JP4262578B2 - Backdoor automatic opening and closing device - Google Patents

Description

The present invention relates to a back door automatic opening / closing device that automatically opens and closes a back door provided in a rear portion of a vehicle by driving a motor .

  2. Description of the Related Art Conventionally, a vehicle including an opening / closing body such as a back door or a slide door that automatically opens and closes by driving a motor is known in Patent Document 1 below.

In the automatic opening / closing device for a vehicle opening / closing body described in Patent Document 1, for example, when opening / closing a back door, the rotation pulse of the motor is detected to detect the open / closed state of the back door, and the cycle of the rotation pulse is standard. When it becomes longer than the cycle of the rotation pulse and a predetermined pinching determination time is reached, it is determined that pinching has occurred.

In particular, in the automatic opening / closing device for a vehicle opening / closing body described in Patent Document 1, in order to prevent erroneous recognition of a foreign object pinching state when the back door is opened / closed, at a stage before reaching the pinching determination time. , until the period of the rotation pulse is determined is set to be gradually increasing the duty ratio is the amount of current supplied to the motor. Thus, in the conventional automatic opening / closing device for a vehicle opening / closing body, it is possible to prevent misrecognition to determine that pinching has occurred when no foreign object has been pinched.

Also, as a conventional technique, a target operating speed is set according to the operating position of the back door, and when the actual operating speed is less than the target operating speed, the duty ratio of the current supply amount to the motor is set. the size comb motor current value by increasing, by comparing the corresponding motor current value with a threshold value set in advance, when the motor current value exceeds the threshold value determines that entrapment of foreign object has occurred It is known.

JP 2003-27832 A

However, Oite the prior art described above, for example when the engine cranking occurs, it is necessary to use a power supply such as a battery to start the engine, the voltage value supplied to the motor is temporarily drops. When the engine cranking is completed, the voltage value supplied to the motor rises and returns to a normal value, but the motor current value suddenly increases at the same timing as the return.

Therefore, in the conventional technique, when the back door is automatically opened and closed by the power supply from the battery, if the motor current value increases due to the end of engine cranking, the motor current value may exceed the threshold value. There is a false detection that an obstacle is caught in the back door.

  Therefore, the present invention has been proposed in view of the above-described circumstances, and erroneously detects an obstacle being caught even when engine cranking occurs when the back door is automatically opened and closed. An object of the present invention is to provide a backdoor automatic opening / closing device capable of preventing the above.

A back door automatic opening and closing device according to a first aspect of the invention includes a back door motor that opens or closes the back door of the vehicle, and an operation that generates an on signal or an off signal that opens or closes the back door of the vehicle. motor current detecting a switch, a current supply means for supplying a current to the back door motor, a pulse detecting circuit for converting the pulse signal by detecting a rotation period of the back door motor, the current flowing through the back door motor A pulse signal is supplied from the pulse detection circuit, connected to the detection circuit and the operation switch, and the operation position of the back door is recognized by counting the pulse signal, and the period of the pulse signal is calculated to calculate the back signal. detecting a moving speed of the door, based on the moving speed detected and recognized operating position, said from the current supply means backed To determine the current value supplied to the motor, controls the current value supplied to the back door motor from said current supply means, and a defined current value detected by the motor current detection circuit in advance current A computer that performs control to detect the back door obstacle being caught when the current value detected by the motor current detection circuit exceeds the current threshold value compared to a threshold value, the computer comprising the motor current Only when the change rate of the current value detected by the detection circuit is calculated, the change rate of the current value exceeds a predetermined value , and the time when the change rate exceeds the predetermined value is within a predetermined time, with comparing the first current value detected by the second threshold value is a high current threshold the motor current detection circuit than the threshold value is a normal current threshold, the current If the rate of change exceeds the predetermined value and the time when the rate of change exceeds the predetermined value is longer than the predetermined time, the current value detected by the motor current detection circuit is compared with the first threshold value. By doing so, the above-mentioned problems are solved.

The back door automatic opening and closing device of the invention according to claim 2, the occurrence and the back door motor for the back door of the vehicle opening operation or the closing operation, an ON signal to the back door of the vehicle opening operation or the closing operation, an off signal detecting an operation switch for a current supply means for supplying a current to the back door motor, a pulse detecting circuit for converting the pulse signal by detecting a rotation period of the back door motor, the current flowing through the back door motor Connected to the motor current detection circuit and the operation switch, a pulse signal is supplied from the pulse detection circuit, and the operation position of the back door is recognized by counting the pulse signal, and the period of the pulse signal is calculated. wherein detecting a moving speed of the back door, based on the moving speed detected and recognized operating position, said bar from said current supply means To determine the current value supplied to Kudoa motor, controls the current value supplied to the back door motor from said current supply means, and a defined current value detected by the motor current detection circuit in advance A computer for performing control to detect the pinching of the obstacle in the back door when the current value detected by the motor current detection circuit exceeds the first threshold value as compared with a first threshold value that is a current threshold value; The computer calculates a rate of change of the current value detected by the motor current detection circuit , the rate of change of the current value exceeds a predetermined value , and a time during which the rate of change exceeds the predetermined value is a predetermined time. If it is within the range, the above-described problem is solved by prohibiting the comparison between the first threshold value and the current value detected by the motor current detection circuit .

According to the back door automatic opening and closing device of the invention according to claim 1, the change rate of the current value detected by the motor current detection circuit is calculated, the change rate of the current value exceeds a predetermined value , and the change rate Is within the predetermined time , the second threshold value that is higher than the first threshold value that is the normal current threshold value and the current value detected by the motor current detection circuit are In addition, when the change rate of the current value exceeds a predetermined value and the time during which the change rate exceeds the predetermined value is equal to or longer than a predetermined time, the first threshold value and the motor current detection circuit By comparing the detected current values, even if the motor current rises temporarily, there is no false detection that an obstacle has been caught.

According to the back door automatic opening and closing device of the invention according to claim 2, the change rate of the current value detected by the motor current detection circuit is calculated, the change rate of the current value exceeds a predetermined value , and the When the time when the change rate exceeds the predetermined value is within the predetermined time , the obstacle is inhibited by comparing the first threshold value which is the current threshold value with the current value detected by the motor current detection circuit . Therefore, even if the motor current rises temporarily, it is possible to reliably avoid erroneous detection that an obstacle has been caught.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  The present invention is applied to, for example, an automatic back door opening / closing device configured as shown in FIG.

[Configuration of automatic back door opening and closing device]
The back door automatic closing device is provided behind the vehicle, not shown, as well as opening operation upward by being released by a lock mechanism (not shown), is more locked to the locking mechanism and closing action downward It drives a back door ( not shown ). In this example, a back door provided at the rear of the vehicle will be described. However, any device that opens and closes other opening / closing bodies can be applied as long as the door is opened from below to above. It is.

The back door automatic opening and closing apparatus, as shown as a functional block diagram in FIG. 1, the outside switch 1 as operation switch is pressed is provided on the door knob portion (not shown) of the back door operator is operated As a result, the back door motor 2 is driven to generate torque for opening or closing the back door. Here, the outside switch 1 detects the operation of the door knob mechanism by switching from the off state to the on state when the operator controls the door knob mechanism of the back door, and operates or does not operate the door knob mechanism. Is read into the input circuit 3.

  The input circuit 3 monitors the operation detection state of the outside switch 1 and reads that the outside switch 1 has changed from the off state to the on state or that the outside switch 1 has changed from the on state to the off state. Then, a signal indicating the state of the outside switch 1 is supplied to the computer 4.

The computer 4 is connected to a power source 5, a back door motor driver 6 as current supply means , a pulse detection circuit 7, and a motor current detection circuit 8, and controls the operation of the back door motor 2 according to the operation of the outside switch 1. The program is stored in a memory or the like (not shown). The computer 4 controls the torque generated by the back door motor 2 by controlling the back door motor driver 6 by executing a program when the back door is opened or closed.

  The power source 5 includes a battery serving as an operating power source for the computer 4 and a driving power source for the back door motor 2. The power source 5 supplies power to the computer 4 and operates the back door motor 2 via the back door motor driver 6 when operating the back door. The power source 5 is also connected to an engine starter (not shown) and other in-vehicle devices, and supplies power to the engine starter and in-vehicle devices when starting the engine.

  The back door motor driver 6 controls a voltage value applied to the back door motor 2 and a current supply direction by controlling a voltage applied from the power source 5 to the back door motor 2 in accordance with a control signal from the computer 4.

  Specifically, the back door motor driver 6 includes an inverter circuit that controls a current value supplied to the back door motor 2 and a switch circuit that switches a current supply direction. When the back door motor driver 6 opens the back door, the back door motor driver 6 supplies a positive current to the back door motor 2 to generate torque in a direction that drives the back door from the closed state to the open state. . Further, when the back door motor driver 6 closes the back door, the back door motor driver 6 supplies a current in the reverse direction to the back door motor 2 to generate torque in a direction for driving the back door from the open state to the closed state. .

  Further, the back door motor driver 6 turns on / off the power semiconductor switching element constituting the inverter circuit when a signal for adjusting the torque generated in the back door motor 2 from the computer 4, that is, a control signal indicating the duty ratio is sent. The current supplied to the back door motor 2 is turned on and off to control the current value supplied to the back door motor 2.

The back door motor 2 driven in this way has its motor rotation number per unit time detected by the pulse detection circuit 7. This pulse detection circuit 7 is connected to Hall elements 9 a and 9 b provided in addition to the back door motor 2, and detects the magnetic pole position in the back door motor 2 that rotates in synchronization with the rotation of the back door motor 2. The signals shown are input from the Hall elements 9a and 9b. The pulse detection circuit 7 generates a pulse signal synchronized with the rotation of the back door motor 2 and supplies the pulse signal to the computer 4.

  As a result, the pulse detection circuit 7 causes the computer 4 to recognize the rotational state of the back door motor 2 and recognizes the operating position of the back door. At this time, the computer 4 calculates the movement distance of the back door by counting the pulse signals sent from the pulse detection circuit 7.

Further, the computer 4 calculates the rotation speed of the back door motor 2 by calculating the period of the pulse signal detected by the pulse detection circuit 7 , that is, the motor rotation speed per unit time . Calculate the moving speed of the backdoor being driven.

  The motor current detection circuit 8 is connected to a shunt resistor 10 provided between the power source negative terminal and the ground terminal of the back door motor 2. The motor current detection circuit 8 detects a voltage applied to the shunt resistor 10, detects a current supplied to the back door motor 2 based on the detected voltage value, and supplies the detected current to the back door motor 2. A signal indicating the current value is output to the computer 4.

The computer 4 detects the movement distance of the back door based on the pulse signal from the pulse detection circuit 7, and adjusts the motor rotation speed per unit time of the back door motor 2 from the back door motor driver 6. The duty ratio of the power supplied to the motor 2 is controlled. Thereby, in the computer 4, the back door is opened or closed at a speed corresponding to the moving distance of the back door.

Further, the computer 4 detects the pinching of the obstacle of the back door based on the moving distance of the back door and the current value currently supplied to the back door motor 2 detected by the motor current detection circuit 8. I do. Here, as the pinching that occurs during the closing operation of the back door, the operator's hand or other obstacles may be pinched. In addition, as the pinching that occurs when the back door is opened, there is a case where the operator is pinched by the wall and the back door when there is a wall or the like behind the vehicle and the operator is between the vehicle and the wall.

In the automatic back door opening / closing apparatus configured as described above, the power source 5 is connected not only to the back door motor 2 but also to in-vehicle equipment such as an engine starter, and engine cranking that temporarily stops the engine occurs. As a result, the power of the power source 5 is taken into the engine starting device or the like. Therefore, in this back door automatic opening and closing device, when the engine cranking is finished, the current value supplied to the back door motor 2, that is, the motor current value is affected by the power supply to the engine starting device or the like. become.

That is, in this back door automatic opening and closing device, when engine cranking occurs at time t1 when the back door is opened and closed by the torque of the back door motor 2, as shown in FIG. Since it is necessary to preferentially supply power to the starting device or the like, the power supply voltage value [V] of the power supply 5 is lowered (FIG. 2A). In response to this, the motor current value supplied from the power source 5 to the back door motor 2 decreases (FIG. 2 (d)), and after the motor current value decreases , the motor rotation speed per unit time of the back door motor 2 decreases. It decreases (FIG. 2 (b)).

At time t2, when engine cranking ends and power supply from the power source 5 to the engine starter or the like ends and the power supply voltage value of the power source 5 begins to recover (FIG. 2 (a)), the motor current The value increases rapidly and exceeds the normal current threshold (FIGS. 2 (c) and 2 (d)). This is due to an inrush current to the back door motor 2 that is generated when a voltage is suddenly applied to the back door motor 2.

On the other hand, in the automatic backdoor opening and closing device, in response to detecting that the engine cranking is finished and the power supply voltage value is restored, the time t2 in the period from the time t2 to the time t3 when the engine cranking is finished. The pinching detection process is performed using a current threshold value higher than the normal current threshold value. A detailed processing procedure of such pinching detection processing will be described later.

[Pinch detection processing]
Next, the processing procedure of the first pinch detection process and the second pinch detection process performed by the above-described automatic back door opening / closing device will be described. This pinching detection process is executed, for example, every predetermined period when the back door is opened and closed.

"First pinching detection process"
As shown in FIG. 3, the first pinching detection process is performed when the input circuit 3 indicates that the operation of the outside switch 1 is turned on by the operation of the operator in order to operate the back door from the closed state to the open state. , Or when the back door is opened and closed by a command from a remote controller (not shown), the computer 4 refers to the map data describing the back door speed with respect to the preset back door movement position. Recognize backdoor speed based on map data. Then, the computer 4 supplies a control signal to the back door motor driver 6 so that the power of the power source 5 is supplied to the back door motor 2 so as to automatically open and close the back door. As a result, a motor current corresponding to the back door movement distance is supplied to the back door motor 2.

  In such a state, in the computer 4, first, in step S 1, the torque generated by the back door motor 2 based on the motor current detected by the motor current detection circuit 8 or the pulse signal from the pulse detection circuit 7. To determine whether the back door is being opened or closed automatically.

  If the computer 4 determines that the back door is in the process of automatically opening and closing, the computer 4 proceeds to step S2 and performs subsequent pinching detection processing. On the other hand, when the computer 4 determines that the back door is not automatically opened / closed, it is determined that the back door is manually operated or the back door is not opened / closed, and pinching is detected. The process ends without performing the process.

In the next step S2, the computer 4, on the basis of a signal supplied from the motor current detecting circuit 8, the rate of change of the current of the motor current value is determined whether exceeds a predetermined value, and the rate of change It is determined whether or not the time exceeding the predetermined value is within a predetermined time. At this time, the computer 4 compares, for example, the motor current value at the previous detection timing with the motor current value at the current detection timing to obtain the change rate of the motor current value, and the change rate is set in advance. It is determined whether or not a predetermined value has been exceeded.

  As shown in FIG. 2, the rate of change of the motor current value that rapidly increases when the engine cranking is finished is set in advance by experiments or the like, for example, 4A / 10 msec. In addition, the predetermined time for starting the timing when the rate of change of the motor current value exceeds the predetermined value is the time until the motor current value, which has increased rapidly by the end of engine cranking, returns to the normal value For example, it is set to 150 msec.

If the computer 4 determines that the change rate of the motor current value exceeds a predetermined value and that the time during which the change rate exceeds the predetermined value is within a predetermined time, the process proceeds to step S3. step If when the rate of change of the motor current value does not exceed the predetermined value or the motor current value of the rate of change exceeds a predetermined value, and the time said change rate exceeds a predetermined value has passed a predetermined time The process proceeds to S4.

In the next step S <b> 3, the computer 4 sets a current threshold for detecting whether pinching has occurred to a second threshold higher than the normal current threshold . Here, as the second threshold value set in step S3, a value higher than the maximum value of the motor current value that rapidly increases when the engine cranking is finished is set in advance by an experiment or the like. As a result, the computer 4 determines a current threshold value to be compared with the motor current when detecting pinching, and advances the process to step S5.

  On the other hand, in step S4, the computer 4 sets a normal current threshold value (first threshold value) for detecting pinching with respect to a normal motor current value necessary for operating the back door. The process proceeds to S5. Here, the magnitude relationship between the first threshold value and the second threshold value is set such that the second threshold value is higher than the first threshold value.

In the next step S5, determination by the computer 4, by comparing the motor current value and the determined current threshold based on a signal from the motor current detecting circuit 8, and larger than the current threshold value the motor current value is determined If it does, it is determined that the back door has caught an obstacle. In response to this, for example, the computer 4 performs a process of cutting off the motor current and further supplying the back door motor 2 with a motor current that reversely rotates the back door motor 2. On the other hand, if the computer 4 determines that the motor current value is not larger than the determined current threshold, it determines that the back door is not caught and ends the process.

  In the backdoor automatic opening / closing apparatus that performs the first pinching detection process as described above, as shown in FIG. 4, engine cranking occurs, the motor current value decreases, and the engine cranking ends, so that the motor current value is reduced. When it is detected that the current has suddenly increased, the current threshold is set to a value higher than the current threshold before the engine cranking occurs. Thus, in the automatic back door opening / closing device, even if the motor current temporarily rises, there is no false detection that pinching has occurred.

  In the automatic back door opening / closing device, the motor current and the current threshold as shown in FIG. 5 are obtained in the normal operation of opening and closing the back door by the torque of the back door motor 2. That is, in the normal operation, the back door automatic opening / closing device sets a high current threshold when the back door movement angle is 0 degree to 10 degrees and 70 degrees to 80 degrees, and the back door is sandwiched at the opening / closing completion position. The detection accuracy is lowered.

  On the other hand, in the automatic backdoor opening and closing device that does not perform the first pinching detection process, as shown in FIG. 6, the motor current value increases rapidly when the engine cranking ends, and the motor is higher than the current threshold value. It becomes a current value. Therefore, it is detected that the obstacle is caught even though the obstacle is not caught, and the motor current is reduced. Therefore, according to the back door automatic opening / closing device that performs the first pinching detection process, such inconvenience can be reliably avoided.

"Second pinching detection process"
Next, a second pinching detection process different from the first pinching detection process will be described.

In this second pinch detection process, as shown in FIG. 7, the computer 4 performs the same process as step S1 and step S2 in the first pinch detection process in steps S11 and S12, thereby automatically during opening and closing operations, the rate of change of the motor current value is determined whether exceeds a predetermined value, and the time the rate of change exceeds a predetermined value and determines whether within a predetermined time.

Then, the computer 4 ends the process without detecting the trapping of the obstacle if the time during which the change rate exceeds the predetermined value after the change rate of the motor current value exceeds the predetermined value is within a predetermined time. To do. In other words, the computer 4 is in a state in which the processing of step S5 and step S6 in the above-described first pinching detection processing is not performed, so that within a predetermined time after the engine cranking ends, the motor current detection circuit 8 The comparison between the motor current value based on the signal and the determined current threshold is prohibited, and the process of detecting the presence or absence of an obstacle is prohibited.

On the other hand, when the computer 4 determines that the time during which the rate of change of the motor current value exceeds the predetermined value after the rate of change of the motor current value exceeds the predetermined value is not within the predetermined time, that is, is not less than the predetermined time. In steps S13 and S14, the same pinching detection processing as the steps S5 and S6 in the first pinching detection processing is performed to detect the pinching of the obstacle.

According to the back door automatic opening / closing device that performs such second pinching detection processing, the obstacle pinching detection is not performed within a predetermined time after the rate of change of the motor current value exceeds the predetermined value. Similar to the pinching detection process, it is possible to reliably avoid an erroneous detection that an obstacle has been pinched due to a temporary increase in the motor current when the engine cranking is completed.

  The above-described embodiment is an example of the present invention. For this reason, the present invention is not limited to the above-described embodiment, and various modifications can be made depending on the design and the like as long as the technical idea according to the present invention is not deviated from this embodiment. Of course, it is possible to change.

It is a block diagram which shows the functional structure of the back door automatic opening / closing apparatus to which this invention is applied. It is a figure for demonstrating the outline | summary of the pinching detection process in the back door automatic opening / closing apparatus to which this invention is applied, (a) is a power supply voltage value, (b) is the rotation speed of a back door motor, (c) is an electric current threshold value. (D) is a figure which shows a motor electric current value. It is a flowchart which shows the process sequence of the 1st pinching detection process by the back door automatic opening / closing apparatus to which this invention is applied. It is a figure for demonstrating the relationship between the electric current threshold when a 1st pinching detection process is performed, and a motor current. It is a figure for demonstrating the relationship between the electric current threshold in case engine cranking does not generate | occur | produce, and a motor current. It is a figure for demonstrating the relationship between the electric current threshold value when not performing a 1st pinching detection process, and a motor current. It is a flowchart which shows the process sequence of the 2nd pinching detection process by the back door automatic opening / closing apparatus to which this invention is applied.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 (Operation switch) Outside switch 2 Back door motor 3 Input circuit 4 Computer 5 Power supply 6 (Current supply means) Back door motor driver 7 Pulse detection circuit 8 Motor current detection circuit 9a, 9b Hall element 10 Shunt resistance

Claims (2)

A back door motor for opening or closing the back door of the vehicle;
An operation switch for generating an on signal and an off signal for opening or closing the back door of the vehicle; and
Current supply means for supplying current to the back door motor;
A pulse detection circuit that detects a rotation period of the back door motor and converts it into a pulse signal;
A motor current detection circuit for detecting a current flowing through the back door motor;
Connected to the operation switch, a pulse signal is supplied from the pulse detection circuit, and the operation position of the back door is recognized by counting the pulse signal, and the movement speed of the back door is calculated by calculating the period of the pulse signal. it detects, based on the moving speed detected and recognized operating position, the current from the supply means to determine the current value supplied to the back door motor, the current supplied from the current supply means to the back door motor controlling the value and the current value detected by the motor current detection circuit as compared with the predetermined current threshold value, the current value detected by said motor current detecting circuit exceeds said current threshold back And a computer that performs control to detect the trapped obstacles in the door ,
The computer calculates a rate of change of the current value detected by the motor current detection circuit , the rate of change of the current value exceeds a predetermined value , and a time during which the rate of change exceeds the predetermined value is a predetermined time. Only when the current value detected by the motor current detection circuit is compared with the second threshold value that is higher than the first threshold value that is the normal current threshold value, and the current value changes. If the rate exceeds a predetermined value and the time during which the rate of change exceeds the predetermined value is equal to or longer than a predetermined time, the current value detected by the motor current detection circuit is compared with the first threshold value. Backdoor automatic opening and closing device characterized by. A back door motor for opening or closing the back door of the vehicle;
An operation switch for generating an on signal and an off signal for opening or closing the back door of the vehicle; and
Current supply means for supplying current to the back door motor;
A pulse detection circuit that detects a rotation period of the back door motor and converts it into a pulse signal;
A motor current detection circuit for detecting a current flowing through the back door motor;
Connected to the operation switch, a pulse signal is supplied from the pulse detection circuit, and the operation position of the back door is recognized by counting the pulse signal, and the movement speed of the back door is calculated by calculating the period of the pulse signal. it detects, based on the moving speed detected and recognized operating position, the current from the supply means to determine the current value supplied to the back door motor, the current supplied from the current supply means to the back door motor The current value detected by the motor current detection circuit is compared with a first threshold value that is a predetermined current threshold value, and the current value detected by the motor current detection circuit is And a computer that performs control to detect the jamming of the obstacle of the back door when a threshold value is exceeded,
The computer calculates a rate of change of the current value detected by the motor current detection circuit , the rate of change of the current value exceeds a predetermined value , and a time during which the rate of change exceeds the predetermined value is a predetermined time. If it is within the range, a comparison between the first threshold value and the current value detected by the motor current detection circuit is prohibited.

Images