JP3511347B2 - Automatic opening / closing control of sliding doors for vehicles - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic opening / closing control apparatus for a vehicle slide door, which is capable of automatically opening and closing a slide door mounted on a vehicle body of an automobile or the like by a drive source such as a motor.

[0002]

2. Description of the Related Art Conventionally, there has been known an automatic opening / closing control device for a vehicle slide door in which a slide door supported on a side surface of a vehicle body so as to be slidable in the front-rear direction is controlled by a drive source such as a motor. . In this device, a user intentionally operates an operator provided near a driver's seat or a door handle to activate a drive source to open and close a slide door.

[0003]

By the way, as a precondition for automatically controlling the opening and closing of the vehicle slide door by a drive source such as a motor, the vehicle must be a parking position such as a shift lever. It is required to be stopped.

Therefore, when the vehicle starts traveling while the slide door is being driven by a drive source such as a motor, the control by the drive source is immediately stopped and the slide door is stopped halfway. Therefore, when the sliding door is in the closing operation, it is necessary to stop the vehicle again and perform the closing operation, which is very inconvenient. Further, if the slide door is stopped halfway during the opening operation, the slide door will be in a floating state, so the state of the slide door was unstable until the vehicle was stopped again and the closing operation was performed.

The present invention has been made in order to solve such a conventional problem, and even when the vehicle starts traveling while the slide door is driven by a drive source such as a motor, the slide door It is an object of the present invention to provide an automatic opening / closing control device for a vehicle slide door that can reliably control the vehicle.

[0006]

According to a first aspect of the present invention, a slide door slidably supported along a guide track provided on a vehicle body is opened and closed by a drive source such as a motor when the vehicle is stopped. In the automatic opening / closing control device for the sliding door for the vehicle to be driven, the vehicle stop detection means for detecting that the vehicle is stopped, and the moving of the sliding door.
Detecting the entrapment of foreign object into the nipping detection means controls the driving force transmitted from the driving source to the sliding door, clamping
When entrapment of foreign matter is detected by the entrapment detection means, the slide
And a sliding door control means for driving the Dodoa backwards, sliding door control unit, when driving the sliding door by the drive source, the vehicle stop detection means that the vehicle is released from the stopped state When detected,
Control to continue driving the sliding door
At the same time, the threshold value Fn is set to be large as a criterion for the pinching detection means.
It is characterized by being strict by doing.

[0007]

[0008] The invention according to claim 2 of the present invention is the invention of claim 1 Symbol placement, vehicle stop detecting means is a means for detecting that the shift lever of the transmission is located at the parking position It is characterized by

[0009] The invention described in claim 3 of the present invention is the invention of claim 1 Symbol placement, vehicle stop detecting means, and the feature that it is a means for detecting that the speed of the vehicle is less than a predetermined value To do.

According to the present invention, when it is detected that the vehicle has started running while the slide door is being driven by the drive source, the control by the drive source is continued without stopping and the slide door is driven. The door is moved until it reaches the fully closed or fully opened position.

Further, according to the present invention, when the control of the slide door is continued without being stopped, it is generated when the vehicle is traveling by canceling the detection function by the pinch detection means or by tightening the judgment standard. Acceleration is applied to the sliding door to prevent erroneous detection as a pinch.

[0012]

1 is an external perspective view showing an example of an automobile to which an automatic opening / closing control device for a vehicle slide door according to the present invention is applied, in which a slide door 3 is opened and closed in a front-rear direction on a side surface of a vehicle body 1. It shows a state in which it is installed as possible. 2 is an enlarged perspective view of the vehicle body 1 showing a state in which the slide door 3 (shown by a chain line) is removed, and FIG. 3 is a perspective view showing only the slide door 3 alone.

In these figures, the sliding door 3 is
An upper slide connector 31 and a lower slide connector 32, which are respectively fixed to the inner upper and lower ends, are attached to an upper track 12 provided at an upper edge of the door opening 11 of the vehicle body 1 and a lower track 13 provided at a lower edge thereof. By linking with each other, they are slidably suspended in the front-rear direction on the vehicle body 1.

The sliding door 3 is guided by a hinge arm 33 attached to the inner rear end thereof being slidably engaged with a guide track 14 fixed near the rear waist portion of the vehicle body 1 to guide the door opening 11. From the closed and fully closed position to the vehicle body 1
It is mounted so as to move rearward in parallel with the exterior panel side surface of the vehicle body 1 while protruding slightly outward from the outer surface of the outer panel, and to a fully open position where the door opening 11 is fully opened. Further, a door handle 35 for manually performing an opening / closing operation is attached to the outer surface of the slide door 3.

Further, as shown in FIG. 4, behind the door opening portion 11 of the vehicle body 1, a slide door drive device 5 is mounted between an outer panel for covering the vehicle body 1 and an inner panel on the indoor side. ing. This slide door drive device 5
Is to move the cable member 51 arranged in the guide track 14 by driving the motor, and thereby to move the slide door 3 connected to the cable member 51.

In the present embodiment, the opening / closing switch installed inside the vehicle gives an instruction to open / close the slide door 3, and as shown in FIG. 1, the wireless remote controller 9 can also issue an opening / closing instruction from outside the vehicle. Is configured. Details of this configuration will be described later.

FIG. 5 is a perspective view showing a main part of the slide door driving device 5. In the figure, the slide door drive device 5 has a motor drive unit 52.
Includes a base plate 53 fixed to the interior of the vehicle body 1 with a bolt or the like, an opening / closing motor 54 for opening and closing a slide door, a drive pulley 55 around which the cable member 51 is wound, and an electromagnetic clutch 56. Speed reducer 5
7 and 7 are fixed to each other.

The cable member 51 wound around the drive pulley 55 is located above the guide track 14 which opens outward in a U shape via a pair of guide pulleys 58, 58 provided at the rear of the guide track 14. The reversing pulley 5 that is wound around the opening 14a and the lower opening 14b in parallel with each other and is provided at the front end of the guide track 14.
It is wound around 9 to form an endless cord.

Further, a moving member 36 is fixedly provided at an appropriate position of the portion of the cable member 51 which travels through the opening 14a of the guide track 14 so as to be able to travel in the opening 14a without resistance. The cable member 51 has a door closing cable 51a on the front side and a door opening cable 51b on the rear side of the moving member 36.

The moving member 36 is connected to the inner rear end of the slide door 3 via a hinge arm 33, and the guide track 14 is pulled by the pulling force of the door opening cable 51a or the door closing cable 51b by the rotation of the opening / closing motor 54. The inside of the opening 14a is moved forward or backward, thereby moving the slide door 3 in the door closing direction or the door opening direction.

Further, the rotary shaft of the drive pulley 55 is
A rotary encoder 60 that measures the rotation angle with high resolution is linked. The rotary encoder 60 generates an output signal having a number of pulses corresponding to the rotation angle of the drive pulley 55, so that the movement amount of the cable member 51 wound around the drive pulley 55, that is, the movement amount of the slide door 3 can be measured. Has become. Therefore, if the number of pulses from the rotary encoder 60 is counted up to the fully open position with the fully closed position of the slide door 3 as an initial value, the position count value N indicates the position of the moving member 36, that is, the position of the slide door 3. become.

FIG. 6 is a schematic plan view showing the movement of the slide door 3. As mentioned above, the sliding door 3
The front part is held by the upper sliding connector 31 and the lower sliding connector 32 being linked to the upper track 12 and the lower track 13, and the hinge arm 33 is connected to the cable member 51 via the moving member 36. The rear part is held by being fixed to.

(Sliding Door Control Device and Peripheral Devices) Next, the connection relationship between the sliding door control device 7 and each electric element in the vehicle body 1 and the sliding door 3 will be described with reference to the block diagram shown in FIG. To do. The slide door control device 7 controls the slide door drive device 5 by program control by a microcomputer, and is arranged, for example, in the vicinity of the motor drive portion 52 in the vehicle body 1.

The sliding door control device 7 and each electric element in the vehicle body 1 are connected to the battery 15 for receiving the DC voltage BV, and the ignition switch 16 for receiving the ignition signal IG. Parking switch 1 for receiving parking signal PK
7 and a main switch 18 for receiving the main switch signal MA.

Further, connection with the door open switch 19 for receiving the door open signal DO, connection with the door close switch 20 for receiving the door close signal DC, remote control open signal RO or remote control close signal from the wireless remote controller 9. RC
Connection with a keyless system 21 for receiving a vehicle speed, a buzzer 22 for generating an alarm sound to warn that the slide door 3 is automatically opened and closed, and a vehicle speed sensor 23 for receiving a vehicle speed signal SS. is there. The door open switch 19 and the door close switch 20 are each composed of two operators, which means that these switches are installed at two positions, for example, a driver's seat and a rear seat in the vehicle. There is.

Next, the connection relationship between the slide door control device 7 and the slide door drive device 5 is as follows: a connection for supplying electric power to the opening / closing motor 54, a connection for controlling the electromagnetic clutch 56, and a rotary encoder 60. For example, there is a connection with a pulse signal generator 61 that receives pulse signals and outputs pulse signals φ1 and φ2.

Further, the connection between the slide door control device 7 and each electric element in the slide door 3 is performed by connecting the vehicle body side connector 24 provided in the door opening 11 with the slide door 3 being slightly opened from the fully closed state. This is possible by connecting the door side connector 37 provided at the opening end of the slide door 3.

Sliding door control device 7 in this connected state
And the electric elements in the slide door 3 are connected by a closure motor (C) for tightening the slide door 3 from just before the half latch to the full latch state.
M) connection for powering 38, door lock 34
Connection for supplying electric power to an actuator (ACTR) 39 for driving to remove the striker 25 from the striker 25, connection for receiving a half-latch signal HR from a half-latch switch 40 for detecting a half-latch, door lock 3
The door handle signal DH from the door handle switch 35a for detecting the operation of the door handle 35 connected to
There is a connection to receive.

(Slide Door Control Device) Next, the configuration of the slide door control device 7 will be described with reference to the block diagram shown in FIG. The slide door control device 7 has a main control unit 71 and repeatedly performs control at regular time intervals. The main control unit 71 includes a control mode selection unit 72 that selects an appropriate control mode according to the situation of peripheral circuits.

The control mode selection unit 72 selects the optimum dedicated control unit required for control according to the latest situation of the peripheral circuit. As the dedicated control unit, an automatic slide control unit 73 that mainly controls opening and closing of the slide door 3, a speed control unit 74 that controls the moving speed of the slide door 3, and a movement of the slide door 3 while the slide door 3 is being driven are suppressed. Entrapment control unit 7 that detects whether or not an object is trapped in the movement direction.
There is 5. In addition, the automatic slide control unit 73 controls the vehicle body 1
It has a slope determination unit 76 that detects the posture of the.

The plurality of input / output ports 77 input / output ON / OFF signals of the above-mentioned various switches, operation / non-operation signals of a relay or a clutch, and the like. The velocity calculation unit 78 and the position detection unit 79 receive the two-phase pulse signals φ1 and φ2 output from the pulse signal generation unit 61 and generate a cycle count value T and a position count value N described later.

The battery 15 is charged by the generator 81 while the vehicle is running, and its output voltage is regulated by the stabilizing power supply circuit 82 and supplied to the slide door control device 7. The output voltage of the battery 15 is detected by the voltage detection unit 83, and the voltage value is converted into a digital signal by the A / D conversion unit 84 and input to the main control unit 71 of the slide door control device 7.

The output voltage of the battery 15 is supplied to the shunt resistor 85, and the current value I flowing through the resistor 85 is detected by the current detector 86. The detected current value I is A /
The digital signal is converted by the D converter 87 and input to the main controller 71 of the slide door controller 7.

The output voltage of the battery 15 is supplied to the power switch element 88 via the shunt resistor 85. The power switch element 88 is ON / OFF controlled by the slide door control device 7, converts a DC signal into a pulse signal, and supplies the pulse signal to the opening / closing motor 54 or the closure motor 38. The duty ratio of the pulse signal can be controlled freely.

The pulse signal obtained by the power switch element 88 is supplied to the opening / closing motor 54 or the closure motor 38 via the polarity reversing circuit 89 and the motor switching circuit 90. The polarity reversing circuit 89 is for changing the driving direction of the opening / closing motor 54 or the closure motor 38, and constitutes a motor power supply circuit together with the power switch element 88.

The motor switching circuit 90 includes a main control unit 71.
One of the opening / closing motor 54 and the closure motor 38, which drives the sliding door 3 to open / close, is selected according to the instruction from. Both motors are motors that drive the slide door 3, but since they are not driven simultaneously, drive power is selectively supplied. In addition, a clutch drive circuit 91 that controls the electromagnetic clutch 56 according to an instruction from the main control unit 71, and an actuator drive circuit 92 that controls the actuator 39 according to an instruction from the main control unit 71 are also provided.

(Period count value T / position count value N) FIG.
8 is a time chart for explaining the operations of the speed calculation unit 78 and the position detection unit 79. Rotary encoder 6
The two-phase pulse signals φ1 and φ2 output from 0 are input to the velocity calculating unit 78 and the position detecting unit 79 as velocity signals Vφ1 and Vφ2 in the pulse signal generating unit 61.

The two parts 78 and 79 detect the rotating direction of the rotary encoder 60, that is, the moving direction of the slide door 3 from the phase relationship between the two signals. For example, if the pulse signal φ2 is at the L level (state shown in the drawing) when the pulse signal φ1 rises, it is determined to be the door opening direction, and conversely, if it is at the H level, it is determined to be the door closing direction.

The speed calculator 78 generates an interrupt pulse g1 at the rising edge of the speed signal Vφ1, and the clock pulse C1 having a cycle (for example, 400 μsec) sufficiently smaller than the interrupt pulse g1 during the generation cycle of the interrupt pulse g1. The number of pulses is counted, and the count value is set as the cycle count value T.

For example, when the output pulse of the rotary encoder 60 is 1 pulse per 1 mm (1 cycle), when the cycle count value T is 250, the moving speed of the door 3 is "1 mm /
(400 μs × 250) = 10 mm / sec ”, and when the cycle count value T is 100, the moving speed of the door 2 is“ 25 mm.
/ Sec ”.

The cycle count values TN-3 to TN + shown in FIG.
3 is the output signal φ output from the rotary encoder 60
1 has a position count value N-3 to N + 3 indicating the position information of the door 3 obtained by counting the position count pulse (substantially an interrupt pulse g1) obtained by 1 as a subscript, and the cycle count value TN at that time. The period count value T corresponding to the N-th position of interest is shown, and TN-1, TN-2 or TN + 1,
TN + 2 indicates the cycle count value T related to the positions 1 or 2 with respect to the position count value N, respectively.

In this embodiment, the speed signal Vφ1
Since the speed of the slide door 3 is recognized from the cycle count values for four consecutive cycles of 4 cycles, four cycle registers 1 to 4 are provided to store the cycle count values for four cycles. The Nth position in one cycle register is set as a point of interest, and it is held four times so that it becomes the head output value of the cycle registers 1 to 4.

(Locating Area of Sliding Door) FIG.
FIG. 6 is a plan view of the guide track 14 for explaining a location area of the slide door 3 on the guide track 14.
When the opening / closing position of the slide door 3 is represented by the position of the moving member 36, the area related to the closing direction is divided into four areas 1 to 4, and the area related to the opening direction is divided into three areas 5 to 7. is there.

When the position count value N of the fully closed position of the door 3 is 0 and the position count value N of the fully opened position is 850, in the case of movement in the closing direction (Z = 0), N = 850-600 is area 1,
N = 600 to 350 is area 2, N = 350 to 60 is area 3, and N = 60 to 0 is area 4. The half on the fully closed side in area 4 is the ACTR region. In the case of movement in the opening direction (Z = 1), N = 0 to 120 is area 5,
Area 6 is N = 120 to 800, and area 7 is N = 800 to 850.

Areas 1 and 6 are the normal control area E1, Area 2 is the deceleration control area E2, Area 3 is the link deceleration area E3, Area 4 is the tightening control area E4, Area 5 is the link deceleration area E5, and Area 5 is the link deceleration area E5. 7 is a check control area E6, and the door 3 is controlled at a moving speed suitable for each control area.

(Main Routine) Next, the operation of the present invention having this configuration will be described. FIG. 11 is a flowchart of a main routine showing the operation of the slide door control device 7. In this routine, initial settings are made during operation (step 101), and main parameters etc. are initialized. Next switch (SW) judgment (step 10
In 2), the open / closed states of the various switches 16 to 20 connected to the input / output port 77, the information from the keyless system 21, the information from the vehicle speed sensor 23, and the like are fetched, and the corresponding flags are set and the data is set. Store it in a register.

At A / D input (step 103), A / D
The voltage value V and the current value I are fetched from the D conversion units 84 and 87. Next, mode determination (step 104) is performed based on the surrounding conditions such as the open / closed state of each switch. This mode determination includes an automatic slide mode determination in which the opening / closing motor 54 is driven to control the opening / closing of the slide door 3, and a closure mode determination in which the closure motor 38 is driven to tighten or release the slide door 3 in a fully latched state. There is a choice control to either.

Subsequent actuator (ACTR) relay control (step 105), clutch relay control (step 106), automatic slide relay control (step 10)
7) and closure relay control (step 108)
The electromagnetic clutch 56 reflects the control result of each control unit.
Since this is a direct control portion for supplying power to the opening / closing motor 54 and the closure motor 38, detailed description thereof will be omitted.
Note that the start / stop of the opening / closing motor 54 that drives the sliding door 3 to open / close is controlled by an automatic slide relay control (step 10).
7).

Next sleep mode (step 109)
Is a control for reducing power consumption when there is no change for a long time. In addition, program adjustment (Step 1
In 10), the repeat interval of the main loop (steps 102 to 110) is controlled to be, for example, 10 mm seconds by a program adjusting timer by an interrupt program provided outside the main routine.

In this program adjustment, by receiving the interruption of the program adjustment timer, the control point in each step may enter a deeper level of the nest depending on the surrounding conditions, may be completed in a shallow hierarchy, etc. The fluctuation of the interval of returning to the entrance is constantly adjusted. When the program adjustment is completed, the process returns to the switch determination (step 102), and the loop control is repeated to repeat the subsequent processes.

(Automatic slide mode determination) FIG.
It is a flowchart which shows the detail of the automatic slide mode determination routine in a mode determination routine (step 104). This routine determines various modes when the slide door 3 is driven to open and close, and executes the process of each mode based on the determination result. First, it is determined whether the mode is the stop mode (step 131). The stop mode is a mode set by the end of the auto slide mode, and is a mode instructing stop of the opening / closing motor 54 and turning off of the electromagnetic clutch 56, so that it is not initially the stop mode.

Next, it is determined whether or not the automatic slide operation is in progress (step 132). Initially, since the automatic slide operation is not in progress, the on / off state of the main switch 18 is checked (step 133), and if the main switch 18 is off, the process returns. If the main switch 18 is on,
The on / off state of the parking switch (P switch) 17 is checked (step 134), and if the P switch 17 is off, the process returns. If the P switch 17 is on,
Perform the following manual judgment and start mode judgment (step 1
35, 136).

In the manual determination, it is detected that the operator manually moves the door 3 at a predetermined speed or more, and the manual open or manual closed state is set according to the moving direction, and the automatic slide operation is started. This is a process for preparing for. The start mode determination is a process for determining the start of auto slide, and the switch determination (step 102) is used to confirm the ON state of the door open switch 19 or the door close switch 20, or the remote control switch 9 is used to open or close the door. Is specified, or manual judgment (step 13
When the manual open or manual closed state is confirmed in 5), it is determined to be the automatic slide operation mode.

When the start mode determination (step 136) is completed, it is determined whether the automatic slide operation mode is determined (step 137). If it is not determined to be the auto slide operation mode, the process returns. If it is in auto slide operation mode, in order to operate auto slide,
The motion count value G is cleared (step 138), set during the automatic slide operation (step 139), set in the start mode (step 140), and set for the automatic slide start (step 141). Thus, the automatic slide operation is set.

The check control (step 142) is a part for performing a temporary holding control for controlling the electromagnetic clutch 56 to a half-clutch state to stop and hold the door 3. In the case where the automatic slide operation is being performed, the check control is performed after the stop mode is completed, and manually. Before operating, make sure that the door 3 has stopped.

When the automatic slide operation start is set in this way, in the next automatic slide mode determination routine, it is determined that the automatic slide operation is in progress (step 132) and the start mode (step 143), and the start mode processing is executed. (Step 144). In this start mode, the mode for starting the automatic slide operation for driving the door 3 according to the on / off state of each switch and the surrounding conditions is identified, and the start control is performed in the identified mode. The details will be described later.

When the processing in the start mode is completed and the start mode is released, the automatic slide operation is in progress in the next automatic slide mode determination routine, and the switch statement 145 is set by the identifier set according to the open / closed state of each switch. Selected automatic opening operation (Step 14
6) The automatic closing operation (step 147) and the manual closing operation (step 148) are executed. Further, when entrapment is detected during these operations, the reverse rotation opening operation (step 149) and the reverse rotation closing operation (step 150) are executed. Further, the pinch determination (step 151), the speed control (step 152), and the slope determination (step 153) are executed.

During the automatic slide operation, the operation count value G is incremented (steps 154 and 155) and the process returns. When the automatic slide operation is completed, the operation count value G is cleared (step 156), the stop mode is set (step 157), and the process returns.

When the stop mode is set, it is determined to be the stop mode in the next automatic slide mode determination routine (step 131), and the process of the stop mode is executed (step 158). This stop mode is intended for safety control when the power drive of the door 3 is stopped during the opening / closing control of the door 3 during the automatic slide operation, and controls the timing of turning off the electromagnetic clutch 56 and stopping the opening / closing motor 54. . For example, when the door 3 stops at the intermediate position, the opening / closing motor 54 is stopped first, and then the electromagnetic clutch 56 is turned off after a required waiting time. When the door 3 is stopped at the fully closed position, the opening / closing motor 54 is stopped and the electromagnetic clutch 56 is turned off at the same time.

While the stop mode is operating (step 15
9) The operation count value G is incremented (step 160) and the process returns. When the stop mode ends, the operation count G
Is cleared (step 161), the stop mode is released (step 162), the automatic slide operation is terminated (step 163), and the process returns.

(Start Mode Routine) FIG. 13 is a flowchart showing the details of the start mode routine (step 144). This routine is a process of selecting the start mode for starting the door 3 according to the on / off state of each switch, the surrounding conditions, etc., and starting the door 3.

First, it is determined whether the start identifier is set (step 171). Since it is not initially set, it is determined whether it is the manual mode (step 172).
If it is detected in the manual determination (step 134) described above that the door 3 is in the manually open or manually closed state, it is determined to be the manual mode. Then, depending on whether or not the door is opened from the fully closed position (step 173), the manual fully closed start mode (step 174) or the manual normal start mode (step 175) is set, and the manual mode is released (step 176).

If it is not the manual mode, it is judged whether the door is open (step 177).
If it is in the TR control area (step 178), the ACTR start mode is set (step 179). When the door is closed, or when the door is opened but not in the ACTR control range, the normal start mode is set (step 180). When the identifier for each start is set in this way, the automatic slide mode actuation count value G is cleared (step 181) and the process returns. The setting conditions for each start mode are summarized below.

Normal start mode: Start by switch operation when not fully closed ACTR start mode: Start by switch operation when fully closed Manual normal start mode: Start by manual operation when not fully closed Manual fully closed start mode: Manual operation when fully closed Thus, when the start-specific identifier is set and the start mode is selected in the next routine, the start-specific identifier is present this time (step 171). Therefore, according to the identifier (step 182), the normal start mode (step 1
83), ACTR start mode (step 184),
A manual normal start mode (step 185) and a manual fully closed start mode (step 186) are executed.

In the normal start mode, the control is performed at the time of starting outside the fully closed area of the door, and the electromagnetic clutch 56 is first turned on to connect the opening / closing motor 54 and the drive pulley 55. After that, after the on-time lag of the electromagnetic clutch 56, the automatic slide operation is set and the opening / closing motor 54 is activated. When the opening / closing motor 54 is activated, the start identifier for each operation is reset to cancel the start mode (steps 187 and 188), and the operation count value G is cleared (step 189).

The ACTR start mode is the ACTR35.
The latch 34 of the door lock is disengaged from the striker 25 via the door to control the start of the door 3. After confirming that the half latch switch 40 is off, the electromagnetic clutch 56 is turned on. To Electromagnetic clutch 56
After the on-time lag of, the automatic slide is in operation. After that, when the opening / closing motor 54 is on, the operation-specific start identifier is reset, and thereafter, steps 187 to 1
The process of 89 is executed to notify the other routines of the end of the start control.

In the manual normal start mode, the motor drive voltage is set to move the door 3 at a predetermined speed,
The polarity of the motor drive voltage is determined according to the opening / closing direction of the door 3. After a lapse of a predetermined time, the electromagnetic clutch 56 is turned on to start the door 3. After that, the processes of steps 187 to 189 are executed to notify other routines of the end of the operation-specific start control. However, when the moving speed of the door 3 manually is faster than the door rapid closing speed, the opening / closing motor 54 is stopped without turning on the electromagnetic clutch 56 to prioritize the manual door rapid closing operation. Even if the moving speed of the door 3 is slower than the manual recognition speed, the mode does not shift to the automatic mode, so the opening / closing motor 54 is stopped without turning on the electromagnetic clutch 56.

In the manual full-closed start mode, the polarity and voltage value of the motor drive voltage are set to move the door 3 at a predetermined speed in the opening direction, and the electromagnetic clutch 56 is turned on to start the door 3. After that, steps 187-18
The process of 9 is executed to notify the other routines of the end of the operation-specific start control.

(Automatic Opening Operation Routine) FIG. 14 is a flowchart showing the details of the automatic opening operation routine (step 146). This automatic opening operation is selected by the switch statement 145 when the remote control switch 9 is operated to open the door, the door opening switch 19 is turned on, or the door opening state is confirmed manually, and the door 3 is opened in the safe direction. It is driven by power to control the driving, stopping, or reversing operation of the door 3.

First, full open detection (step 201) is executed to detect whether the door 3 has reached the full open position. Then
It is determined whether the P switch 17 is on (step 202).
If the P switch 17 is on, it is determined whether there is jamming (step 203). If there is no jamming, it is determined whether the door 3 has reached the fully opened position in the full open detection (step 201) (step 204). ). If the P switch 17 is not on (step 202), step 203 is jumped to and the determination of the fully open position of the door 3 is executed (step 204).

Next, the door 3 is not in the fully opened state (step 204), is not in the abnormal state (step 205), the switch can be accepted (step 206), and all the closing switches are off (step 207). If the switch 18 is on (step 208) and all the door opening switches are off (step 209), the process returns to continue the automatic opening operation.

When the presence of entrapment is detected (step 20)
3), in order to reverse and stop the door 3 in the closing direction,
The target position calculation is executed (step 211), the presence of the pinch is released (step 212), and the closed danger area (area 2) is released.
4) (step 213), the automatic opening operation is canceled (step 214), the reverse rotation closing operation is permitted (step 215), and the door opening operation is canceled (step 21).
6) Permit the door closing operation (step 217) and return. If it is in the close danger area (step 213), the automatic opening operation release is executed (step 218). When the automatic opening operation release is executed, the stop mode is set (step 157) and the stop mode (step 15) is set.
By the clutch relay control (step 106) and the automatic slide relay control (step 107) in 8), the electromagnetic clutch 56 is turned off, the opening / closing motor 54 is stopped, and the automatic operation is released.

When the door 3 reaches the fully open position (step 2
04), the door full open detection is released (step 219), and the automatic opening operation release (step 218) is executed. Also,
When an abnormality such as motor lock is detected (Step 2
05), when the main switch 18 is turned off (step 208), the automatic opening operation release (step 218) is executed.

Further, in the present embodiment, since all the open / close switches are of push-on / push-off type, it is judged that the switch is not ready for accepting any switch (step 206). ), Check the on / off status of each open / close switch. As a result, if all the open switches are off (step 220),
The switch is set to be receivable (step 221) and the process returns.

If any of the open switches is on (step 220) and all the close switches are off (step 222), the process returns as it is and the automatic opening operation is continued. However, if any open switch is on (step 220) and any close switch is on (step 222), it means that both the open switch and the close switch are on. Release (Step 2
18) is executed.

When the switch can be accepted (step 20)
6) That is, if all of the open / close switches are off, and one of the close switches is turned on (step 207),
It is determined that the instruction for the door closing operation has been issued, and the process proceeds to the above-mentioned step 213 and subsequent steps. Further, when any one of the open switches is turned on (step 209), it means that the push-on / push-off type open switch is turned on again, and the automatic opening operation is canceled to stop the door 3 at that position ( Step 218) is performed.

(Automatic Close Operation Routine) FIG. 15 is a flow chart showing the details of the automatic close operation routine (step 147). This automatic closing operation routine operates the remote control switch 9 to close the door outside the dangerous area,
Alternatively, when the door closing switch 20 is turned on, or when the door closing state is manually confirmed, it is selected by the switch statement 145, and in order to safely drive the door 3 in the closing direction,
It controls the driving, stopping or reversing operation of the door 3 during the automatic closing operation.

First, it is determined whether the door 3 has reached the half-latch area (step 231). If it has reached the target, it means that the purpose has been reached, so the automatic closing operation release is executed (step 232). When the automatic closing operation release is executed, the stop mode is set (step 157), and the electromagnetic clutch 56 is turned off by the clutch relay control (step 106) and the automatic slide relay control (step 107) in the stop mode (step 158) to open and close. The motor 54 stops and the automatic operation is released.

If the door 3 has not reached the half-latch area, it is determined whether the P switch 17 is on (step 23).
3). If the P switch 17 is turned on, it is determined whether there is entrapment by the entrapment determination (step 151) (step 234). If the P switch 17 is not on, step 234 is skipped.

Next, there is no abnormality (step 235),
The switch can be accepted (step 236), any open switch is off (step 237), the main switch 18 is on (step 238), and any close switch is off (step 239), the auto switch is on. Return to continue closing operation.

When the presence of entrapment is detected (step 23
4), in order to reverse and stop the door 3 in the opening direction,
The target position calculation is executed (step 240), the presence of the pinch is released (step 241), the automatic closing operation is released (step 242), and the reverse opening operation is permitted (step 2).
43), the door closing operation is released (step 244), the door opening operation is permitted (step 245), and the door 3 is set to the ACTR.
If it is not the area, the process returns, and if it is the ACTR area (step 246), the ACTR operation is permitted (step 24).
7) Return.

When an abnormal current is detected by motor lock or the like (step 235) or when the main switch 18 is turned off (step 238), the automatic opening operation is canceled (step 232).

If it is determined that one of the open / close switches is still in the switch accepting state (step 236), the on / off state of each open / close switch is confirmed. As a result, if all the closing switches are off (step 248), the switch is set to be acceptable (step 249), and the process returns.

If any one of the closing switches is on (step 248) and all the opening switches are off (step 250), the process directly returns to continue the automatic closing operation. However, if any of the closing switches is turned on (step 248) and any of the opening switches is also turned on, it means that both the closing switch and the opening switch are turned on. Therefore, the automatic closing operation is released (step 232). ) Is executed.

When the switch can be accepted (step 23)
6) If any of the open switches is turned on (step 2
37), it is determined that the instruction to open the door is issued, and the process proceeds to the above-mentioned step 242 and subsequent steps. Further, when any one of the closing switches is turned on (step 239), the push-on / push-off type closing switch is turned on again. Therefore, the automatic closing operation is released to stop the door 3 at that position. (Step 232) is executed.

(Manual Close Operation Routine) FIG.
It is a flow chart which shows the details of a manual closing operation routine (step 148). This manual closing operation routine is for the door closing switch 2 in the dangerous area (areas 2 to 4).
When it is confirmed that 0 is turned on, the mode is selected by the switch statement 145, the door close switch 20 is closed only while the operator is pressing the switch, and the mode is released when the operator releases the door close switch 20.

First, it is determined whether the door 3 is in the half-latch area (step 261). If the door 3 is in the half-latch area, the manual closing operation release is executed (step 26).
2). When the manual closing operation is released, the stop mode is set (step 157), and the electromagnetic clutch 56 is turned off by the clutch relay control (step 106) and the automatic slide relay control (step 107) in the stop mode (step 158) to open and close. The motor 54 stops and the automatic operation is released.

If the door 3 is not in the half latch area, it is determined whether the P switch 17 is on (step 263). If the P switch 17 is on, the jamming determination (step 15
It is determined whether there is a pinch according to 1) (step 26).
4). If it is not pinched, it is judged whether the door closing switch 20 is turned on (step 265), and if it is turned on, the routine returns to continue the manual closing operation. If the door closing switch 20 is not turned on, the manual closing operation release is executed (step 262). P switch 1
If 7 is not on, step 264 is jumped.

When the presence of entrapment is detected (step 26
4), in order to reverse and stop the door 3 in the opening direction,
The presence of the pinch is released (step 266), the door closing operation is released (step 267), the door opening operation is allowed (step 268), the manual closing operation is released (step 269), and the reverse opening operation is allowed ( In step 270, the target position calculation is executed (step 271) and the process returns.

(Target Position Calculation Routine) FIG. 17 shows a target position calculation routine (steps 211, 240, 271).
3 is a flowchart showing the details of FIG. This target position calculation routine is a routine for calculating a target position when the door 3 is reversed from the moving direction up to then when the trapping is detected in the automatic opening operation, the automatic closing operation or the manual closing operation, and when the door 3 is reversed to the safe position. is there.

First, the moving direction of the door 3 is determined (step 281). When it is determined that the door 3 is moving in the opening direction, the current position of the door 3 is determined to be the area 3 from the value of the position count value N.
~ 4 is determined (step 282). If the position of the door 3 is the areas 3 to 4, the current position of the door 3 is set as the target position (step 283). This is because the reverse closing operation is not performed in areas 3 to 4 in the reverse closing operation when the jam occurs during the door opening operation, because there is a risk that the jamming occurs again.

If the current position of the door 3 is other than the areas 3 to 4 (step 282), the previously designated movement amount is subtracted from the value of the current position indicated by the position count value N to obtain the value of the target position. (Step 284). However, if the value of the target position is a dangerous area of area 3 or less (step 28)
5) The boundary value between area 2 and area 3 (N = 350) is set as the target position (step 286).

When it is determined that the door 3 is moving in the closing direction (step 281), the value of the current position indicated by the position count value N is added with a predetermined movement amount to obtain the target position value ( Step 287). If the target position value exceeds the fully open position value (N = 850) (step 28
8) The fully open position is set as the target position (step 289).

(Reverse Rotation Opening Routine) FIG. 18 is a flow chart showing the details of the reverse rotation opening operation routine (step 149). This reverse rotation opening operation routine is selected by the switch statement 145 when it is determined that there is entrapment during the automatic closing operation or the manual closing operation, and the target position calculated by the target position calculation routine (steps 240 and 271). In the mode that reverses and moves the door 3 to the
The stop or reversal operation of the door 3 is safely controlled.

First, it is determined whether the P switch 17 is on (step 301). If the P switch 17 is not on, it means that the position of the shift lever is not parking and the vehicle has started to run, so the door reverse opening operation release (step 302) is immediately executed and the routine returns. When the reverse rotation open operation release is executed, the stop mode is set (step 157), and the clutch relay control (step 106) and the automatic slide relay control (step 1) in the stop mode (step 158) are set.
07), the electromagnetic clutch 56 is turned off, the opening / closing motor 54 is stopped, and the automatic operation is released.

If the P switch 17 is on, full-open detection is performed (step 303), and it is determined whether the current position of the door 3 obtained from the position count value N has reached the target position (step 304). The door 3 is not in the target position, the main switch 18 is on (step 305), the door 3 is not in the fully open position (step 306), there is no jamming (step 307), and there is no abnormal state (step 308). If it is in a receivable state (step 309) and all the closing switches are off (step 310), the process returns to continue the reverse rotation opening operation.

When the door 3 reaches the target position (step 3
04) or when the main switch 18 is turned off (step 305), reverse rotation opening operation cancellation is executed (step 3).
02). When the door 3 reaches the fully open position (step 30
6) When the door full open detection is released (step 311), the presence of the entrapment is detected (step 307), the entrapment detection is released (step 312), and when an abnormal state such as a motor lock is detected (step 308), an abnormality occurs. The state detection is released (step 313), and the reverse rotation opening operation release is executed (step 302).

If any of the close switches is turned on in the switch accepting state (step 31
0), it is determined that the instruction for the door closing operation is issued, and the reverse opening operation cancellation is executed (step 302). If the switch is not in the acceptable state (step 309), the on / off state of each open / close switch is confirmed. If all the open / close switches are off (step 314), the switch acceptable state is set (step 315). If any of the open / close switches is on, the process directly returns. This is because the door closing switch 20 may be being pressed down when there is a pinch during the manual closing operation and the reverse opening operation is performed, so that this mode is continued even in such a case.

(Reverse Reverse Close Operation Routine) FIG. 19 is a flow chart showing the details of the reverse reverse close operation routine (step 150). This reverse rotation close operation routine is executed when the switch statement 1 is detected when it is determined that there is a pinch during the automatic open operation.
45, the target position calculation routine (step 21
The mode is a mode in which the door 3 is reversed and moved to the target position calculated in 1) and stopped, and the stop or reversal operation of the door 3 is safely controlled.

First, it is judged from the position count value N whether the current position of the door 3 is the target position or the dangerous area (step 3).
21, 322). If the door 3 is in any position, the reverse door closing operation release is executed (step 323). When the door reverse rotation close operation release is executed, the stop mode is set (step 157) and the stop mode (step 15).
By the clutch relay control (step 106) and the automatic slide relay control (step 107) in 8), the electromagnetic clutch 56 is turned off, the opening / closing motor 54 is stopped, and the automatic operation is released.

The current position of the door 3 is none, the main switch 18 is on (step 324), the P switch 17 is on (step 325), there is no jamming (step 326), and there is no abnormality (step 324). 32
7), the switch is ready to be received (step 32)
8) If all the open switches are off (step 3)
29) Return to continue the reverse rotation closing operation.

When the main switch 18 is turned off (step 324), reverse rotation closing operation release (step 323) is executed. If the P switch is off (step 32)
5) Jump to step S326. Further, when the presence of the entrapment is detected, the detection of the entrapment is released (steps 326 and 330), and when the abnormality such as the motor lock is detected, the abnormal state detection is released (step 327,
331), and reverse rotation closing operation release is executed (step 323).

When the switch is not in the receivable state (step 328), the on / off state of each open / close switch is confirmed. If all the open / close switches are off (step 332), the switch is set in the receivable state (step 332). If any of the open / close switches is turned on in step 333), the process directly returns. This is because the door open switch 19 may be being pushed down when there is a pinch during the automatic opening operation and the vehicle is reversed, and this mode is continued even in such a case. If any of the opening switches is turned on in the switch accepting state (step 329), it is determined that the instruction for opening the door is issued,
Reverse rotation closing operation release is executed (step 323).

(Pinching Judgment) FIG. 20 is a flow chart showing the outline of the pinching judgment routine (step 151). The trapping determination routine detects trapping of a foreign substance during opening / closing of the slide door 3. Based on the detection result, the door 3 being opened and closed is triggered to reversely operate to ensure safety.

First, it is judged whether or not the learning of the change rate of the motor load for each sampling area is completed (step 40).
1). If not, the learning process and the learning delay process are executed (steps 402 and 403) and the process returns. If the learning process is completed, it is determined whether the mode is the stop mode (step 404), and if it is the stop mode, the process returns. If it is not the stop mode, learning determination (step 405) described later is performed.

Next, the continuation & change amount process (step 406) for detecting the amount of change in motor current value and the rising duration time is performed, and in the subsequent comprehensive judgment (step 407), the judgment obtained in the learning judgment (step 405), Then, the presence / absence of entrapment is determined based on the amount of change in the motor current value obtained in the continuation & change amount (step 406) and the rising duration time. Then
The current data is cleared (step 408) and the process returns.

(Functional Block Diagram of Entrapment Determination) FIG. 21
FIG. 6 is a block diagram showing a function of a pinch determination routine. In the figure, a sampling area calculation unit 100, a sampling area load data calculation unit 101, and a storage learning data calculation unit 102 indicate that a standard load resistance component (including its change rate) due to opening and closing of the slide door 3 is generated by the motor 54 Is stored in the load sample data memory 103 in association with a sampling area Qn (or Qm, hereinafter the same) peculiar to the opening / closing state of the door 3 and its position.

The load resistance component stored for one sampling area Qn is the average current value I of the current values IN included in the number of resolutions B in the sampling area Qn.
Current increase rate ΔIAn between sampling areas before and after An
I am trying.

Then, when the door 3 is normally opened / closed, the standard load resistance component and the current load resistance component stored for each same sampling area Qn are included in the entrapment determination section 104.
And the presence or absence of entrapment is detected. Then, the load resistance component stored in the memory 103 according to the sampling region Qn is corrected and learned and updated based on the new load resistance component each time the door 3 is opened / closed.

In addition to the above, the entrapment judging unit 104 calculates the amount of change from the current value IN measured by the current measuring unit 105, the previous current value I′N and the current current value IN stored in the previous current value memory unit 106. The entrapment determination is performed based on the current increase value ΔI obtained in 107, the increase number value K output from the current increase number counting unit 108, and the slope determination data θ from the slope detection unit 109. Details of the determination operation will be described later.

(Sampling Area Calculation Section) The sampling area calculation section 100 is based on the count value n (or m) obtained by counting the pulse signal φ1 from the position count value N and the moving direction Z supplied from the position detection section 79. The address of the sampling area Qn (or Qm) is determined.

The count value n is a count value in the closing direction, and the count value m is a count value in the opening direction. Each represents an address number indicating the position of the door 3. Since the address number n is a number attached in the direction in which the door 3 is closed, it is decremented when the door 3 is closed. Therefore, the address number immediately before the moving door 3 is n + 1. On the other hand, since the address number m is a number attached in the opening direction of the door 3, the address number immediately before the moving door 3 is m-1.

The relationship among the address numbers n and m, the resolution B, and the position count value N is as follows: N / B = n + b N / B = m + b (n and m are integer parts of the quotient, and b is the remainder of the quotient) expressed. The resolution B is a value determined for each area 1 to 7, and is for thinning and counting the pulse signal φ1 according to each area.

The address numbers n and m are addresses of the load sample data memory 103, and the remainder b is for shifting the data of the current value storage register 110 having the same number of registers as the resolution B in the load data calculation unit 101. Act on.

(Load Sample Data Memory) The load sample data memory 103 includes a sampling area calculator 10
The average current values IAn and IAm forming the storage data of the sample areas Qn and Qm designated by the address numbers n and m from 0 are output to the predicted comparison value calculation unit 111 and also output to the storage learning data calculation unit 102. is doing.

(Load Data Calculation Unit) Load Data Calculation Unit 1
Reference numeral 01 is an average value of the current value IN of the motor 54 stored in the current value storage register 110 having the same number of steps as the resolution B for each sampling area Qn, Qm, and the storage learning data calculation is performed as the average current value IAn. It is output to the unit 102. The current value storage register 110 stores the current value IN measured by the current measuring unit 105 at regular intervals (step 103).

FIG. 22 shows the previously stored average current values I'An and I'A (n-1) in the sampling areas Qn and Qn-1 without considering the learning effect and the current average obtained this time. The current values IAn and IA (n-1) are shown. Note that, here, the opening / closing state of the door 3 is determined by the deceleration control area E2 in the area 2.
(Resolution B is 4), and the current value IN corresponding to the position count value N for each pulse signal φ1 in the sampling area Qn of interest and the sampling area Qn-1 after that is shown.

That is, the current values IN to IN- of the current operation corresponding to the position count values N to N-3 of the sampling area Qn.
3 is reserved in the current value storage register 110, and the average current value IAn is obtained by adding and averaging them.

(Learning Data Calculation Unit for Storage) As shown in FIG. 23, the learning data calculation unit for storage 102 includes a current increase rate calculation unit 121, a previous data holding register 122, a learning data delay register 123, and a learning value weighting update. Computing unit 1
It consists of 24. The immediately preceding data holding register 122 is a sampling region immediately before the sampling region Qn of the current attention in the sampling regions Qn (n gradually decreases) that sequentially appear in the closing movement direction of the door 3 (because area 2 is assumed in this example). The average current value IA (n + 1) of Qn + 1 is output to the current increase rate calculation unit 121.

The current increase rate calculator 121 receives the average current value IAn of the current sampling area Qn sent from the load data calculator 101 and the immediately preceding sampling area Qn + 1 delayed by the immediately preceding data holding register 122. Current average value IA (n + 1) is compared to the current change rate ΔIAN (= I
An / IA (n + 1)) is calculated, and the learning data delay register 123
I am sending it to.

The learning data delay register 123 is for slightly delaying the update timing of the learning result, and the number of stages is arbitrary, but in this example, it is set to 7 and the learning value weighting update calculation unit 124 performs sampling 7 times before. The current increase rate ΔIA (n + 7) of the region Qn + 7 is output. The learning value weighted update calculation unit 124 calculates the current increase rate ΔIA (n + 7) for the current sampling area Qn + 7 and the read data Qn + from the load sample data memory 103 addressed by the same address number n + 7. 7 and are entered with matching addresses.

That is, the learning value weighting update calculation unit 12
4 is a data memory 1 in advance for the same sampling area
Current increase rate Qn + at the time of previous door drive stored in 03
In consideration of the latest current increase rate ΔIA (n + 7) obtained this time, the stored data is learned and updated based on the following equation.

Q'n + 7 = (3/4) × Q'n + 7 + (1 /
4) × ΔIA (n + 7) When written in the general formula, Q′n = (3/4) × Q′n + (1/4) × ΔIAN. The ratio of old and new data can be changed as appropriate.

The storage data (current increase rate) Q'n newly obtained in this way is sent to the load sample data memory 103 as the write data DL and stored with the address number n as the address, and the stored data is learned and updated. Be seen.

It should be noted that the read data from the load sample data memory 103, that is, the stored data is represented here not by the originally stored average current value I'An, but by the addressed data. The sampling area Qn is used for the calculation, and data for the average current value I'An stored in the location designated by the address number n of the sampling area Qn is used. Further, the output data of the learning data for storage calculating unit 102 is also shown in the format of the sampling area Qn.

(Prediction Comparison Value Calculation Unit) Prediction Comparison Value Calculation Unit 1
11 is a prediction value register 131, as shown in FIG.
The threshold value calculation unit 132, the comparison value calculation unit 133, and the predicted comparison value delay register 134 are provided, and the learning value Q′n corresponding to the address number n of the current sampling area Qn output from the load sample data memory 103 is more than the door The predicted comparison values Cn and Cm required for the sandwiching determination of the sampling area Qn-4 which is four ahead in the moving direction of 3 are output to the sandwiching determining unit 85.

The predicted value register 131 is provided in the sampling area where the measured current values up to the present are added and averaged at the loop interval of the main routine from the time when the first current value IN is measured in the current sampling area Qn of the door 3. The latest average current value I An of I.

Threshold calculation section 132 and comparison value calculation section 13
3 indicates the address number n four times after the address number n of the sampling area Qn that has obtained the latest current value IN.
The stored data (current increase rate Q'n-4) in the -4 sampling area Qn-4 is read from the load sample data memory 103 and given.

The threshold calculation unit 132 determines the allowable width of discrimination from the latest average current value IAn in the control area and the stored data of the sampling area Q'n-4 of the address number n-4 which is four times later by the following equation. The threshold value Fn-4 for determining is calculated.

[0130] Fn-4 = IAN x Q'n-1 x Q'n-2 x Q'n-3 x Q'n-4 x α In general terms,         Fn = IA (n + 4) × Q'n + 3 × Q'n + 2 × Q'n + 1 × Q'n × α ... Becomes However, α is a correction coefficient.

The comparison value calculation unit 133 calculates the predicted comparison value Cn-4 to be compared with the average current value IA (n-4) of the sampling area Qn-4 which will appear from now on, by the following equation.

Cn-4 = IAN × Q'n-1 × Q'n-2 × Q'n-3 ×
Q'n-4 + Fn-4 When expressed by the general formula, Cn = IA (n + 4) * Q'n + 3 * Q'n + 2 * Q'n + 1 * Q'n + Fn.

The predicted comparison value Cn-4 obtained by the comparison value calculation unit 133 is the predicted comparison value delay register 13 of four stages.
By passing through 4, it matches with the address number n of the currently required sampler area Qn.

In the predicted comparison value calculation unit 111, when the first comparison value is generated, the comparison value is placed in the preceding stage of the prediction comparison value delay register 134, and this is repeated four times to obtain the comparison value four steps ahead. That is, the predicted value one ahead: Cn-1 = An x Q'n-1 The predicted value two ahead: Cn-2 = Cn-1 x Q'n-2 The predicted value three ahead: Cn-3 = Cn-2 * Q'n-3 Four predicted values: Cn-4 = Cn-3 * Q'n-4.

(Initial operation) In each of the entrapment determination blocks shown in FIG. 21, in the initial state, the stored contents of the load sample data memory 103 are such that the vehicle body 1 is set in a normal posture in a flat place without inclination in the front, rear, left and right directions. In this normal posture, the door 3 is opened and closed, and the average current values IAn and IAm of the sample areas Qn and Qm for each area are obtained.

In this initial state, the memory learning data calculation unit 102 obtains the current change rates ΔIAN and ΔIAm from the ratio of the current current value and the immediately preceding average current value. This current change rate ΔI
An and ΔIAm are passed from the learning data delay shift register 123 through the learning value weighting update computing unit 124 as they are and are output as the write data DL of the load sample data memory 103, and the address number at which the data is recorded is the sampling area computing unit. Sample area data Qn, Q obtained by calculating the average current values IAn, IAm obtained at 100
It is specified by the address number n, m of m.

(Learning Judgment) FIGS. 25 and 26 are flowcharts showing the details of the learning judgment routine (step 405). The learning determination routine adds the current value every time to perform error determination and learning weighting (pinching recognition). When the door 3 moves and the sampling area changes, the average current value of the area is calculated,
Calculation of a comparison value, learning processing, and learning delay processing are performed.

The fact that the sampling area has changed is that
Add the number of pulses of the amount of movement of the door 3 to the remainder (remainder of dividing the position count value N by the resolution B) when calculating the sampling area for starting movement, and see that the resolution B values 8, 4 and 2 are exceeded. to decide. The number of pulses is cleared when added every time. Further, when the sampling area changes, the value of the resolution B is subtracted and counting is performed again. However,
At the beginning of the movement, the average current value cannot be output because it is in the middle of the sampling area. Therefore, when the sampling area is switched, the addition of the current value is started. Then, when the sampling area changes next time, the average current value and the comparison value can be obtained, so that the error determination can be performed every time thereafter.

First, it is determined whether the sampling area number has been calculated (step 421). Since the calculation has not been performed when the door 3 starts moving, the calculation is performed (step 422). Next, it is determined whether learning is possible (step 423). Since the learning is not possible at the first time, the position of the door 3 is the area 1,
It is judged whether it is 5 or 6 (step 429).

In areas 1, 5 and 6, the cycle register number (number of moved pulses) is added to the resolution count (remainder in sampling area calculation) to obtain a new resolution count (step 430). Then, clear the cycle register number to count the number of pulses that have moved (step 4
31) and if the resolution count is 8 or less (step 432), the process returns.

Then, the cycle register numbers are similarly added from the next time onward, and when the number becomes 8 or more (when the sampling area changes) (step 432), 8 is subtracted from the resolution count (step 433) to learn. A judgment is made (step 434). In this case it is not possible to learn, so
It is set so that it can be learned (step 435), and the current value memory and the current value register number are cleared (step 43).
6, 437), and returns.

Next time, learning is possible (step 42
3) Add the current value to the stored value (step 42
4) The current register number is incremented to count the number of times the current value has been added (step 425), and it is determined whether an error can be determined (step 426). In this case, since it is not possible to determine an error, the process jumps to step 429. Then, the processes of steps 430 to 434 are executed, and this time, since the learning is possible, the average value calculation (step 438),
Comparison value calculation (step 439), learning process (step 4)
40), the learning delay process (step 441) is executed, and error determination is made possible (step 442).
443), and returns.

From the next time, an error judgment will be possible (step 426), so an error judgment described later (step 427)
And learning weighting (step 428). Also, every time the sampling area is exceeded, the average value calculation-learning delay processing (steps 438 to 441) are performed.

When the position of the door 3 is switched from the area 1 to the area 2 (steps 429 and 444), it is determined whether the resolution count exceeds 4 (step 445). This is to calculate the average value and the like of the last sampling area of the area 1 before the area switching for the first time. If the resolution count exceeds 4, the process proceeds to step 430 and the subsequent steps.

If the resolution count does not exceed 4, a cycle register number is added to the resolution count to obtain a new resolution count (step 446), and the cycle register number is cleared to count the number of moved pulses ( Step 44
7) and if the resolution count is less than 4 (step 44)
8) returns, and when it becomes 4 or more, 4 is subtracted from the resolution count (step 449), and the process proceeds to step 434 and thereafter.

When the position of the door 3 is switched from the area 2 to the area 3 (steps 429 and 444), it is determined whether the resolution count exceeds 2 (step 403). This is for calculating the average value of the last sampling area of the area 2 before the area switching for the first time. If the resolution count exceeds 2, the process proceeds to step 445 and thereafter.

If the resolution count does not exceed 2, the cycle register number is added to the resolution count to obtain a new resolution count (step 451), and the cycle register number is cleared to count the number of moved pulses ( Step 45
2) and if the resolution count is less than 2 (step 45)
3) returns, and when it becomes 2 or more, 2 is subtracted from the resolution count (step 454), and the processing proceeds to step 434 and thereafter.

(Error Determination) FIG. 27 is a flow chart showing the details of the error determination routine (step 427). This error determination routine compares the current value IN with the predicted comparison value Cn and counts the number of times the current value IN becomes large as the number of errors.

First, the current value IN and the predicted comparison value Cn
And (step 461). If the current value IN is larger than the comparison value Cn, the number of errors is added (step 46).
2) If it is the same or smaller, the error count is cleared (step 463). This is because the pinching is performed only when the current value IN continuously increases.

(Learning Weighting Routine) FIG. 28 is a flowchart showing details of the learning weighting routine (step 428). This learning weighting routine is for changing the weighting of the number of errors according to the areas 1 to 7 and effectively performing the trapping detection.

First, it is judged whether or not the number of errors is zero (step 471). If it is zero, the process returns. If not zero, the number of errors is weighted according to each area. That is, in areas 1, 5 to 7 (step 472), it is determined whether the number of errors is 3 or more (step 473), and in area 2 (step 474), it is determined whether the number of errors is 2 or more (step 475). , 4 (step 47
4) Determine whether the number of errors is 1 or more (step 47)
6). As described above, the areas 2 to 4 of the dangerous area in the closing direction have stricter set values than the starting area 1 in the closing direction and the areas 5 to 7 in the opening direction.

As a result of these determinations, if the current value of the current control region is not increasing, or if the current value is increasing, and the number of errors is larger than the set value set for each area, it is determined to be abnormal. Entrapment detection is permitted (step 477). Even if the current value of the current control region is increasing, if the number of errors is smaller than the set value, the process returns.

(Continuation & Change Amount Routine) FIG. 29 is a flowchart showing the details of the continuation & change amount routine (step 406). This continuation & change amount routine measures the change amount of the current value IN and the rising duration time to effectively perform the entrapment detection.

First, it is determined whether the current value is increasing (step 481). If the current value is increasing, a counter for counting the duration is added (step 482). If there is no current value data before change (step 483). ), The previous current value is stored as the current value before change (step 484), the current value before change is subtracted from the current current value IN to obtain the conversion amount of the current value (step 485), and the process returns. If the current value is not increasing (step 481), the counter for counting the duration is cleared (step 486), the current value before change is also cleared (step 487), and the process returns.

(Comprehensive Judgment Routine) FIG. 30 is a flow chart showing the details of the comprehensive judgment routine (step 407). This comprehensive determination routine is to perform the entrapment determination after considering all of the determination in learning, the amount of change in the current value, the increase duration time, and the like.

First, it is judged whether the current value is equal to or higher than the abnormality recognition value (step 491). If it is equal to or higher than the abnormality recognition value, the abnormal state is set (step 492), and the process returns. If the current value is less than the abnormality recognition value, it is determined whether the entrapment detection is permitted in the learning determination (step 49).
3) Return if not authorized.

If entrapment detection is permitted (step 493), when the duration of increasing current value is greater than or equal to the set maximum value (step 494), and when the amount of change in current value is greater than or equal to the set maximum value (step 495). ), When the duration is equal to or greater than the set minimum value and the variation is equal to or greater than the set value (however, smaller than the maximum value) (steps 496 and 497), it is determined that there is an entrapment, and the entrapment processing is set ( Step 498) is performed and the process returns. This allows
For example, when the automatic closing operation is being performed, the reverse opening operation is performed up to the target value by the automatic closing operation routine.

(Other Embodiments) In the above-described embodiment, in order to detect that the vehicle has started running while the slide door 3 is automatically operating in the closing direction, the P switch 17 is turned off, that is, the shift lever is moved. Although it is performed by detecting that the vehicle has moved from the parking lot, the present invention is not limited to this, and it may be performed by detecting that the vehicle speed data from the vehicle speed sensor 23 becomes a certain vehicle speed or more.

In addition, in the above-described embodiment, when the vehicle starts to run while the slide door 3 is automatically operating, it is possible to prevent false detection of the presence of trapping due to the acceleration applied to the slide door 3 during running. Although the entrapment detection is not performed, the entrapment prevention is not limited to this, and the entrapment prevention may be made difficult to operate by tightening the criterion of the entrapment determination.

For example, by increasing the value of the correction coefficient α in the above equation, or by adding the constant value β to the right side of the equation, or by adding the change Δ in the door operating load due to vehicle acceleration, The threshold value Fn may be increased. The change Δ in the door actuation load due to vehicle acceleration can be expressed as Δ = (dV / dt) × M × γ. (DV / dt) is the vehicle acceleration, M is the door mass, γ is the amount of change in the motor current per unit acceleration or unit weight, and is a value determined by the motor characteristics and the transmission coefficient of the mechanism.

Further, in the above-described embodiment, when the vehicle starts running while the slide door is moving in the door opening direction by the drive source, the door opening control is performed as it is in order to ensure safety. Next, the slide door is moved until it reaches the fully opened position, and the slide door is held at that position. In this case, if the buzzer 22 is driven and an alarm sound is emitted to warn the driver, The driver can take measures such as stopping the vehicle by hearing the warning sound, and further safety can be ensured.

[0162]

According to the present invention, when the vehicle starts traveling while the slide door is moving in the closing direction or the opening direction by the drive source, the door is closed without stopping the control by the drive source. Alternatively, the door opening control is continued until the sliding door is moved to the fully closed or fully opened position, and the sliding door is held at that position, so that the sliding door can be stabilized and the pinch detection can be performed.
By tightening the criterion for pinching by the exiting means
The acceleration generated when the vehicle is running is applied to the sliding door.
And erroneously detect it as a pinch and drive the slide door in reverse.
I try to prevent it from moving or stopping .

[0163]

[Brief description of drawings]

FIG. 1 is an external perspective view showing an example of an automobile to which the present invention is applied.

FIG. 2 is an enlarged perspective view of the vehicle body showing a state in which a slide door is removed.

FIG. 3 is a perspective view showing a slide door.

FIG. 4 is a perspective view showing a mounting portion of the slide door as viewed from the inside of the vehicle.

FIG. 5 is a perspective view showing a main part of a slide door driving device.

FIG. 6 is a schematic plan view showing a moving state of a slide door.

FIG. 7 is a block diagram showing a connection relationship between a slide door control device and peripheral electric elements.

FIG. 8 is a block diagram showing a main part of a slide door control device.

FIG. 9 is a time chart explaining the operation of the speed calculation unit.

FIG. 10 is a plan view of the lower rack showing the relationship between the opening / closing position of the door and the position count value and the area corresponding to the opening degree of the door.

FIG. 11 is a flowchart of a main routine for explaining the operation of the present invention.

FIG. 12 is a flowchart showing details of an automatic slide mode determination routine.

FIG. 13 is a flowchart showing details of a start mode routine.

FIG. 14 is a flowchart showing details of an automatic opening operation routine.

FIG. 15 is a flowchart showing details of an automatic closing operation routine.

FIG. 16 is a flowchart showing details of a manual closing operation routine.

FIG. 17 is a flowchart showing details of a target position calculation routine.

FIG. 18 is a flowchart showing details of a reverse rotation opening operation routine.

FIG. 19 is a flowchart showing details of a reverse rotation close operation routine.

FIG. 20 is a flowchart showing details of an entrapment determination routine.

FIG. 21 is a block diagram showing functions related to entrapment determination.

FIG. 22 is a graph showing a current value of a sampling area of interest.

FIG. 23 is a block diagram of a learning data calculation unit for storage.

FIG. 24 is a block diagram of a prediction comparison value calculation unit.

FIG. 25 is a flowchart (1/2) showing details of a learning determination routine.

FIG. 26 is a flowchart (2/2) showing the details of the learning determination routine.

FIG. 27 is a flowchart showing details of an error determination routine.

FIG. 28 is a flowchart showing details of a learning weighting routine.

FIG. 29 is a flowchart showing details of a continuation & change amount routine.

FIG. 30 is a flowchart showing details of a comprehensive determination routine.

[Explanation of symbols]

1 car body 11 Door opening 12 Upper truck 13 Lower truck 14 Guide track 15 battery 16 ignition switch 17 Parking switch 18 Main switch 19 Door open switch 20 Door close switch 21 Keyless system 22 Buzzer 23 Vehicle speed sensor 24 Body side connector 3 sliding doors 31 Upper sliding connector 32 Lower sliding connector 33 hinge arm 34 door lock 35 door handle 36 Moving member 37 Door side connector 38 Closure Motor (CM) 39 Actuator 40 Half-latch switch 5 Sliding door drive 51 Cable member 52 Motor drive unit 53 Base plate 54 open / close motor 55 drive pulley 56 electromagnetic clutch 57 Reducer 58 Guide pulley 59 Reverse pulley 60 rotary encoder 61 Pulse signal generator 7 Sliding door control device 71 Main control unit 72 Control mode selection section 73 Auto slide controller 74 Speed controller 75 Entrapment control unit 76 Slope judgment section 77 I / O port 78 Speed calculator 79 Position detector 88 power switch element 89 Polarity inversion circuit 90 Motor switching circuit 91 Clutch drive circuit 92 Actuator drive circuit 9 wireless remote control

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) E05F 15/14 B60J 5/06

Claims (3)

(57) [Claims] 1. An automatic opening / closing control device for a vehicle slide door in which a slide door slidably supported along a guide track provided on a vehicle body is opened and closed by a drive source such as a motor when the vehicle is stopped. Vehicle stop detection means for detecting that the foreign matter is caught and foreign matter trapped during the movement of the slide door
The pinch detection means and the drive force transmitted from the drive source to the slide door are controlled , and the pinch detection means detects the pinch of foreign matter.
And a slide door control means for driving the slide door in the opposite direction when the slide door is pulled out, wherein the slide door control means is configured to drive the vehicle while the slide door is driven by the drive source. When the vehicle stop detection means detects that the vehicle is released from the stopped state, the drive control of the slide door is continued as it is, and the determination criterion of the jamming detection means is determined.
The automatic opening / closing control device for a vehicle slide door is characterized by increasing the threshold Fn . 2. The vehicle stop detection means is a transmission shifter.
Means to detect when the Trevor is in the parking position
Automatic opening and closing control device for a vehicle slide door according to claim 1, wherein the der Rukoto. 3. The vehicle stop detection means is adapted to detect vehicle speed.
Automatic opening and closing control device for a vehicle slide door according to claim 1 Symbol mounting, characterized in that a means for detecting or less constant value.