controls the open / close drive unit to execute a reversal process for opening the vehicle open / close body.

According to this configuration, since the reversing process is executed after the vehicle opening / closing body is smoothly stopped so as not to vibrate, the reversing process can be started in a short time from the pinch detection process.

The control unit may start the pinching detection process by detecting that the vehicle opening / closing body has pinched a foreign object at the time of automatic closing.

The control unit may start the pinch detection process by detecting that the vehicle opening / closing body collides with a foreign object and is hindered from rotating at the time of automatic opening.

The control unit preferably feedback-controls the duty ratio of the PWM signal transmitted to the drive circuit of the opening / closing drive unit so that the rotation speed of the vehicle opening / closing body becomes the target speed.

According to this configuration, the rotation speed of the vehicle opening / closing body can be smoothly reduced, and it becomes easy to prevent vibration from being generated in the stopped state.

It is preferable that the control unit immediately stops the rotation operation of the vehicle opening / closing body when the rotation speed of the vehicle opening / closing body is equal to or lower than a preset set speed.

According to this configuration, if the rotation speed of the vehicle opening / closing body is sufficiently reduced, almost no vibration is generated in the vehicle opening / closing body even if the rotation operation of the vehicle opening / closing body is immediately stopped. As a result, it is possible to smoothly shift to the inversion process.

According to the present invention, even when the vehicle opening / closing body is stopped, the rotation operation is not stopped immediately, but is decelerated and then stopped. Therefore, the vehicle opening / closing body is less likely to vibrate, and as a result, the stop time can be shortened.

It is a perspective view which shows the rear part of the vehicle which concerns on this embodiment. It is sectional drawing which shows the spindle drive mechanism of FIG. It is a block diagram which shows the opening / closing control device which concerns on this embodiment. FIG. 5 is a flowchart showing an automatic opening process executed by the open / close control device of FIG. It is a flowchart which shows the authentication process of FIG. It is a flowchart which shows the unlocking process of FIG. It is a flowchart which shows the opening and closing process of FIG. It is a graph which shows the relationship between the opening / closing position of the back door shown in FIG. 1 and the rotation speed. It is a flowchart which shows the pinch detection process executed by the opening / closing control device of FIG. It is a graph which shows the change of the target speed of the back door and the actual rotation speed when the pinch detection process is executed by the opening / closing control device which concerns on this embodiment. It is a graph which shows the change of the target speed of the back door and the actual rotation speed when the back door is stopped by the conventional method.

Hereinafter, embodiments according to the present invention will be described with reference to the accompanying drawings. It should be noted that the following description is essentially merely an example and is not intended to limit the present invention, its application, or its use.

As shown in FIG. 1, an opening 2 is formed in the rear portion of the vehicle body 1. The opening 2 is provided with a back door 3 which is an example of a vehicle opening / closing body. The back door 3 is rotatably attached to the vehicle body 1 about a support shaft (not shown) provided in the upper portion. The back door 3 is rotated by a spindle drive mechanism 4, which is an example of an opening / closing drive unit. That is, the spindle drive mechanism 4 is arranged on both sides of the back door 3, and the back door 3 is driven by a fully open position in which the opening 2 is opened around a support shaft and a fully closed position in which the opening 2 is closed. Rotate between.

As shown in FIG. 2, each spindle drive mechanism 4 includes a first housing 5 in which an electric motor or the like is housed, and a second housing 6 in which the spindle or the like is housed.

A door-side connecting member 7 is fixed to one end of the first housing 5. The door-side connecting member 7 is rotatably connected to the joint ball 8 provided on the back door 3. The electric motor 9 is housed in the first housing 5. The rotation speed of the electric motor 9 is detected by the rotation sensor 10. As the rotation sensor 10, a magnetic sensor using a Hall element, an optical sensor using an LED (light emitting diode), a PD (photodiode), or the like can be used. The rotating shaft 9a of the electric motor 9 is connected to the spindle 12 in the second housing 6 via the reduction gear mechanism 11. The other end of the first housing 5 is connected to the second housing 6.

The second housing 6 houses the spindle 12 and the spindle nut 13. A spindle nut 13 is screwed into the spindle 12. The spindle nut 13 reciprocates in the second housing 6 in the axial direction due to the forward and reverse rotation of the spindle 12. The rear end of the tubular push rod 14 is fixed to the front end of the spindle nut 13. The front end of the outer cylinder 15 is fixed to the front end of the push rod 14. The push rod 14 and the outer cylinder 15 are arranged coaxially. A coil spring 16 is arranged on the outer diameter side and an inner cylinder 17 is arranged on the inner diameter side between the push rod 14 and the outer cylinder 15. Further, a vehicle body side connecting member 18 is fixed to the front end portion of the push rod 14. The vehicle body side connecting member 18 is rotatably connected to the joint ball 19 provided on the vehicle body 1.

In the spindle drive mechanism 4, when the electric motor 9 is driven to rotate the rotating shaft 9a in the forward direction, the spindle 12 rotates in the forward direction and the spindle nut 13 moves to the other end side of the second housing 6. As a result, the amount of protrusion of the outer cylinder 15 and the push rod 14 with respect to the second housing 6 increases, and the back door 3 rotates in the opening direction. Further, when the electric motor 9 is driven to rotate the rotating shaft 9a in the reverse direction, the spindle nut 13 also rotates in the reverse direction, and the spindle nut 13 moves to one end side of the second housing 6. As a result, the amount of protrusion of the outer cylinder 15 and the push rod 14 with respect to the second housing 6 is reduced, and the back door 3 rotates in the closing direction.

As shown in FIG. 3, the back door 3 is provided with a door latch device 20, a back door opening / closing device 21, a door opening switch 22, a door closing switch 23, and the like. Here, the functions are divided between the door open switch 22 and the door close switch 23, but a door open / close switch having both functions may be used. Further, the door open switch 22 and the door close switch 23 are a handle switch provided on the outside of the back door 3, a gate switch provided inside, a driver switch in the driver's seat, and the like (the position where these switches are provided is particularly limited). It may be substituted by the operation switch on the electronic key 26.

The door latch device 20 includes a latch motor 25 that rotates the latch 24 in the forward and reverse directions. The rotational position of the latch 24 is detected by the full latch switch 26, the half latch switch 27, the release switch 28, and the like, respectively. The full latch switch 26 detects the full latch position where the latch 24 completely engages the striker exposed in the opening 2 of the vehicle body 1. The release switch 28 detects the release position at which the latch 24 has transitioned to a state in which it can be detached from the striker. The half-latch switch 27 detects a half-latch position between the full latch position and the release position.

The door open switch 22 and the door close switch 23 are provided on the outer surface of the back door 3. When the door open switch 22 or the door close switch 23 is operated, the door open operation signal or the door close operation signal is output to the control device 29. The control device 29 outputs a PWM (Pulse Width Modulation) signal to the spindle drive mechanism 4 based on the door open operation signal or the door close operation signal. The spindle drive mechanism 4 receives a PWM signal in the motor drive circuit 30, and drives and controls the electric motor 9 based on the PWM signal to rotate the back door 3 from the fully closed position to the fully open position or vice versa. ..

Subsequently, the automatic opening process of the back door 3 will be described.

As shown in FIG. 4, the automatic opening process of the back door 3 is performed by an authentication process (step S100), an unlocking process (step S200), and an opening / closing process (step S300).

As shown in FIG. 5, in the authentication process, the control device 29 determines whether or not the door open operation signal has been received from the door open switch 22 (step S110). When the door opening operation signal is received, the BCM 30 is requested to authenticate the electronic key (step S111).

When the BCM 30 receives the authentication request from the control device 29 (step S120), the BCM 30 requests the electronic key to transmit the authentication code (step S121). If the BCM 30 receives the authentication code transmitted from the electronic key (step S122), the received authentication code is compared with the pre-registered normal code (step S123), and the comparison result is transmitted to the control device 29. (Step S124).

Based on the comparison result, the control device 29 executes the unlocking process if the authentication code and the regular code match (step S112: YES) (step S113), and if they do not match (step S112: NO). ), End the automatic release process.

As shown in FIG. 6, in the unlocking process (step S200), a release signal is output to the door latch device 20 (step S201). The door latch device 20 drives the latch motor 25 based on the input release signal. Here, it is determined whether or not the latch 24 is rotated to the release position by the release switch 28 (step S202). When the latch 24 rotates to the release position and an ON signal is input from the release switch 28, the opening / closing process (step S300) is executed. If the on signal is not input from the release switch 28 within the predetermined time, an error is notified as a malfunction has occurred in the door latch device 20 (step S203), and the automatic opening process is terminated.

As shown in FIG. 7, in the opening / closing process (step S300), a PWM signal is output to the spindle drive mechanism 4 (step S301) to start the opening operation of the back door 3. During this time, the rotation position calculation process is executed. In the rotation position calculation process, the rotation speed of the electric motor 9 is detected by the rotation sensor 10 (step S302). Then, the rotation position of the back door 3 is calculated based on the rotation speed of the electric motor 9 from the fully closed position of the back door 3 (step S303).

In the present embodiment, the rotation sensor 10 is provided in one spindle drive mechanism 4, and the other spindle drive mechanism 4 outputs to the motor drive circuit 30 based on the rotation speed detected by the rotation sensor 10. The duty ratio of the PWM signal is feedback controlled. However, the rotation sensor 10 may be provided in both spindle drive mechanisms 4, the average value of the detected rotation speeds may be calculated, and control may be performed for each spindle drive mechanism 4. Further, both spindle drive mechanisms 4 may be feedback-controlled based on the average value calculated by both.

The opening operation of the back door 3 is performed from the fully closed position to the fully open position in three stages of an acceleration range, a constant speed range, and a deceleration range. In the graph of FIG. 8, the horizontal axis is the opening / closing position of the back door 3 (the number of rotations of the electric motor 9), and the vertical axis is the rotation speed of the back door 3 (the rotation speed of the electric motor 9: the rotation speed of the rotation shaft 9a per unit time). The number of rotations) is shown respectively. The origin O is the fully closed position, the right end X is the fully open position, the right triangle on the left is the acceleration region, the rectangle in the center is the constant speed region, and the right triangle on the right is the deceleration region. The trapezoidal graph shows the change in the target velocity TS.

In the acceleration region, the target speed TS is set to the acceleration target speed ATS in which the rotation speed gradually increases with respect to the rotation speed of the electric motor 9. Then, the duty ratio of the PWM signal output to the motor drive circuit 30 is feedback-controlled so that the target speed ATS for acceleration can be obtained. As a result, the back door 3 rotates while accelerating from the stopped state.

In the constant speed range, the target speed TS is set to the constant speed target speed CTS in which the rotation speed of the electric motor 9 is maintained at a constant value. Then, the duty ratio of the PWM signal output to the motor drive circuit 30 is feedback-controlled so that the target speed CTS for constant speed can be obtained. As a result, the back door 3 rotates at a constant speed.

In the deceleration range, the target speed TS is set to the deceleration target speed DTS in which the rotation speed of the electric motor 9 gradually decreases. Then, the duty ratio of the PWM signal output to the motor drive circuit 30 is feedback-controlled so that the target speed DTS for deceleration can be obtained. As a result, the rotation speed of the back door 3 gradually decreases and the back door 3 stops at the fully open position.

If it is determined that the back door 3 has rotated to the fully open position as described above (step S304), the output of the PWM signal to the electric motor 9 of the spindle drive mechanism 4 is stopped (step S305), and the door is automatically opened. End the process. Whether or not the back door 3 has rotated to the fully open position can be determined based on, for example, the rotation position of the back door 3 calculated in step S303, the elapsed time from the start of driving the electric motor 9, and the like. Good.

The automatic closing process of the back door 3 is the same as the above-mentioned automatic opening process except that the rotation direction of the back door 3 is different, and the same control is performed in three stages of acceleration range, constant speed range, and deceleration range. Is done by. Therefore, the description of the automatic closing process will be omitted here.

If the back door 3 collides with an obstacle during the automatic opening process, or if a foreign object is caught between the back door 3 and the vehicle body 1 during the automatic closing process, the procedure is as follows. The pinch detection process of the back door 3 is executed, and the inversion process is executed as described later.

First, the pinch detection process of the back door 3 when a foreign matter is caught between the back door 3 and the vehicle body 1 during the execution of the automatic closing process will be described.

As shown in FIG. 9, in the pinch detection process, the actual (current) rotation position of the back door 3 and the target speed at the actual rotation position are read (step S401). Further, the actual rotation speed of the back door 3 at this time is read (step S402). The actual rotation position of the back door 3 is obtained from the rotation speed of the electric motor 9 from the fully closed position or the fully open position of the back door 3. The actual rotation speed of the back door 3 is obtained from the rotation speed of the electric motor 9.

The difference between the target speed and the actual rotation speed is calculated (step S403). Then, it is determined whether or not this speed difference exceeds a preset threshold value (step S404). The threshold value may be a value that exceeds the range in which the rotation speed S of the electric motor 9 fluctuates when the back door 3 is normally opened and closed. Assuming that the rotation speed S of the electric motor 9 fluctuates (± α) with respect to the target speed TS, the threshold value TL may be set so as to satisfy TL> | TS-S | + α.

If the speed difference exceeds the threshold value, it is determined that the rotation speed of the back door 3 is slow and the rotation operation of the back door 3 is hindered for some reason, and the rotation operation of the back door 3 is as follows. To stop. As a factor that causes the rotation operation of the back door 3 to be stopped in the middle, for example, when the automatic closing process of the back door 3 is being executed, a foreign object is caught between the back door 3 and the vehicle body 1, and the back door is further stopped. May not be able to rotate in the door closing direction. Further, when the automatic opening process of the back door 3 is being executed, the ceiling of the garage or the like may come into contact with the back door 3 and the back door may not be able to rotate in the door opening direction any more.

When the rotation operation of the back door 3 is stopped, the target speed TS is changed to a preset target speed STS for stopping, and the rotation speed is gradually reduced (step S405). The stop target speed STS is the degree of decrease (deceleration degree) of the rotation speed with respect to the rotation speed of the electric motor 9 than the deceleration target speed DTS when the rotation speed of the back door 3 is decreased in the deceleration range of the automatic opening / closing process. Is set large. However, it is set to be smaller than the degree of deceleration as in the case of stopping immediately. As a result, the rotation speed of the back door 3 can be reduced reasonably and smoothly.

When the rotation speed of the back door 3 is sufficiently reduced and falls within the permissible speed range (step S406), the rotation operation is completely stopped (step S407). Here, within the permissible speed range, the state in which the rotation operation of the back door 3 is completely stopped and the vibration generated in the back door 3 even if the rotation operation of the back door 3 is stopped are within the permissible range. The state of being suppressed is included. Further, the permissible range of vibration means a range in which there is almost no vibration of the back door 3, or even if there is vibration, a problem does not occur in the reversing process described later.

When the back door 3 is stopped, the back door 3 is subsequently inverted.

In the reverse processing of the back door 3, a PWM signal is output to the motor drive circuit 30 to rotate the electric motor 9 in the reverse direction. Since the back door 3 is usually rotated in the reverse direction in a state where foreign matter is sandwiched by the pinch detection process, it is necessary to rotate the back door in the reverse direction. In particular, if the pinched foreign matter is a person, the pinched state must be resolved immediately. Therefore, the target speed (reversal target speed) in the reversal process is set, and the duty ratio of the PWM signal output to the motor drive circuit 30 is increased / decreased by feedback control so that the back door 3 rotates at the reversal target speed. As a result, control can be performed according to the user's intention. That is, the foreign matter, particularly the foreign matter, can quickly eliminate the pinched state of a part of the body. Although it is not necessary to rotate the back door 3 to the fully open position by the reversing process, it is preferable to rotate the back door 3 to a position where the pinched state can be sufficiently eliminated so as not to be in the pinched state again.

FIG. 10 shows changes in the target speed TS and the actual rotation speed RS when the back door 3 is rotated by the automatic opening process, stopped by the pinch detection process, and restarted by the reversal process. .. Further, FIG. 11 shows changes in the target speed and the actual speed when the back door 3 is rotated by the automatic opening process and immediately stopped without executing the pinch detection process.

As shown in FIG. 11, when the rotation of the back door 3 is immediately stopped (feedback control is not performed according to the target speed TS shown by the solid line and the pinch detection process is immediately executed), the actual back door 3 is actually stopped after the stop. It can be seen that the rotation speed RS of the back door 3 fluctuates as shown by the alternate long and short dash line, and the back door 3 vibrates significantly. In the re-driving, that is, the reversing driving in the state where the back door 3 is vibrating, even if the feedback control is attempted, it cannot be normally performed because the disturbance is large and the speed is not stable. Therefore, it is necessary to wait until the vibration subsides. Therefore, a sufficient time is secured for re-driving the electric motor 9, which is longer than the time during which the vibration of the back door 3 is settled.

On the other hand, as shown in FIG. 10, when the rotation of the back door 3 is stopped by the pinch detection process, the rotation speed RS (indicated by the alternate long and short dash line) is gradually reduced according to the target speed TS (indicated by the solid line). Although a time is required for the back door 3, the rotation speed RS of the back door 3 fluctuates, that is, it hardly vibrates after that. Therefore, the standby time until the electric motor 9 is re-driven can be set short, and the time required from the stop rotation of the back door 3 to the re-rotation can be shortened as a whole.

The present invention is not limited to the configuration described in the above embodiment, and various modifications can be made.

In the above embodiment, the back door 3 is stopped while being decelerated, but if the rotation speed is equal to or lower than a preset speed, it is not necessary to decelerate, so that the rotation operation is stopped immediately. It may be. Whether or not the rotation speed of the back door 3 is equal to or lower than the set speed may be determined based on the rotation speed of the rotation shaft 9a of the electric motor 9 detected by the rotation sensor 10. If the detected rotation speed is smaller than a preset value, the back door 3 may be stopped immediately without decelerating the rotation speed.

In the above embodiment, the case of controlling the opening / closing of the back door 3 as an example of the vehicle opening / closing body has been described, but the opening / closing control of other types of doors such as a sliding door and a gull wing can be similarly performed.

In the above embodiment, the case where two spindle drive mechanisms 4 are provided has been described, but even when one or three or more spindle drive mechanisms 4 are provided, the opening / closing control may be performed in the same manner.

In the above-described embodiment, each of the above-mentioned processes is executed by software, but it may be configured by hardware that executes these processes.

1 ... Body 2 ... Opening 3 ... Back door 4 ... Spindle drive mechanism 5 ... 1st housing 6 ... 2nd housing 7 ... Door side connecting member 8 ... Joint ball 9 ... Electric motor 10 ... Rotation sensor 11 ... Reduction gear mechanism 12 ... Spindle 13 ... Spindle nut 14 ... Push rod 15 ... Outer cylinder 16 ... Coil spring 17 ... Inner cylinder 18 ... Body side connecting member 19 ... Joint ball 20 ... Door latch device 21 ... Back door opening / closing device 22 ... Door open switch 23 ... Door Closed switch 24 ... Latch 25 ... Latch motor 26 ... Full latch switch 27 ... Half latch switch 28 ... Release switch 29 ... Control device 30 ... Motor drive circuit

Claims (6)

An opening / closing drive unit that opens / closes the vehicle opening / closing body that opens / closes the opening of the vehicle body,
A control unit that feedback-controls the opening / closing drive unit so that the rotation speed of the vehicle opening / closing body becomes a preset target speed.
With
The control unit drives and controls the opening / closing drive unit when the rotation speed of the vehicle opening / closing body is lower than the target speed, so that the rotation speed of the vehicle opening / closing body is decelerated at a set time. The speed is changed to the stop target speed, the open / close drive unit is driven and controlled according to the stop target speed, and the pinch detection process for stopping the rotation operation of the vehicle open / close body is executed after the lapse of the set time. Opening / closing control device for vehicle opening / closing body. The opening / closing control of the vehicle opening / closing body according to claim 1, wherein the control unit drives and controls the opening / closing drive unit to execute a reversing process for opening the vehicle opening / closing body after the pinch detection process is completed. apparatus. The opening / closing control device for a vehicle opening / closing body according to claim 1 or 2, wherein the control unit starts the pinching detection process by detecting that the vehicle opening / closing body has sandwiched a foreign object at the time of automatic closing. The vehicle according to claim 1 or 2, wherein the control unit starts the pinch detection process by detecting that the vehicle opening / closing body collides with a foreign object and is hindered from rotating at the time of automatic opening. Open / close control device for the open / close body. Any one of claims 1 to 4, wherein the control unit feedback-controls the duty ratio of the PWM signal transmitted to the drive circuit of the opening / closing drive unit so that the rotation speed of the vehicle opening / closing body becomes the target speed. The opening / closing control device for a vehicle opening / closing body according to item 1. The control unit according to any one of claims 1 to 3, wherein the control unit immediately stops the rotation operation of the vehicle opening / closing body when the rotation speed of the vehicle opening / closing body is equal to or lower than a preset set speed. Opening / closing control device for vehicle opening / closing body.

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