JP3686601B2 - Automatic sliding door control device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic sliding door control device that controls a sliding door.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, a vehicle is provided with a slide door that opens and closes a door opening, and is equipped with an automatic slide door control device that electrically controls opening and closing of the slide door.
[0003]
This automatic sliding door control device is configured to detect pinching of the sliding door even when the sliding door in the closing operation reaches the area before full closing. Control was performed to reversely move to the fully open position.
[0004]
In addition, when the slide door reaches the half-locked state in the closure, the slide door latch 1001 has a striker on the vehicle body side as shown in FIG. When the state immediately before being locked to 1002 is reached, a locking state is formed in which the tip of the pole 1003 is in contact with the first locking portion of the latch 1001 (half latch). Then, by operating the closure, the slide door reaches the fully closed position as shown in FIGS. 12C to 12D, and the latch 1001 is engaged with the striker 1002, and the pole It is configured to be driven to be closed until 1003 is locked to the second locking portion of the latch 1001 and the latch 1001 is locked.
[0005]
FIG. 13 is a flowchart showing the operation. The closure detects whether or not the latch 1001 is a half latch as shown in FIG. 12B by a half switch and becomes a half latch. (SZ1).
[0006]
When the half-latch is reached, the timer is started to start measurement for a predetermined time (SZ2), the closure motor is rotated forward to lock the latch 1001 into the striker 1002 (SZ3), and the timer Until the predetermined time is reached (SZ4). And the said closure motor is reversely rotated and the said closure motor is stopped (SZ5).
[0007]
Accordingly, the tightening by the closure motor is stopped.
[0008]
[Problems to be solved by the invention]
However, in such an automatic sliding door control device, when the pinching is detected in the area before all closing and the sliding door is driven to open, depending on the timing of the pinching determination and the closure operation determination based on the closure operating current, the slide There was a possibility that the drive in the closing direction by the closure could be started during the door opening drive.
[0009]
Further, when the closure is stopped with the half latch, there is a possibility that the sliding door cannot be opened and closed.
[0010]
That is, as shown in FIG. 12B, since the latch 1001 is locked by the pole 1003 when the half latch is formed, the striker 1002 and the latch 1001 are engaged unless the pole 1003 is released. I can't come off. This is not limited to automatic sliding doors.
[0011]
Also, the release of the pole 1003 is
[0012]
(1) When the pawl 1003 is released by pulling the door opening / closing handle by hand.
[0013]
(2) The pole release actuator is activated when it is automatically opened from the fully closed state by switch operation or remote control operation.
[0014]
To be done.
[0015]
Therefore, even if the door drive motor is reversed (opening operation), it is latched by the half latch and does not move in the opening direction.
[0016]
Note that closing cannot be performed because the closure stops tightening (see the flowchart in FIG. 13).
[0017]
Therefore, the sliding door will not move in either direction of opening and closing.
[0018]
The present invention has been made in view of such a conventional problem, and prevents simultaneous operation of the sliding door opening drive and the closing drive by the closure, and prevents the closure from being stopped in the half latch state. An object of the present invention is to provide an automatic sliding door control device.
[0019]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, in the automatic sliding door control device of the present invention, when the sliding door closed by the drive motor reaches the pre-closed area, pinching of the sliding door is detected. In the automatic slide door control device that detects the position and detects that the slide door has reached the half-locked state, and operates the closure to move the slide door to the fully closed position in the closing direction. A closure operating state detecting unit for detecting an operating state of the closure when the pinching detecting unit detects the pinching; and the drive motor when the closure operating state detecting unit does not detect the operation of the closure. Closure power supply shut-off means for shutting off the power supply and shutting off the power supply to the closure The closure power supply shut-off means shuts off the power supply to the closure and then operates the drive motor to open the slide door, and the sandwich release control means After starting the opening drive, the opening operation confirmation means for confirming the opening operation of the slide door, and when the opening operation confirmation means cannot confirm the opening operation of the sliding door, the supply of power to the closure is resumed. Closure power supply means.
[0020]
That is, when the sliding door that is in the closing operation reaches the pre-closed area, whether or not the sliding door is caught is detected by the clamping detection means. At this time, when the pinching is detected, the closure operating state detecting means detects the operating state of the closure, and when the operation of the closure is not detected, the closure power supply shut-off means drives the sliding door. While the motor is stopped, the supply of power to the closure is shut off. This prevents the sliding door from being closed by the closure.
[0021]
Next, after the closure power supply shut-off means shuts off the power supply to the closure, the pinch release control means operates the drive motor to open the slide door. Thereby, the trapping of foreign matter or the like by the slide door is released.
[0022]
Then, after the sandwiching release control means starts the opening drive, the opening operation confirmation means confirms the opening operation of the slide door. At this time, when the opening operation of the sliding door cannot be confirmed, it is assumed that the sliding door is in a state of being operated during the full latching state locked from the half latching state half locked by the operation of the closure. .
[0023]
For this reason, when the opening operation of the sliding door cannot be confirmed, the supply of power to the closure is resumed by the closure power supply means, and the closing operation to the fully closed position of the sliding door by the closure is performed. Normal termination processing is performed on arrival.
[0024]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, an embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a vehicle 1 equipped with an automatic sliding door control device according to the present embodiment. A side opening of a vehicle body of the vehicle 1 is provided with an opening 2 for getting on and off and a step 3. In addition, a slide door 4 is provided for opening and closing the boarding opening 2. In addition, a weather strip fixed to the vehicle body is provided around the opening 2 for getting on and off. When the slide door 4 is closed, the weather strip comes into contact with the slide door 4 so that rainwater or the like enters the vehicle interior. Configured to prevent intrusion.
[0025]
The upper end of the slide door 4 on the front side of the vehicle 1 is supported by an upper roller 11 that moves along the upper edge of the opening 2 for getting on and off, and the lower end moves along the side surface 12 of the step 3. It is supported by the lower roller 13. Further, the central portion on the vehicle rear side is supported by a rear roller 14 that moves in the vehicle front-rear direction, and can be moved from a fully open position where the entrance / exit opening 2 is fully open to a fully closed position where it is fully closed. Has been. A closure unit 15 is provided in the slide door 4, and a receiving terminal 16 for receiving power supply to the closure unit 15 is provided at the front edge of the slide door 4. In addition, a pillar 17 that forms an edge on the vehicle front side of the opening 2 for getting on and off is provided with a supply terminal 18 that is paired with the receiving terminal 16, and the slide door 4 is in a position immediately before full closing. From the moved position, it is connected to the receiving terminal 16 so that power can be supplied to the closure unit 15. The upper part of the lower roller 13 of the slide door 4 is fixed to a traction member 19 extending from the side surface 12 of the step 3, and is pulled by the traction member 19 so as to move in the vehicle front-rear direction. It is configured.
[0026]
As shown by a broken line in FIG. 2, a moving mechanism 21 that moves the slide door 4 through the traction member 19 is provided in the inside of the step 3 where the traction member 19 extends. The moving mechanism 21 includes a support member 22 that supports the end of the traction member 19, a belt 23 provided with the support member 22, and the belt 23 movably supported along the side surface 12 of the step 3. The first and second pulleys 24 and 25, and the driving pulley 27 that is provided at the corner portion 26 of the step 3 and moves the belt 23 are configured.
[0027]
The drive pulley 27 is shaft-coupled to a final reduction gear 29d, and the final reduction gear 29d is meshed with the drive pulley side transmission gear 29c. The moving mechanism 21 is provided with a drive motor 31, and the drive motor 31 transmits the driving force to the motor side transmission gear 29 b via the worm gear reducer 30 and the intermediate gear 29 a. The motor side transmission gear 29b and the drive pulley side transmission gear 29c are provided above and below the electromagnetic clutch 28, and the electromagnetic clutch 28 is provided between the motor side transmission gear 29b and the drive pulley side transmission gear 29c. Intermittently. The installation location of the slide door rotation sensor 53 is set in the vicinity of the drive pulley 27 and is driven by the electromagnetic clutch 28 so that the slide door position and moving speed can be detected even when the slide door 4 is manually opened and closed. It is provided on the pulley 27 side. The slide door rotation sensor 53 uses a known contact-type two-phase encoder, but may be an optical sensor that can detect normal rotation and reverse rotation.
[0028]
Thereby, when the electromagnetic clutch 28 is controlled to be turned on, a joined state in which the drive motor 31 and the drive pulley 27 are joined is formed, while when the electromagnetic clutch 28 is turned off, the drive motor 31 is joined. And the drive pulley 27 are separated, and the slide door 4 can be manually opened and closed. The drive motor 31 and the electromagnetic clutch 28 are connected to an automatic sliding door unit 32 installed in the vehicle 1 as shown in FIG.
[0029]
The auto-sliding door unit 32 is mainly configured by a microcomputer M (microcomputer) having a built-in ROM and RAM, and is connected to a battery 42 for driving the drive motor 31 described above via a circuit breaker 41. The electric power source 43 for driving the microcomputer is connected. In addition, an ignition switch 44 is connected to the automatic sliding door unit 32, and a shift P switch 45 that is turned on when the select lever is selected in the P range, and the ignition switch 44, A stop lamp switch 46 that is turned on when the foot brake is operated is connected. Further, a main switch 47 is connected to the auto slide door unit 32, and the slide door 4 can be driven when the main switch 47 is operated.
[0030]
The auto slide door unit 32 is connected with a speed sensor 51 for detecting the vehicle speed and a buzzer 52 and a slide door rotation sensor 53. The sliding door rotation sensor 53 includes an encoder, and the encoder includes a first pulse output 54 and a second pulse output 55. The pulses output from both the pulse outputs 54 and 55 are configured such that the cycle becomes shorter as the moving speed of the sliding door 4 increases, and a pulse having a phase corresponding to the moving direction of the sliding door 4 is output. Is configured to do. The slide door rotation sensor 53 detects the speed and position of the slide door 4 from the number of rotations of the encoder, and outputs a signal when the slide door 4 reaches the fully open or fully closed position. A GND line 57 serving as a ground for voltage matching with the reverse detection output 56 and the microcomputer M is provided and connected to the automatic sliding door unit 32.
[0031]
Further, the auto slide door unit 32 includes a parking switch 61 that is turned on when a parking brake is operated, a slide door opening switch 62 that is operated when the sliding door 4 is opened, and a closing operation. And a slide door switch 64 provided as a fully closed position detection switch that is turned off when the slide door 4 is fully closed is connected to the closure unit 15. First and second supply outputs 65 and 66 for supplying power are connected to the supply terminal 18. The first and second supply outputs 65 and 66 include a closure power supply relay that cuts off the supply of power to the closure unit 15, and measures an passing current and transmits it to the microcomputer M. 67 is connected.
[0032]
The controller 71 of the closure unit 15 that receives power supply from the supply output 18 includes a latch release actuator 72 that drives a latch on the slide door 4 side that is locked to a striker of a vehicle body to release the locked state, and the latch A half switch 73 that operates by detecting a half-lock state (half-latch) immediately before being locked to the striker, a neutral switch 74 that operates by detecting the neutral state of the latch, and the latch is locked by the striker A full lock switch 75 that operates by detecting the state is connected. The closure unit 15 is connected to a slide door closure motor 76 that pulls the slide door 4 in the half-locked state to the full-locked state.
[0033]
FIG. 4 is a view showing an engagement state between the striker 81 fixed to the vehicle body and a latch 83 rotatably provided on the base plate 82 (see FIG. 5) of the slide door 4, and the latch 83 of the closure C. The state where the striker 81 is locked in the engagement groove 84 is shown. When the latch 83 is manually released, an open lever 85 and a pole 86 are rotated by opening a door handle (not shown) so that the latch 83 is disengaged. . The release lever 87 that rotates the open lever 85 is connected via a link 89 to an actuator 88 that rotates the pole 86 that engages the latch 83 in the full lock position to release the engagement. The actuator 88 is actuated by turning on the slide door opening switch 62 to release the engagement (restraint) of the latch 83 so that the latch 83 can be released from the striker 81. When the slide door 4 is automatically or manually moved in the opening direction from this rotatable state, the striker 81 is detached.
[0034]
Further, as shown in FIG. 5, the base plate 82 is provided with a close lever 92 that abuts on the engagement lever 91 of the latch 83, and the close lever 92 is urged by a spring 93. Has been. Note that the position of the close lever 92 that is rotated clockwise by the spring 93 is the neutral position. The close lever 92 is connected to a reduction gear lever 95 via a close rod 94, and the reduction gear lever 95 is connected to the slide door closure motor 76. By driving the slide door closure motor 76 and rotating the latch 83, as shown in FIG. 6, the unlocked state (a) where the slide door 4 is located in the vicinity of the fully closed state, the half lock as a half latch. The full lock state (d), which is a full latch, can be formed through the state (b) and the transition state (c) in which the half lock state is changed to the full lock state.
[0035]
FIG. 7 is a flowchart showing the operation of the control unit 71 of the closure unit 15, and the closure unit 15 is connected to the supply terminal 18 of the pillar 17 when the receiving terminal 16 of the slide door 4 is connected with the closing operation. Is supplied, the half switch 73 detects whether or not the latch 83 is in the half-locked state, and waits until the half-locked state is reached (SC1).
[0036]
When the half-lock state is reached, the timer is started to start measurement for a predetermined time (SC2), the sliding door closure motor 76 is rotated forward to tighten the latch 83 to the striker 81 (SC3). ), It is determined whether the timer has reached the predetermined time (SC4). If the predetermined time has been reached, a failure of the full lock switch 75 may be considered. Therefore, to avoid the tightening state, the process branches to step SC6. If the predetermined time has not been reached, the full lock switch 75 is broken. The lock switch 75 is detected and it is determined whether or not it is in the full lock state (SC5).
[0037]
If the full lock state has not been reached, the process branches to step SC3 to repeat each step. If the full lock state has been reached, the slide door closure motor 76 is reversed (SC6), A neutral switch 74 is detected and it is determined whether or not the latch 83 is in the neutral position returned to the original position from the full lock state (SC7). If it is not in the neutral position, the process branches to step SC6 and repeats each step, whereas if it is in the neutral position, the slide door closure motor 76 is stopped (SC8) and the process ends.
[0038]
In the present embodiment having the above configuration, the operation when moving the slide door 4 to the fully closed position at a constant speed will be described with reference to the flowcharts shown in FIGS.
[0039]
In other words, during the closing operation, the sliding door 4 has a cumulative number of pulses obtained by adding and subtracting the number of pulses based on the first and second pulse outputs 54 and 55 from the sliding door rotation sensor 53 as shown in FIG. Then, it is determined whether or not the pre-closed area 101 has been reached, and the system waits until the fully closed area 101 is reached (S1).
[0040]
In FIG. 11, reference numeral 102 denotes a movement trajectory in plan view of the slide door 4, and the fully open position 103 of the slide door 4 is set at one end of the movement trajectory 102 and the fully closed position 104 is set at the other end. Yes. Near the fully closed position 104, when the latch 83 of the closure unit 15 is in the half-locked state, the sliding door closure motor 76 is driven to rotate the latch 83 to the fully-locked state. The closure operating position 105, which is a position, is set. A position 106 before closing is set on the opening direction side of the closure operating position 105. Between the position before closing 106 and the closure operating position 105, The pre-all-closed area 101 is set. A weather strip contact position 107 where the slide door 4 contacts the weather strip is set at a position where the movement locus 102 starts to bend toward the vehicle interior.
[0041]
In step S1, when the pre-closed area 101 is reached, the duty of the drive pulse output to the drive motor 31 to move the slide door 4 in the closing direction against the reaction force from the weather strip. The ratio is increased and the output from the drive motor 31 is increased (S2).
[0042]
At this time, the receiving terminal 16 provided on the slide door 4 is connected to the supply terminal 18 provided on the vehicle body side, and power is supplied to the closure unit 15 of the slide door 4. Then, when the half lock state is detected, the closure unit 15 starts the operation of operating the slide door closure motor 76 of the closure and pulling the slide door 4 to the full lock state (fully closed position 104).
[0043]
Then, it is determined whether or not the operating current of the closure unit 15, specifically, the operating current detector 67 detects the operating current to the sliding door closure motor 76 (S 3), and the operation of the closure unit 15 cannot be detected. When the sliding door closure motor 76 is stopped, the operating state of the sliding door switch 64 is judged (S4), while the operating current of the sliding door closure motor 76 is detected and the operation of the closure unit 15 is confirmed. In this case, the duty ratio of the drive pulse output to the drive motor 31 is lowered to lower the output from the drive motor 31 (S5), and then the operating state of the slide door switch 64 is determined (S4).
[0044]
In the determination of step S4, when the operation of the slide door switch 64 is confirmed (in a state where the door switch is turned off) and the slide door 4 has reached the fully closed position 104, the time by the fully closed determination delay timer is reached. (S6), and waits until the counting by the full-close determination delay timer is completed (S7). The value of the full-close determination delay timer includes a time required from the start of the operation of the closure unit 15 until the closing of the slide door 4 by the closure unit 15 is completed. Is set. As a result, the closure unit 15 operates in parallel with the closing drive of the slide drive mechanism until the predetermined time elapses by the fully-closed determination delay timer.
[0045]
When the predetermined time set in the full-close determination delay timer has elapsed, the drive motor 31 is stopped. That is, after the energization of the drive motor 31 is cut off and the drive motor 31 is stopped (S8), a disconnection process (release of the electromagnetic clutch 28) is performed to reverse the drive motor 31 and remove the electromagnetic clutch 28 (S9). ). As a result, after the sliding door switch 64 is actuated, the driving of the sliding door 4 by the drive motor 31 can be continued until the predetermined time by the full-close determination delay timer elapses.
[0046]
On the other hand, if it is determined in step S4 that the operation of the slide door switch 64 is not confirmed (the door switch is not turned off) and the slide door 4 has not reached the fully closed position 104, the accumulation is performed. It is determined from the change in the pulse whether the door closing speed has decreased (S10). At this time, if the door closing speed has not decreased, the process branches to step S2. On the other hand, if the door closing speed has decreased, a foreign object may be caught in the slide door 4, and the next step S11. Migrate to
[0047]
In step S11, the operating current detector 67 determines whether or not the closure C is operating based on whether or not current is supplied to the closure unit 15. At this time, if the closure C is in operation, the process branches to step S2. On the other hand, if the closure C is not in operation, the drive motor 31 is stopped (S12), and then the operating current detector 67. And the power supply to the closure unit 15 is cut off (S13). Thereby, the closing drive of the said slide door 4 by the closure C can be prevented beforehand.
[0048]
Then, sandwiching reversal operation control (S14) for reversing the drive motor 31 to open the slide door 4 to the fully open position 103 is executed. Thereby, it is possible to release the foreign matter and the like from the slide door 4 and to easily remove the foreign matter.
[0049]
As described above, when the slide door 4 is caught during the closing operation (see S10) and the slide motor 4 is opened by the drive motor 31 (see S14), the supply of power to the closure C is cut off. Therefore (see S13), the simultaneous operation of the opening drive by the drive motor 31 and the closing drive by the closure C can be reliably avoided. Therefore, it is possible to reliably prevent problems that may occur when the opening drive and the closing drive are performed simultaneously.
[0050]
When the sandwiching reversing operation control (S14) is started, the operating state of the sliding door 4 is confirmed from the decrease in the moving speed of the sliding door 4 by the pulse outputs 54 and 55 as described above. The presence or absence of pinching is determined (S15). At this time, when a decrease in the opening speed of the slide door 4 is detected and it is determined that there is pinching, it is assumed that the slide door 4 is in a half-latch state in which it is half-locked by the closure C.
[0051]
For this reason, the closure power supply relay of the operating current detector 67 is turned on, the supply of power to the closure unit 15 is resumed (S16), the drive motor 31 is further reversed and the slide door 4 is closed. After executing the sandwiching reverse operation control (S17), the process returns to the main routine. At this time, since the supply of power to the closure C is resumed, the closing operation of the slide door 4 to the fully closed position is performed by the closure C, and the normal termination process can be executed when the fully closed position 104 is reached.
[0052]
Therefore, as compared with the conventional case where the closure C can be stopped in a half-latch state, it is possible to reliably prevent the problem that the opening / closing operation of the slide door 4 becomes impossible, and the convenience is improved.
[0053]
In step S16, the supply of power to the drive motor 31 is temporarily interrupted. This is because the drive motor 31 is further reversed (the sliding door 4 is closed) after the drive motor 31 is stopped.
[0054]
On the other hand, when the operation of the sliding door 4 is confirmed from the opening speed of the sliding door 4 in step S15 and it is determined that there is no pinching, it is determined whether or not the sliding door 4 has stopped at the fully open position 103 (S18). ). If it is stopped at the fully open position 103, after the closure power supply relay of the operating current detector 67 is turned on and the supply of power to the closure unit 15 is resumed (S19), the electromagnetic clutch 28 is disconnected and Full opening control for interrupting the energization of the drive motor 31 is performed (S20), and the process returns to the main routine.
[0055]
In step S18, if the slide door 4 is not stopped at the fully open position 103, it is determined whether or not the slide door 4 is stopped in the switch operation or the abnormal mode (S21). Here, the abnormal mode includes a case where the current operating condition is abnormal, a case where the pulse input from each of the pulse outputs 54 and 55 is abnormal, a case where the filler lid is opened, and the like.
[0056]
If the switch operation or the abnormal mode is not stopped, the process branches to step S15. If the switch operation is not stopped, the closure power relay of the operating current detection unit 67 is turned on to close the closure unit. After resuming the supply of power to the power source 15 (S22), abnormal control such as disengaging the electromagnetic clutch 28 or driving the slide door 4 with slight force is performed (S23), and the process returns to the main routine.
[0057]
【The invention's effect】
As described above, in the automatic sliding door control device of the present invention, when the sliding door is caught during the closing operation, when the sliding door is driven to open by the drive motor, power is supplied to the closure. Since the blocking is performed, simultaneous operation of the opening drive by the drive motor and the closing drive by the closure can be surely avoided. For this reason, it is possible to reliably prevent problems that may occur when the opening drive and the closing drive are performed simultaneously.
[0058]
When the opening operation of the sliding door cannot be confirmed at the time of opening driving based on the pinching detection, it is assumed that the sliding door is in a half latch state in which the sliding door is half-locked to the closure. For this reason, the closure power supply means restarts the supply of power to the closure so that the closing operation of the sliding door to the fully closed position by the closure can be performed, and the normal termination process is executed when the fully closed position is reached. can do.
[0059]
Therefore, as compared with the conventional case where the closure can be stopped in a half-latch state, it is possible to surely prevent the problem that the opening / closing operation of the slide door becomes impossible, and the convenience is improved.
[Brief description of the drawings]
FIG. 1 is a perspective view showing an embodiment of the present invention.
FIG. 2 is a view as indicated by an arrow A in FIG.
FIG. 3 is a block diagram according to the same embodiment;
FIG. 4 is an exploded perspective view showing a state in which a latch constituting the closure according to the embodiment is engaged with a striker.
FIG. 5 is a perspective view showing a closure according to the embodiment.
6A and 6B are diagrams showing an operating state of the latch according to the embodiment, where FIG. 6A is an unlocked state, FIG. 6B is a half-locked state, and FIG. (D) is a figure which shows a full lock state.
FIG. 7 is a flowchart showing the operation of the closure unit according to the embodiment;
FIG. 8 is a flowchart showing the operation of the embodiment.
FIG. 9 is a flowchart following FIG. 8;
FIG. 10 is a flowchart following FIG. 9;
FIG. 11 is an explanatory diagram showing an operation state according to the position of the slide door according to the embodiment;
12A and 12B are diagrams showing an operating state of a latch according to a conventional example, in which FIG. 12A is an unlocked state near a fully closed position, FIG. 12B is a half-locked state as a half latch, and FIG. (D) is a diagram showing a full lock state as a full latch.
FIG. 13 is a flowchart showing the operation of the closure according to the conventional example.
[Explanation of symbols]
4 Slide door 15 Closure unit 28 Electromagnetic clutch 31 Drive motor 32 Auto slide door unit 76 Slide door closure motor 83 Latch 101 Fully closed area 104 Fully closed position 105 Closure operating position C Closure M Microcomputer (control unit)

Claims (1)

When the slide door closed by the drive motor reaches the pre-closed area, the pinch detection means detects the pinching of the slide door and also detects that the slide door has reached the half-locked state. When the automatic sliding door control device that operates the closure and moves the sliding door in the closing direction to the fully closed position,
A closure operating state detecting means for detecting an operating state of the closure when the pinching detection means detects the pinching;
Closure power supply shut-off means for stopping the drive motor and shutting off the power supply to the closure when the closure operating state detecting means does not detect the operation of the closure;
After the closure power supply shut-off means shuts off the power supply to the closure, the pinch release control means for operating the drive motor to open the slide door;
An opening operation confirmation means for confirming an opening operation of the sliding door after the sandwiching release control means starts the opening drive;
Closure power supply means for resuming the supply of power to the closure when the opening operation confirmation means cannot confirm the opening operation of the slide door;
An automatic sliding door control device characterized by comprising:

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