JP4018494B2 - Automatic opening / closing device for vehicle back door - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an automatic opening / closing device for a vehicle back door having a pinching prevention function.
[0002]
[Prior art]
Some vehicles, such as automobiles, include a back door that automatically opens and closes by driving a motor. This type of backdoor, the motor of the drive unit, together with the opening and closing, at the final stage of closing the back door, the closure unit having a separate motor from the drive unit, the half-latch back door relative to the vehicle body The state is forcibly pulled from the state to the fully latched state to make a transition so as to ensure a reliable closed state of the back door (for example, Patent Document 1).
[0003]
In addition, this automatic opening / closing device increases or decreases the motor duty (output) by feedback controlling the rotation pulse cycle of the motor of the drive unit in order to keep the operating speed of the back door at a predetermined target speed. In other words, when the back door operating speed falls below the target speed and the rotation pulse period becomes longer, the duty is increased to increase the back door operating speed, and conversely the back door operating speed rises above the target speed. When the rotation pulse period is shortened, the duty is decreased to lower the operating speed of the back door (for example, Patent Document 2).
[0004]
In such control, the back door closing operation, when any foreign matter sandwiched like a is greatly reduced than the operation speed is the target speed of the back door, the rotation pulse cycle becomes longer than the standard pulse time. Then, when the rotation pulse period longer than the standard reaches a preset pinching determination pulse time, it is determined as “pinching” and the motor closing operation is stopped or reversed to the opening operation. It is designed to prevent damage to the back door .
[0005]
[Patent Document 1]
JP 2001-182405 A [Patent Document 2]
Japanese Patent Laid-Open No. 2000-139095
[Problems to be solved by the invention]
However, in such conventional pinching determination control, as described above, when the rotation pulse period of the motor of the drive unit becomes longer than the predetermined pinching determination pulse time, the back door pinches foreign matter. The back door closing operation is stopped or reversed to the opening operation by judging the state, but depending on the state of the vehicle, a foreign object is not caught, but the same situation as when it is caught occurs. The pinching prevention mechanism may malfunction.
[0007]
For example, when automatically opening and closing the back door by a motor drive, in the middle of the slope, when parked in a tilted state that the top front of the vehicle, in the case of closing the back door with an electric, than in the horizontal state, the back door The resistance force due to its own weight is added. For this reason, the back door is more difficult to close, and the motor rotation pulse cycle becomes longer as in the case where a foreign object is pinched, which is erroneously recognized as a pinched state.
[0008]
Moreover, in the final stage of closing the back door, for actuating the back door at a low speed for safety, the duty by the motor of the drive unit can be very low. Therefore, the load suddenly increases due to the reaction force when the back door crushes the seal provided on the vehicle body at the front position in the half latch state, and the increase in duty cannot catch up with the increase in load. Similarly to the case where a foreign object is sandwiched, the rotation pulse period of the motor becomes long and may be erroneously recognized as a sandwiched state. In particular, the reaction force due to this seal is considerably strong, and as described above, the back door is more difficult to close than the case where the load increases due to the inclination angle of the back door . . (Therefore, it was necessary to use a soft material as much as possible for the seal, and the degree of freedom in selecting the seal material was narrowed.)
[0009]
The present invention has been made paying attention to such a conventional technique, and prevents erroneous recognition of the pinching state both in the range from the fully open position to the half-latch front position and in the range after the half-latch front position. The present invention provides an automatic opening / closing device for a vehicle back door .
[0010]
[Means for Solving the Problems]
According to the first aspect of the present invention, a drive unit that opens and closes the back door up and down by a motor and stops or reverses the closing operation of the back door at the time of pinching is determined, and a driving unit at the final stage of the closing operation of the back door in another motor and, together with the forcibly shift from the half-latched state to the fully latched state back door relative to the vehicle body, and a closure unit having a position detecting means for detecting that the position of the back door is in front of the half-latch condition In order to open / close the back door at the target speed, the rotation pulse period of the motor of the drive unit is feedback controlled to increase / decrease the duty, and until the pinching judgment pulse time is sufficiently longer than the standard pulse time corresponding to the target speed If the rotation pulse cycle is not fixed between the controller and A device for automatically opening and closing of the back door for a vehicle having, in closing operation of the back door, in a stage before reaching the pinch detection pulse time, gradually the duty to rotation pulse period of the motor of the drive unit is determined The increase rate and the increase interval at which the duty is gradually increased are increased at least after the position detecting means detects the position before the half latch, or the increase interval is higher than before the detection. Is shortened.
[0011]
According to the first aspect of the present invention, in order to gradually increase the duty until the rotation pulse period is determined at the stage before reaching the pinching determination pulse time, no foreign object is actually pinched as in the case of a hill stop. However, even in a “pseudo pinching situation” that is erroneously recognized as being pinched, the back door starts moving and the rotation pulse period is determined. Therefore, it is possible to detect the “pseudo pinching situation”, and it is possible to prevent a malfunction in which the back door stops or reverses even though it is not in the pinching state. Further, since the duty is gradually increased and the duty is not increased greatly at a time, the load when a foreign object is actually caught is not excessive and safe. In addition, the increase rate and the increase interval for gradually increasing the duty are at least higher after the position detection means detects the position before the half-latch, or the increase interval is shortened than before the detection. ing. Therefore, even if a large load is generated in the closing direction when the back door comes into contact with the seal on the vehicle body side before the half-latch position, the back door moves and rotates with a larger duty than the range up to the half-latch front position. Since the pulse period can be determined, erroneous recognition of the pinching state can be reliably prevented even in such a case.
[0012]
The invention according to claim 2 is characterized in that after the position detecting means detects the position before the half latch, both the increase rate of the duty is increased and the increase interval is shortened.
[0013]
According to the second aspect of the invention, in order to increase both the duty increase rate and shorten the increase interval, the back door in contact with the seal is moved with a larger duty, and the rotation pulse period is increased. Can be determined.
[0014]
The invention described in claim 3 provides a pulse decrease determination time sufficiently longer than the standard pulse time and shorter than the pinching determination pulse time as an increasing interval for gradually increasing the duty, and after the pulse decrease determination time has elapsed. The duty is gradually increased at every predetermined duty increase interval.
[0015]
According to the third aspect of the invention, since the increase interval for gradually increasing the duty is delayed after the elapse of the pulse decrease determination time longer than the standard pulse time, the duty is surely exceeded after the standard pulse time is exceeded. Can be increased, and the increase in duty is less likely to be excessive by the amount of delay.
[0016]
The invention described in claim 4 is characterized in that when the rotation pulse period is determined at the stage before reaching the pinching determination pulse time, the duty is not increased by feedback control.
[0017]
According to the fourth aspect of the present invention, when the rotation pulse cycle is determined at the stage before reaching the pinching determination pulse time by gradually increasing the duty in each of the preceding items, the long rotation pulse cycle at that time is determined. As a target of feedback control, the motor rotates rapidly and the back door closes rapidly in order to make up for a significant decrease in the operating speed. By keeping the duty as it is, rapid rotation of the motor is prevented.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, a preferred embodiment of the present invention will be described with reference to FIGS. This is applied to a back door 2 provided at the rear part of a vehicle (vehicle body) 1. The back door 2 can be automatically opened and closed by operating the drive unit 4 by operating the switch 3. The drive unit 4 includes a motor 5, a clutch 6, and a rotary encoder 7. The motor 5 generates a driving force for opening and closing the back door 2. The clutch 6 is for transmitting the driving force of the motor 5 to the back door 2 and for disconnecting it. By disconnecting the clutch 6, the back door 2 can be manually operated. The rotary encoder 7 is for detecting the rotation pulse period of the motor 5.
[0019]
In addition, a closure unit 8 is provided at the lower end of the back door 2 to forcibly pull the back door 2 from the half latched state to the full latched state with respect to the vehicle 1 in the final stage of the closing operation of the back door 2. Yes. Specifically, the back door 2 is provided with a lock mechanism 15 having a latch (not shown) that can be engaged with and disengaged from a latch (not shown) that can be engaged with the striker 14 on the vehicle body side, and the latch is fixed by the motor 9 of the closure unit 8. It is structured to rotate.
[0020]
Further, the closure unit 8 has a half-latch front position (hereinafter referred to as “half-latch front”) in which the back door 2 in the closing operation begins to come into strong contact with a sealing seal (not shown) provided on the vehicle body side. A half switch 10 is provided as “position detecting means” for detecting that the position is “position”. Although the half switch 10 is illustrated as one switch in the drawing, it is actually composed of a plurality of switches for detecting the positions of a plurality of movable parts in the closure unit 8 (for example, a latch). (Detecting the position of the ratchet) From the signal of each switch, it is determined that the back door 2 is the half latch front position.
[0021]
The drive unit 4 and the closure unit 8 are connected to the controller 12 together with the switch 3 and the power supply 11, and the controller 12 controls the motors 5, 9 based on signals from the switch 3, the rotary encoder 7, the half switch 10, and the like. And the output to the clutch 6 is controlled. In particular, the controller 12 calculates the opening / closing speed of the back door 2 based on the rotation pulse period from the rotary encoder 7 and performs duty control for adjusting the opening / closing speed to a preset target speed. A CPU, a motor drive circuit, and the like are provided (not shown).
[0022]
When the operation speed of the back door 2 by the drive unit 4 is lower than the target speed due to the control of the controller 12 and the rotation pulse cycle becomes longer, the duty is increased to increase the operation speed of the back door 2, and conversely the back door 2 When the operation speed increases beyond the target speed and the rotation pulse period becomes shorter, the duty is reduced to lower the operation speed of the back door 2.
[0023]
In addition, when some foreign matter is sandwiched, the operation speed of the back door 2 is significantly lower than the target speed, and the rotation pulse period is longer than the standard pulse time. When the period reaches a predetermined pinching determination pulse time set in advance, it is determined as “pinching” and the closing operation of the motor is stopped or reversed to the opening operation to prevent the back door 2 from being damaged. It is like that.
[0024]
FIG. 3 is a graph showing actual duty control and pinching determination. A situation in which the rotation pulse period TN when closing the back door 2 changes as TN + 1, TN + 2, TN + 3,... TN + x will be described. First, since the rotation pulse period TN is smaller than the standard pulse time TS corresponding to the target speed (TN <TS), the operation speed of the back door 2 is faster than the target speed. Therefore, the duty is decreased in the next rotation pulse period TN + 1. Since the duty has decreased, the rotation pulse period TN + 1 becomes equal to the standard pulse time TS (TN + 1 = TS), and the duty does not change in the next rotation pulse period TN + 2.
[0025]
However, since the rotation pulse period TN + 2 is longer than the standard pulse time TS (TN + 2> TS), the duty is increased in the next rotation pulse period TN + 3.
[0026]
The rotation pulse period TN + 3 is sufficiently longer than the standard pulse time TS, and is a length that is likely to reach the pinching determination pulse time TH that is determined as “pinching” in which foreign matter is pinched in the back door 2. Thus, when the rotation pulse period TN + 3 becomes long, the vehicle 1 stops in the middle of the uphill slope 13 as shown in FIG. In some cases, the weight of the back door 2 is added so that the back door 2 is more difficult to close than when it is horizontal (pseudo pinching situation).
[0027]
In this embodiment, instead of waiting until the pinching determination pulse time TH is reached, the pulse drop determination time TL, which is sufficiently longer than the standard pulse time TS and shorter than the pinching determination pulse time TH, has passed, The duty is gradually increased by Δd (about 2%) at every duty increase interval ΔT. Therefore, in the case of the pseudo jamming state, the back door 2 starts to move and the rotation pulse cycle TN + 3 is determined before reaching the jamming judgment pulse time TH. Accordingly, it is possible to detect the pseudo pinching state, and it is possible to prevent a malfunction in which the back door 2 stops or reverses even though it is not in the pinching state. Also, since the duty is gradually increased at a predetermined increase interval (ΔT) little by little (Δd), even when a foreign object is actually caught and the jamming judgment pulse time TH is reached, the load at the time of jamming is increased. It is safe without being oversized.
[0028]
Furthermore, when the rotation pulse cycle is determined before the pinching determination pulse time TH by gradually increasing the duty as in the rotation pulse cycle TN + 3, the long rotation pulse cycle at that time is directly subject to feedback control. Since the motor 5 rapidly rotates and closes rapidly in order to make up for a significant decrease in the operation speed, as a countermeasure for this, in such a case, the duty is kept as it is without being subject to feedback control. In this way (the portion indicated as “no increase in duty” in FIG. 3), the motor 5 is prevented from rotating rapidly.
[0029]
Then, the closing operation of the back door 2 proceeds, and the half switch 10 is turned on just before the back door 2 is in the half latched state, and the half latch front position of the back door 2 is detected. After detection of the position before half-latching, the rotation pulse period TN + x is sufficiently longer than the standard pulse time TS, and it is likely to reach the pinching determination pulse time TH that is judged as “pinching” in which foreign matter is pinched in the back door 2 Become. This is because the back door 2 starts to come into contact with the seal on the vehicle body side, and the rotation pulse cycle TN + x is lengthened due to the reaction force from the seal.
[0030]
Even in such a case, the duty is not waited until the pinching determination pulse time TH is reached, but after the pulse drop determination time TL that is sufficiently longer than the standard pulse time TS and shorter than the pinching determination pulse time TH has passed, Increase gradually. However, after detecting the position before the half latch, a large load is generated in the closing direction due to contact with the seal, so the increase interval for gradually increasing the duty is shorter than in the case of the slope 13 before that. However, the increasing rate of the duty is also increased (ΔD = about 5%). That is, the duty is increased more frequently and at a higher rate than before. Therefore, even if a large load is generated due to contact with the seal, the back door 2 can be moved with a larger duty than the range before the half-latch front position, and the rotation pulse cycle TN + x can be determined. Recognition can be reliably prevented.
[0031]
The above duty control will be described based on the control flowchart of FIG.
[0032]
In step S <b> 1, the back door 2 is in a closing operation, and the rotation pulse cycle is output from the motor 5. If no rotation pulse period TN is determined in step S2, the non-determined state is measured by the pulse period counter P in step S3, and if it is equal to or larger than the pinching determination pulse time TH, step In S4, it is determined that the object is caught. If it is equal to or less than the pinching determination pulse time TH, then in step S5, it is determined whether it is equal to or greater than the pulse decrease determination time TL. If not, the process returns to step S2, and if larger, the operation is performed in step S6. It is determined that the speed is reduced.
[0033]
In step S7, it is determined whether the half switch 10 is ON. If it is not ON, the back door 2 is not yet in contact with the seal on the vehicle body side, so in the next step S8, the pulse cycle counter P exceeds the duty increase interval ΔT (exceeds) after the pulse decrease determination time TL. Judgment) ΔT is the number of times of increase M, and M = 0 at the first time, P = TL, and the process proceeds to step S9 (if it never exceeds, the process immediately returns to step S2; The duty is increased by Δd (2%), and the ΔT increase frequency M is increased from the equation M = M + 1 to M = 0 and is incremented by 1 to return to step S2. If the operation is within the duty increase interval ΔT when reaching step S8 , the operation returns to step S2, and the operation from step S2 to step S7 is repeated until P = TL + 1 * ΔT. If they match in step S8 , the process proceeds again to step S9 , the duty is increased, and the process returns to step S2.
[0034]
If it is determined in step S7 that the half switch 10 is ON, the back door 2 is in contact with the seal on the vehicle body side, so that in the next step S10, the pulse cycle counter P detects the pulse decrease determination time TL. Later, it is determined how many times (exceeded) the interval Δt shorter than the previous duty increase interval ΔT. Δt is the number of times of increase M, M = 0 for the first time, P = TL, and the process proceeds to step S11 (if it never exceeds, the process immediately returns to step S2; The duty is increased by ΔD (5%) , and the Δt increase count M is further increased by M = 0 from the equation M = M + 1, and is incremented by 1 to return to step S2. If the operation is within the duty increase interval Δt when step S10 is reached, the process returns to step S2 and the operations from step S2 to step S7 are repeated until P = TL + 1 * Δt. If they match in step S10 , the process proceeds again to step S11 , the duty is increased, and the process returns to step S2.
[0035]
When the duty increases gradually, the back door 2 starts to move, and when the rotation pulse period TN is determined, the process proceeds from step S2 to step S12. In step S12, it is determined whether or not the rotation pulse period TN is smaller than the standard pulse time TS. If it is smaller, it is determined in step S13 that the operating speed of the back door 2 is fast, and in step S14, the duty is updated in the direction of decreasing, and the process returns to step S2.
[0036]
If the rotation pulse period TN is longer than the standard pulse time TS in step S12, it is determined in the next step S15 whether the rotation pulse period TN is larger than the standard pulse time TS.
[0037]
If it is determined in step S15 that the rotation pulse cycle TN is not larger than the standard pulse time TS, the rotation pulse cycle TN is equal to the standard pulse time TS, so the processing returns to step S2 without doing anything.
[0038]
If it is determined in step S15 that the rotation pulse period TN is larger than the standard pulse time TS, it means that the operation speed of the back door 2 is slow, and the process proceeds to step S16. In step S16, it is determined whether there has been a small increase in the duty due to step S8 or step S10 so far, and if there is a small increase in the duty, the duty is not increased and the process proceeds to step S2. return. If the duty is not increased in step S16, the process proceeds to step S17, where it is determined that the operation speed is slow, and the duty is updated in the next step S18 . Therefore, by determining in step S16, the rotation pulse period TN of this portion is not subject to feedback control, and rapid rotation of the motor 5 (rapid closing of the back door 2) is prevented.
[0039]
【The invention's effect】
According to the present invention, in order to gradually increase the duty until the rotation pulse period is determined at the stage before reaching the pinching determination pulse time, the pinch is not actually pinched, as in the case of a hill stop. Even in a “pseudo pinching situation” that is erroneously recognized as an object, by gradually increasing the duty, the back door starts moving and the rotation pulse period is determined before the pinching determination pulse time is reached. Therefore, it is possible to detect the “pseudo pinching situation”, and it is possible to prevent a malfunction in which the back door stops or reverses even though it is not in the pinching state. Further, since the duty is gradually increased, the duty is not increased greatly at one time, and the load when foreign matter is actually caught is not excessive and safe. In addition, the increase rate and the increase interval for gradually increasing the duty are at least higher after the position detection means detects the position before the half-latch, or the increase interval is shortened than before the detection. Therefore, even if a large load is generated in the closing direction when the back door comes into contact with the seal on the vehicle body side before the half-latch position, the back door is moved with a larger duty than the range up to the half-latch front position. The rotation pulse cycle can be determined, and erroneous recognition of the pinched state can be reliably prevented.
[Brief description of the drawings]
FIG. 1 is a side view showing a back door of an automobile to which an automatic opening / closing device according to the present invention is applied.
FIG. 2 is a block diagram showing a back door opening / closing control device.
FIG. 3 is a graph showing a relationship between a rotation pulse period and a duty.
FIG. 4 is a flowchart showing duty control.
[Explanation of symbols]
1 Vehicle (body)
2 Back door 3 Switch 4 Drive unit 5 Motor of drive unit 6 Clutch 7 Rotary encoder 8 Closure unit 9 Motor of closure unit 10 Half switch (position detection means)
11 Power supply 12 Controller 13 Slope 14 Striker 15 Lock mechanism

Claims (4)

A drive unit that opens and closes the back door up and down by a motor, and stops or reverses the closing operation of the back door when pinching is determined,
At the final stage of the closing operation of the back door , the back door is forcibly shifted from the half latch state to the full latch state with respect to the vehicle body by a motor different from the drive unit, and the position of the back door is in front of the half latch state. A closure unit having position detecting means for detecting
In order to open and close the back door at the target speed, feedback control of the rotation pulse period of the motor of the drive unit is used to increase or decrease the duty, and until the pinching judgment pulse time sufficiently longer than the standard pulse time corresponding to the target speed A vehicular backdoor automatic opening / closing device comprising a controller that determines that the rotation pulse period is not fixed to
During the closing operation of the back door , in the stage before reaching the pinching determination pulse time, while gradually increasing the duty until the rotation pulse period of the motor of the drive unit is determined,
The increase rate and the increase interval for gradually increasing the duty are set so that at least the increase rate is higher or shorter after the position detection means detects the position before the half latch than before the detection. An automatic opening / closing device for a vehicle back door . An automatic opening / closing device for a vehicle back door according to claim 1,
An automatic opening / closing device for a vehicular back door , wherein after the position detecting means detects the position before the half-latch, both the duty increase rate is increased and the increase interval is shortened. An automatic opening / closing device for a vehicle back door according to claim 1 or 2,
As an increase interval for gradually increasing the duty, a pulse decrease determination time that is sufficiently longer than the standard pulse time and shorter than the pinching determination pulse time is provided, and after the pulse decrease determination time has elapsed, every predetermined duty increase interval An automatic opening / closing device for a vehicle back door characterized by gradually increasing a duty. An automatic opening / closing device for a vehicle back door according to any one of claims 1 to 3,
An automatic opening / closing device for a vehicular back door , characterized in that the duty is not increased by feedback control when the rotation pulse period is determined at a stage before reaching the pinching determination pulse time.

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