JP5819740B2 - Opening / closing member drive control device for vehicle - Google Patents

Description

  The present invention relates to a vehicle opening / closing body drive control device having a foreign object pinching detection function when the opening / closing body is driven to close.

  Conventionally, various types of vehicle opening / closing body drive control devices have been proposed. For example, a vehicle opening / closing body drive control device described in Patent Document 1 stops or reverses the driving of a motor when a foreign object is caught during the raising / lowering operation of a door glass as an opening / closing body by a driving force of a DC motor. The motor drive is controlled so as to perform the pinching avoidance processing, and the rotation speed detection means for detecting the rotation speed of the motor, and the DC motor in the no-load state and the load state detected by the rotation speed detection means A rotational torque difference computing means for computing a rotational torque difference applied to the DC motor from the rotational speed difference, a judging means for judging whether or not a predetermined rotational torque difference has occurred in the rotational torque difference computing means, and the discrimination And means for instructing execution of the pinching avoidance process when it is determined that a predetermined rotational torque difference has occurred. In this case, in the determination of the degree of decrease in the rotational speed of the DC motor related to the determination of the foreign object being caught, the rotational speed is not compared with the threshold value obtained empirically or experimentally, but the foreign object is actually caught. Since the torque (rotational torque difference) applied to the DC motor at this time is directly obtained by calculation, it is possible to determine whether a foreign object is caught regardless of the assembled state.

  Further, the vehicle opening / closing body drive control device described in Patent Document 2 is based on the rotational speed of the motor in the idle running section and the subsequent operation related to the closing drive from the half door state to the fully closed state of the back door as the opening / closing body. A foreign object is detected based on the magnitude relationship between the rotational speed difference, which is a deviation of the detected current rotational speed, and a threshold value. In Patent Document 2, it is also proposed to change the detection sensitivity of pinching by changing the threshold value according to the temperature estimated from the rotational speed of the motor in the idling section, and thereby the influence of the temperature characteristics of the motor. It is possible to suitably detect foreign object pinching.

  FIG. 11 shows the stroke (rotation amount) St of the motor correlated with the opening / closing position of the back door when the back door is closed by starting the driving of the motor starting from the transition to the half door state of the back door. It is a graph which shows the relationship with rotational speed difference DN. In the figure, the above-described threshold temperature correction is omitted for simplification. As described above, a free running section is set in the motor, and the immediately preceding motor stroke Sto at which the free running section ends is regarded as a no-load state, and the rotational speed difference DN at that time is set to zero. As depicted by a broken line in FIG. 11, the rotational speed difference DN (hereinafter also referred to as “reference rotational speed difference”) that is expected to correspond to the stroke St is immediately after the stroke Sto at which the idle running section ends. While decreasing in steps, it continues to decrease monotonically until the motor stroke Ste completes the transition to the fully closed state of the back door. This is because a load is generated immediately after the stroke Sto, so that the rotational speed of the motor is suddenly reduced, and a door reaction force (for example, the back door is liquid-tightly sealed) due to the closing operation of the back door accompanying the increase in the stroke St. This is because the elasticity of the weatherstrip) continues to increase and the motor speed continues to decrease. Needless to say, the reference rotational speed difference becomes a negative number in the entire range of the strokes Sto to Ste.

Then, the detection threshold Th related to pinching detection is calculated according to the following formula based on the reference rotational speed difference indicated by the broken line.
Th = “reference rotational speed difference” −Z
However, Z is a pinching determination torque, and is set to a predetermined value (positive number) based on a rotational speed difference corresponding to a load at the time of pinching.

  Therefore, the detection threshold Th is a value (negative number) that is further decreased by the pinching determination torque Z from the reference rotational speed difference indicated by the broken line. As a result, a detection threshold Th that takes into account the door reaction force and the like is set, and erroneous detection of pinching is suppressed. When it is determined that the actual rotational speed difference DN is less than the detection threshold Th, it is assumed that a load corresponding to the occurrence of jamming has occurred, and predetermined jamming countermeasure processing (such as stopping the motor and reversing it) is performed.

  In FIG. 11, the transition of the rotational speed difference DN at the time of occurrence of pinching is also drawn with a bold solid line. As shown in the figure, the stroke Sth in which the rotational speed difference DN is less than the detection threshold Th is the pinching detection timing.

Japanese Patent No. 3411383 JP 2010-24884 A

  Incidentally, the stroke Ste corresponding to the fully closed state of the back door shown in FIG. 11 has a predetermined range of variation with a pattern. That is, the stroke Ste can take from the smallest stroke Ste1 to the largest stroke Ste2 in the range. This is because the motor stroke St and the opening / closing position of the back door do not have a fixed relationship due to the influence of assembly variation.

  For this reason, for example, the reference rotational speed difference assumed from the actual door reaction force of the back door (hereinafter also referred to as “actual reference rotational speed difference”) is the deviation ΔSt (= Ste2−Ste1) of both strokes Ste1 and Ste2. There is a possibility of deviation from the reference rotational speed difference indicated by the broken line in the figure. There is also a possibility that the detection threshold Th related to the pinching detection is also shifted.

  Therefore, if the detection threshold Th is set to an appropriate fully closed threshold Thc in the fully closed state of the back door in the stroke Ste1, if the actual reference rotational speed difference is shifted to the stroke Ste2 side, the detection threshold Th is That is, the rotation speed difference DN is less likely to fall below the detection threshold Th, and the possibility that pinching will not be detected increases accordingly. In other words, the rotational speed difference DN when pinching is detected becomes smaller, and the load when pinching is detected becomes larger.

  An object of the present invention is to provide a vehicle opening / closing body drive control device that can detect pinching more accurately based on an assumed reaction force or the like when the opening / closing body is driven to close.

In order to solve the above problems, the invention according to claim 1 is characterized in that the open / close body is driven to close by the driving force of the motor through the idle running section of the motor and the open / close body is fully closed by the fully closed state detecting means. An opening / closing body drive control device for a vehicle that stops the closing drive of the opening / closing body when a state is detected, the rotation detecting means detecting a rotation amount and a rotation speed of the motor, and detected in the idle running section. Calculating means for calculating a rotational speed difference which is a deviation between the rotational speed of the motor and the current motor rotational speed detected thereafter, and the calculated rotational speed difference being less than a threshold stored in the storage means Pinching detection means for detecting pinching of foreign matter, and the threshold value is a predetermined fully closed state corresponding to the fully closed state of the opening / closing body with a reference rotation amount of the motor corresponding to the fully closed state of the opening / closing body. Matches the hour threshold The reference threshold value that changes according to the amount of rotation of the motor is set to the fully closed threshold value by the actual rotation amount of the motor corresponding to the fully closed state of the opening / closing body detected by the fully closed state detecting means at a predetermined time. The main point is that the motor is shifted by a deviation between the reference rotation amount and the actual rotation amount of the motor so as to coincide with the above.

Usually, the rotation amount (actual rotation amount) of the motor corresponding to the fully closed state of the opening / closing body varies within a predetermined range. This is because the rotation amount of the motor and the opening / closing position of the opening / closing body do not have a fixed relationship due to the influence of assembly variation or the like. According to the configuration, the threshold value is the reference threshold value, which is the actual rotation amount of the motor corresponding to the fully closed state of the opening / closing body detected by the fully closed state detecting means at the predetermined time. The motor is shifted by a deviation between the reference rotation amount and the actual rotation amount of the motor so as to coincide with a threshold value. Therefore, for example, in the rotation amount (actual rotation amount) of the motor corresponding to the fully closed state of the opening / closing body, the threshold value corresponding to the rotation amount, that is, the optimal fully closed state corresponding to the fully closed state of the opening / closing body. Based on the time threshold, the pinch detection means can detect the pinching of the foreign matter. In addition, when the reference threshold value is changed in consideration of a reaction force assumed when the opening / closing body is closed, the motor until the transition to the fully closed state of the opening / closing body is completed. Even with an arbitrary amount of rotation, the pinching detection means can detect the pinching of a foreign substance based on the threshold corresponding to the amount of rotation, that is, the optimum threshold considering the actual reaction force of the opening / closing body. .

According to a second aspect of the present invention, in the vehicular opening / closing body drive control device according to the first aspect, the predetermined time is an initial setting process at the time of factory shipment.
According to this configuration, the threshold value is set in the initial setting process at the time of factory shipment, that is, in a state where there is no subsequent assembly process that can affect the deviation between the reference rotation amount and the actual rotation amount of the motor. And stored in the storage means. Accordingly, it is possible to detect the pinching of the foreign matter by the pinching detection means based on the optimum threshold value in consideration of the actual reaction force of the opening / closing body at the time of factory shipment.

The gist of the invention according to claim 3 is that, in the vehicle opening / closing body drive control device according to claim 1 or 2, the predetermined time is an interrupt processing time.
According to this configuration, the threshold is set at the time of interrupt processing, that is, at the timing of executing the interrupt processing, and is stored in the storage unit. Therefore, for example, by adopting the timing at which a certain period has elapsed from the previous interrupt processing or the timing of returning to a dealer (maintenance factory) or the like for vehicle maintenance as the timing for executing the interrupt processing, Based on the optimum threshold value in consideration of the actual reaction force of the opening / closing body, the pinching detection unit can detect the pinching of the foreign matter.

  According to a fourth aspect of the present invention, in the vehicle opening / closing body drive control device according to any one of the first to third aspects, the threshold corresponds to a fully closed state of the opening / closing body from the actual rotation amount. The gist of the invention is that the threshold value is set so as to maintain the fully closed threshold value up to the maximum rotation amount within the error range of the rotation amount of the motor.

  According to this configuration, with the aging deterioration or the like, for example, at the maximum rotation amount of the motor in the error range, the fully closed state detection unit detects the fully closed state of the open / close member, and the open / close member is fully closed. When the transition to the state is completed, the pinching detection means sandwiches foreign matter based on the threshold corresponding to the rotation amount, that is, the optimum full-closed threshold corresponding to the fully closed state of the opening / closing body. Can be detected. The same applies to the case where the transition to the fully closed state of the opening / closing body is completed with an arbitrary rotation amount of the motor from the actual rotation amount to the maximum rotation amount within the error range. Therefore, for example, when the threshold value is changed so as to continuously decrease monotonically in the range from the actual rotation amount to the maximum rotation amount of the error range, the relatively small threshold value is used in the range. Therefore, it is possible to prevent the foreign object from becoming difficult to be detected.

  According to the present invention, it is possible to provide a vehicle opening / closing body drive control device that can detect pinching more accurately based on an assumed reaction force or the like when the opening / closing body is driven to close.

The perspective view which shows the rear part of the vehicle with which one Embodiment of this invention is applied. The side view which shows the rear part of the vehicle. (A) and (b) are the side view and front view which show the same embodiment. (A) and (b) are the side view and front view which show the operation | movement of the embodiment. The front view which shows operation | movement of the embodiment. The front view which shows operation | movement of the embodiment. The front view which shows operation | movement of the embodiment. The front view which shows the operation | movement (overstroke state) of the embodiment. The block diagram which shows the electric constitution of the same embodiment. The graph which shows transition of the rotational speed difference with respect to the stroke of DC motor. The graph which shows transition of the rotational speed difference with respect to the stroke of the DC motor of a conventional form.

  An embodiment of the present invention will be described with reference to FIGS. As shown in FIG. 1, an opening 2 a is formed in the rear part of a body (vehicle body) 2 of the vehicle 1. Moreover, as shown in FIG. 2, the back door 3 as an opening / closing body is attached to the rear part of the body 2 of the vehicle 1 through a door hinge 2b provided at the upper part of the opening 2a so as to be opened and closed. The back door 3 is opened by being pushed upward about the door hinge 2b, and the back door 3 is pushed up by the gas reaction force of the gas damper 6 that supports it.

  A door drive unit 7 is installed at the rear of the body 2. The door drive unit 7 includes a DC motor 71, and an elongate arm 8 is connected to the output shaft 7a so as to rotate integrally. The tip of the arm 8 is rotatably connected to one end of a rod-shaped rod 9 and the other end of the rod 9 is rotatably connected to the back door 3. Therefore, when the door drive unit 7 (DC motor 71) is rotationally driven, the rod 9 is pushed and pulled as the arm 8 rotates integrally with the output shaft 7a, so that the back door supported by the body 2 is supported. 3 is driven to open and close.

  As shown in FIG. 1, a door lock device 10 is installed at the front end of the back door 3 on the vehicle interior side. The door lock device 10 includes a DC motor 11 as a motor.

  Further, as shown in FIGS. 3A and 3B, the door lock device 10 includes a latch mechanism 12 supported by the back door 3 via a base plate (not shown) fixed to the back door 3. The latch mechanism 12 includes a latch 13 and a pole 14 that are rotatably connected around rotation shafts 12a and 12b that are parallel to the base plate. The latch 13 (latch mechanism 12) is arranged facing the U-shaped striker 4 fixed to the lower portion of the opening 2a, and can be engaged with and disengaged from the striker 4.

  More specifically, the latch 13 has an engagement recess 13a and is formed in a U shape. One side and the other side of the engagement recess 13a (in the clockwise direction in FIG. A first claw portion 13b and a second claw portion 13c are respectively formed on the counterclockwise direction side. A first engagement portion 13d is formed at the tip of the first claw portion 13b on the opposite side of the engagement recess 13a, and a second portion of the second claw portion 13c is formed on the engagement recess 13a side. An engaging portion 13e is formed. Further, the latch 13 forms a driven convex portion 13f that extends to the opposite side of the engaging concave portion 13a with the rotating shaft 12a interposed therebetween. The latch 13 is urged toward the side that rotates in the clockwise direction in the figure by latching the other end of the latch urging spring held at one end to the base plate, and the latch installed on the base plate. When the opposing surface 13g of the first claw portion 13b comes into contact with the stopper, the rotation in the direction is restricted, and the stopper is held at a predetermined rotation position shown in FIG.

  On the other hand, the pole 14 is connected to a lift lever 16 through a rotation shaft 12b, and rotates integrally with the lift lever 16 around the rotation shaft 12b. The pole 14 forms an engaging end portion 14a and an extending end portion 14b extending from the rotating shaft 12b to one side and the other side (the right side and the left side in FIG. 3A), respectively. The pole 14 is attached to the side that rotates counterclockwise in the figure, that is, the side that raises the engaging end 14a, by engaging the other end of the pole biasing spring held at one end with the base plate. In addition, the stopper abutting portion 16a of the lift lever 16 connected to the pole 14 abuts against a stopper 39 provided on the base plate, thereby restricting the rotation in this direction, as shown in FIG. It is held at a predetermined rotational position.

  Here, the basic operation of the latch mechanism 12 will be described. In the state in which the back door 3 is opened, as shown in FIG. 3A, the latch 13 is moved to a predetermined rotation position by contacting the opposing surface 13g of the first claw portion 13b with the latch stopper. The engaging recess 13a is opened facing the approach path of the striker 4 that accompanies the closing operation of the back door 3. Further, as described above, the pawl 14 is held at a predetermined rotational position by the lift lever 16 coming into contact with the stopper 39, and the engaging end portion 14a is located below the second claw portion 13c. Has been placed. The state of the latch mechanism 12 at this time is referred to as an unlatched state (release state).

  Next, when the striker 4 enters the engaging recess 13a as the back door 3 is closed, the inner wall surface of the engaging recess 13a is pressed by the striker 4 so that the latch 13 is latched. It rotates counterclockwise in the direction shown in the figure against the urging spring, and is prevented from rotating by engaging the engagement end 14a with the second engagement portion 13e. At this time, the back door 3 is in a half-door state in which the engagement recess 13a engages with the striker 4 to prevent it from coming off, and the state of the latch mechanism 12 at this time is called a half-latch state.

  Subsequently, as the back door 3 is further closed, when the striker 4 further enters the engagement recess 13a, the striker 4 presses the inner wall surface of the engagement recess 13a. As shown, the latch 13 further rotates in the counterclockwise direction shown in the figure against the latch biasing spring, and rotates when the engagement end portion 14a is locked to the first engagement portion 13d. Stopped. At this time, the back door 3 is in a fully closed state in which the engagement recess 13a engages with the striker 4 to prevent it from coming off, and the state of the latch mechanism 12 at this time is referred to as a fully latched state (engaged state). .

  Further, in the half latch state or the full latch state described above, when the pawl 14 rotates in the clockwise direction shown in the figure against the pole biasing spring, the first engaging portion 13d or the second engaging portion 14a by the engaging end portion 14a. The locking of the engaging portion 13e is released. At this time, the latch 13 is urged by the latch urging spring and rotates in the clockwise direction in the drawing while pressing the striker 4 by the inner wall surface of the engaging recess 13a. The back door 3 can be opened by releasing the engagement with the striker 4 in the engagement recess 13a.

  As shown in FIG. 3B, the door lock device 10 includes a bracket 21 made of a metal plate fixed to the back door 3, and the bracket 21 rotates integrally with the output shaft of the DC motor 11. The pinion 22 connected so as to be arranged is arranged. The bracket 21 has a metal plate around a rotation shaft 23 having an axis extending in a direction different from the axis of the rotation shafts 12 a and 12 b of the latch 13 and the pole 14 and extending in parallel with the rotation axis of the pinion 22. The fan-shaped active lever 24 which consists of is connected rotatably. The active lever 24 has an arcuate gear portion 24 a that meshes with the pinion 22. Therefore, the rotation position of the active lever 24 is held by meshing with the pinion 22, and normally, as shown in FIG. 3B, meshed with the pinion 22 at the circumferential intermediate portion of the gear portion 24a. It is set to be held at a predetermined rotation position (hereinafter referred to as “initial position”). The DC motor 11 is disposed at a predetermined initial rotation position corresponding to the initial position of the active lever 24. The active lever 24 is provided with an active lever pin 25 that protrudes in the thickness direction (the front side orthogonal to the paper surface in FIG. 3B) in the vicinity of the rotation shaft 23 and in parallel with the rotation shaft 23. ing.

  A passive lever 26 made of a metal plate as a closed transmission member is rotatably connected to the bracket 21 around the rotation shaft 23. The passive lever 26 has a lever portion 26a extending in the radial direction from the rotating shaft 23, and a pressing piece 26b formed by bending the distal end portion of the lever portion 26a. A follower convex portion 13f of the latch 13 is disposed on a turning locus of the pressing piece 26b around the rotation shaft 23 in the counterclockwise rotation direction in FIG. Accordingly, when the passive lever 26 is rotated in the counterclockwise direction in FIG. 3B, the latch 13 is counterclockwise in FIG. 3A by the driven convex portion 13f being pressed by the pressing piece 26b. It rotates in the rotation direction and is prevented from rotating on the pole 14 in the manner described above. For example, the latch mechanism 12 in the half latch state is switched to the full latch state shown in FIG.

  At the base end portion of the passive lever 26, there is an engagement piece 26c arranged on the turning locus of the active lever pin 25 in the counterclockwise rotation direction in FIG. Is formed. The passive lever 26 is biased toward the side rotating in the clockwise direction in the figure when the other end of a return spring (not shown) held at one end by the bracket 21 is locked. When the opposing surface of the pressing piece 26b comes into contact with the formed passive lever stopper 21a, the rotation in this direction is restricted, and a predetermined rotation position shown in FIG. "). When the passive lever 26 is in the initial position of the closing operation, the active lever pin 25 of the active lever 24 and the engagement piece 26c of the passive lever 26 held at the initial position are only a predetermined angle θ1 around the rotation shaft 23. Spaced apart. Therefore, when the active lever 24 is rotated in the counterclockwise direction in FIG. 3B from the initial position, the active lever 24 has the active lever pin 25 abutting against the engaging piece 26c as shown in FIG. While running idly by the predetermined angle θ1 until contact, the active lever pin 25 presses the engagement piece 26c with further rotation after contacting the engagement piece 26c. As a result, the passive lever 26 rotates in the counterclockwise direction shown in the figure, and the latch mechanism 12 is switched to the fully latched state in the manner described above.

  Thereafter, when the active lever 24 rotates clockwise (returns) and returns to the initial position, the passive lever 26 released from the active lever pin 25 is urged by the return spring to close the initial position of the closing operation. Rotate to return. Then, as shown in FIG. 4, the latch 13 is released from the passive lever 26.

  In addition, as shown in FIG. 7, normally, in the rotation position of the active lever 24 when the switching of the latch mechanism 12 to the fully latched state is completed, the gear portion 24a is closer to the front side than the restricting portion 24b continuing to the end thereof. Is engaged with the pinion 22. Therefore, as shown in FIG. 8, the rotation of the active lever 24 is allowed until the end of the gear portion 24a reaches the pinion 22 and is locked by the restricting portion 24b. That is, the rotation angle θ of the active lever 24 between these is an overstroke region where the latch mechanism 12 is already in the fully latched state (the back door 3 is in the fully closed state) and pinching cannot occur.

  Such an overstroke region is set because the rotation position of the active lever 24 and the rotation position of the latch 13 (opening / closing position of the back door 3) are in a fixed relationship due to the influence of assembly variation. By not becoming. In other words, the overstroke region is set based on a certain error range allowed as the above-described assembly variation. This error range is also an error range of the idle running section (predetermined angle θ1) of the active lever 24. Note that the rotation position of the active lever 24 has a one-to-one correspondence with the rotation amount of the DC motor 11 that rotates the active lever 24. Therefore, the overstroke region of the active lever 24 corresponds to the overstroke region of the rotation amount of the DC motor 11.

  As shown in FIG. 3 (b), a bell crank 32 made of a metal plate as an open side transmission member is rotatably connected to the bracket 21 around a rotation shaft 31 parallel to the rotation shaft 23. The bell crank 32 has a first lever portion 32a and a second lever portion 32b extending from the rotating shaft 31 to one side in the radial direction and the other side (upper left side and lower side in FIG. 3B). The bell crank 32 is rotated in the clockwise direction in the figure until a predetermined rotation position where the second lever portion 32b contacts the lever stopper 21d formed on the bracket 21 (hereinafter referred to as “release operation initial position”). It is regulated. When the bell crank 32 is in the release operation initial position, the first lever portion 32a is on the clockwise trajectory of the active lever pin 25 in FIG. Has been placed. The bell crank 32 has a pressing piece 32d formed by bending the distal end portion of the second lever portion 32b.

  Further, an open lever 34 made of a metal plate is rotatably connected to the bracket 21 around a rotation shaft 33 parallel to the rotation shafts 23 and 31. The open lever 34 has lever portions 34a and 34b extending from the rotation shaft 33 to one side in the radial direction and the other side (upper side and lower left side in FIG. 3B). The lever portion 34a is disposed on the rotation locus of the pressing piece 32d around the rotation shaft 31 in the counterclockwise rotation direction in FIG. When the bell crank 32 is rotated in the counterclockwise direction in FIG. 3B, the open lever 34 is rotated in the illustrated clockwise direction by the lever portion 34a being pressed by the pressing piece 32d. .

  Further, the open lever 34 has a pressing piece 34c formed by bending the tip of the lever portion 34b, and the rotation of the pressing piece 34c around the rotation shaft 33 in the clockwise direction in FIG. The lift lever 16 is disposed on the movement locus. Accordingly, when the latch mechanism 12 is in the fully latched state shown in FIG. 4, when the open lever 34 rotates in the clockwise direction in FIG. 4B, the lift lever 16 is pressed by the pressing piece 34c. 4a, together with the pole 14, it is rotated in the clockwise direction in FIG. 4A, and the detent of the latch 13 by the pole 14 is released in the manner described above. Then, the latch mechanism 12 is switched to the unlatched state.

  The open lever 34 rotates in the counterclockwise direction shown in the figure by the other end of the return spring 35 held at one end by the locking piece 21c formed on the bracket 21 being locked by the lever portion 34a. And the opposite surface of the lever portion 34a abuts against the pressing piece 32d of the bell crank 32 that is restricted to rotate at the initial position of the release operation, so that the rotation in that direction is restricted. It is held at a predetermined rotation position shown in 4 (b).

  That is, the bell crank 32 is biased by the return spring 35 through the open lever 34 and is held at the initial position of the release operation. When the bell crank 32 is in the initial release operation position, the active lever pin 25 of the active lever 24 and the first lever portion 32a of the bell crank 32 held at the initial position are at a predetermined angle θ2 around the rotation shaft 23. Only spaced apart. Therefore, when the active lever 24 rotates in the clockwise direction in FIG. 4B from the initial position, the active lever 24 has the active lever pin 25 abutting against the first lever portion 32a as shown in FIG. The first lever portion 32a is pressed by the active lever pin 25 along with the further rotation after contact with the first lever portion 32a. As a result, the bell crank 32 rotates in the counterclockwise direction shown in the figure, and presses the lever portion 34a of the open lever 34 with the pressing piece 32d. Then, the open lever 34 rotates in the clockwise direction shown in the figure, and switches the latch mechanism 12 to the unlatched state in the manner described above.

  Thereafter, when the active lever 24 rotates counterclockwise (returns) and returns to the initial position, the bell crank 32 and the open lever 34 released from the active lever pin 25 are urged by the return spring 35. Then, it returns to each initial position and rotates. Then, the lift lever 16 (pole 14) is released from the open lever 34.

The state where the active lever 24 is not engaged with the passive lever 26 and the bell crank 32 is also referred to as a no-load state of the DC motor 11.
Next, the electrical configuration of the present embodiment will be described. As shown in FIG. 9, a door ECU (Electronic Control Unit) 40 installed in the vehicle 1 is mainly composed of, for example, a micro controller (MCU), and is stored in a memory (for example, ROM) M as its storage means. Stores various data.

  The door ECU 40 is electrically connected to the door drive unit 7. The door drive unit 7 includes the DC motor 71, an electromagnetic clutch 72, and a pulse sensor 73. The door ECU 40 controls the opening and closing of the back door 3 by drivingly controlling the DC motor 71. Further, the door ECU 40 controls the driving of the electromagnetic clutch 72 to switch the connection (connection / disconnection) of power transmission between the DC motor 71 and the arm 8 (back door 3). This is because the power transmission is set to the connected state only when the back door 3 is electrically opened / closed and the back door 3 is opened / closed manually to realize a smooth opening / closing operation. . Further, the door ECU 40 determines the rotation direction (forward or reverse), rotation amount and rotation speed of the DC motor 71, that is, the open / close position of the back door 3, based on a pair of pulse signals with different phases output from the pulse sensor 73. In addition, the opening / closing speed (movement speed) is detected. Based on the pulse signal from the pulse sensor 73, the door ECU 40 drives and controls the DC motor 71 so that the opening / closing speed of the back door 3 matches the target opening / closing speed, for example.

  Further, the door ECU 40 is electrically connected to a door lock drive unit 50 related to electrical drive of the door lock device 10. This door lock drive unit 50 includes the DC motor 11, a pulse sensor 51 as rotation detection means, a position switch 52, a half latch switch 53, and a full latch switch as fully closed state detection means (full latch detection means). 54. The door ECU 40 controls the driving of the DC motor 11 and controls the rotation of the active lever 24 via the pinion 22, and switches and controls the latch mechanism 12 in the above-described manner. Further, the door ECU 40 determines the rotation direction (forward rotation or reverse rotation), rotation amount (stroke), and rotation speed N of the DC motor 11, that is, an active lever, based on a pair of pulse signals with different phases output from the pulse sensor 51. 24 rotation positions and rotation speeds are detected. Further, the door ECU 40 detects that the active lever 24 is in the initial position (neutral position) based on the detection signal output from the position switch 52, and latches based on the detection signal output from the half latch switch 53. 12 is in the half latched state (the latch 13 is in the rotational position corresponding to the half latched state), and the latch mechanism 12 is in the full latched state based on the detection signal output from the full latch switch 54. (The latch 13 is in the rotational position corresponding to the fully latched state). The door ECU 40 drives and controls the DC motor 11 based on the pulse signal from the pulse sensor 51 and the detection signals from the switches 52 to 54.

  Further, the door ECU 40 is electrically connected to a close switch 41 and an open switch 42 installed on the back door 3 and a receiver ECU 43 mounted on the vehicle 1. The close switch 41 outputs an operation signal for closing the back door 3 by a user's operation. Based on this operation signal, the door ECU 40 controls the door drive unit 7 (the DC motor 71 and the electromagnetic clutch 72). ) To control the door lock driving unit 50 (DC motor 11) based on the transition of the latch mechanism 12 to the half-latch state. The latch mechanism 12 is switched to the full latch state. The door ECU 40 stops driving the door lock drive unit 50 (DC motor 11) when the full latch state of the latch mechanism 12 is detected by the full latch switch 54.

  The open switch 42 outputs an operation signal indicating that the back door 3 is opened by a user's operation. Based on this operation signal, the door ECU 40 drives the door lock drive unit 50 (DC motor 11). The latch mechanism 12 in the fully latched state (or half latched state) is switched to the unlatched state, and the door drive unit 7 (the DC motor 71 and the electromagnetic clutch 72) is driven and controlled to be opened. Open.

  The receiver ECU 43 forms a wireless communication system with the wireless remote controller 44 carried by the user, and transmits a transmission signal for closing or opening the back door 3 transmitted by the operation of the wireless remote controller 44. In addition to receiving, the transmission signal is subjected to predetermined signal processing and output to the door ECU 40. The door ECU 40 controls the drive of the door drive unit 7 (DC motor 71 and electromagnetic clutch 72) when the back door 3 described above is closed or opened based on the transmission signal and the door lock drive unit 50 (DC motor 11). ) Drive control.

  Next, the control mode of the door lock device 10 (door lock drive unit 50) by the door ECU 40 during the closing operation of the back door 3 will be further described. This process is started by detecting that the latch mechanism 12 is in a half-latch state based on a detection signal output from the half-latch switch 53, for example, when the back door 3 is closed manually or electrically. The

  As described above, the idle running section (corresponding to the predetermined angle θ1) is set in the stroke (rotation amount) St of the DC motor 11 correlated with the rotation position of the active lever 24. When the idle running section is completed as the DC motor 11 is driven, the door ECU 40 sets the rotational speed N of the DC motor 11 at this time as the rotational speed No. Then, after the stroke St of the DC motor 11 passes through the idle running section, the door ECU 40 calculates the rotational speed difference DN (= No−N) between the rotational speed No and the current rotational speed N (calculating means). Needless to say, the rotational speed difference DN immediately after passing through the idling section is zero. That is, in the present embodiment, the torque immediately before the end of the idling section is regarded as the no-load state, and the rotational torque is based on the rotational speed difference DN that is the deviation between the rotational speeds of the DC motor 11 in the no-load state and the loaded state. The difference (equivalent to load) is estimated.

  The door ECU 40 compares the rotational speed difference DN with the detection threshold Th as a threshold corresponding to the stroke St of the DC motor 11 at that time, and the rotational speed difference DN is below the detection threshold Th. Thus, pinching is detected (pinching detection means). This detection threshold Th is stored in advance in the memory M of the door ECU 40.

  When the pinching is detected, the door ECU 40 executes a predetermined pinching countermeasure process (such as stopping the DC motor 11 and reversing it). On the other hand, if pinching is not detected, the door ECU 40 continues to drive the DC motor 11. Accordingly, when the switching of the latch mechanism 12 to the full latch state is completed and the full latch switch 54 detects the full latch state of the latch mechanism 12, the door ECU 40 stops driving the DC motor 11.

Next, the detection threshold Th related to pinching detection will be described.
As shown in FIG. 10, the stroke St (corresponding to the timing at which the active lever 24 (active lever pin 25) starts pressing the passive lever 26) of the DC motor 11 at which the idle running section ends is a predetermined allowable value. The stroke area ΔSt1 corresponding to the error range is deviated.

  Similarly, the stroke St of the DC motor 11 in which the switching of the latch mechanism 12 to the fully latched state is also shifted in the stroke region ΔSt2 in accordance with the shift of the stroke St of the DC motor 11 at which the idle running section ends. The width of the stroke area ΔSt2 matches the width of the stroke area ΔSt1. The stroke area ΔSt2 at this time corresponds to the overstroke area of the DC motor 11.

  The reference threshold ThB that is the basis of the detection threshold Th is a predetermined fully closed threshold Thc over the entire stroke region ΔSt2 (error range) that is an overstroke region, as depicted by a one-dot chain line in FIG. To maintain. This fully closed threshold value Thc is set to an optimum value that can detect pinching in accordance with the fully latched state of the latch mechanism 12 (the fully closed state of the back door 3).

  Further, the reference threshold ThB decreases in a step-like manner at the stroke St1 of the minimum DC motor 11 in the stroke region ΔSt1 where the idle running section ends, and the stroke St2 of the minimum DC motor 11 in the stroke region ΔSt2 that is an overstroke region. It decreases monotonously as the stroke St of the DC motor 11 increases so as to match the fully closed threshold value Thc in (estimated rotation amount). The transition of the reference threshold ThB is based on a rotational speed difference DN (drawn with a two-dot chain line in FIG. 10, hereinafter also referred to as “reference rotational speed difference”) that is expected after the idle running section in a state where no pinching occurs. Is. That is, normally, the rotational speed N of the DC motor 11, that is, the rotational speed difference DN (reference rotational speed difference), the active lever pin 25 starts to press the engaging piece 26c immediately after the stroke St at which the idle running section ends. As the stroke St increases, the door reaction force (for example, the elasticity of the weather strip that seals the back door 3 in a liquid-tight manner) continues to increase. to continue. The reference threshold ThB is preset based on the reference rotational speed difference that basically changes as described above in response to the stroke St. Specifically, the reference threshold value ThB is a value obtained by subtracting a predetermined pinching determination torque Z (positive number) corresponding to the load at the time of pinching from the reference rotational speed difference.

  Then, the detection threshold Th is set to the stroke St3 side by the deviation ΔSt of the minimum stroke St2 of the stroke region ΔSt2 (error range) and the predetermined actual stroke St4 as depicted by a solid line in FIG. It is a staggered one. Therefore, the detection threshold value Th maintains the full-closed threshold value Thc from the actual stroke St4 to the maximum stroke St3 of the stroke region ΔSt2 (error range) following the reference threshold value ThB. In addition, the detection threshold Th decreases in a stepped manner at a stroke St5 that has passed by the deviation ΔSt from the minimum stroke St1 of the DC motor 11 in the stroke region ΔSt1 at which the idle running section ends, and at the time of full closing at the actual stroke St4. As the stroke St of the DC motor 11 increases, it monotonously decreases so as to coincide with the threshold Thc.

  This actual stroke St4 is a stroke St (actual rotation amount) corresponding to the full latch state of the latch mechanism 12 detected by the full latch switch 54 at a predetermined time (for example, at the time of initial setting processing at the time of factory shipment or during interrupt processing). . Therefore, the transition of the detection threshold Th is an optimum value considering the actual door reaction force and the like.

  In FIG. 10, the transition of the rotational speed difference DN at the time of occurrence of pinching is also drawn with a bold solid line. As shown in the figure, as the DC motor 11 is driven, the idle running section ends at the stroke St5, so the rotational speed difference DN at this time becomes zero. Then, after the stroke St of the DC motor 11 exceeds the stroke St5, the rotational speed difference DN is suddenly reduced with the occurrence of the pinching, so that the pinching is detected at the stroke Sth where the rotational speed difference DN is below the detection threshold Th. . Needless to say, the detection threshold Th is stored in the memory M in consideration of the actual door reaction force and the like.

Next, the operation of this embodiment will be described.
As described above, the detection threshold Th is shifted to the stroke St3 side by the deviation ΔSt of the stroke St2 and the actual stroke St4 so that the reference threshold ThB coincides with the fully closed threshold Thc at the actual stroke St4 of the DC motor 11. It is a thing. Therefore, for example, in the stroke St (actual stroke St4) of the DC motor 11 corresponding to the fully latched state of the latch mechanism 12, the detection threshold value Th corresponding to the stroke St, that is, the optimal fully closed state corresponding to the fully latched state of the latch mechanism 12 is obtained. Based on the threshold value Thc, a foreign object is detected. Further, even in any stroke St of the DC motor 11 until the transition of the latch mechanism 12 to the fully latched state is completed, the detection threshold Th corresponding to the stroke St, that is, the optimum detection threshold considering the actual door reaction force and the like. Based on Th, the foreign object is detected.

As described above in detail, according to the present embodiment, the following effects can be obtained.
(1) In the present embodiment, the trapping of the foreign matter is detected based on the optimum detection threshold Th that takes into consideration the actual door reaction force and the like until the latch mechanism 12 completes the transition to the fully latched state. Can do.

  (2) In the present embodiment, the detection threshold Th is set in the initial setting process at the time of factory shipment, that is, in the state where there is no subsequent assembly process that can affect the deviation ΔSt of the stroke St2 and the actual stroke St4 of the DC motor 11. It is set and stored in the memory M. Therefore, it is possible to detect the foreign object pinching based on the optimum detection threshold Th that takes into account the actual door reaction force at the time of factory shipment.

  (3) In the present embodiment, the detection threshold Th is set at the time of interrupt processing, that is, at the timing of executing the interrupt processing, and is stored in the memory M. Therefore, for example, by adopting the timing at which a certain period of time has passed since the previous interrupt processing or the timing of returning to a dealer (maintenance factory) for vehicle maintenance, etc. as the timing for executing the interrupt processing, Based on the optimum detection threshold Th that takes into account the door reaction force or the like, it is possible to detect the inclusion of a foreign object.

  (4) In the present embodiment, the detection threshold Th is set so as to maintain the fully closed threshold Thc from the actual stroke St4 to the maximum stroke St3 of the stroke region ΔSt2 (error range). Accordingly, when the full latch state of the latch mechanism 12 is detected by the full latch switch 54 and the transition to the full latch state is completed with the maximum stroke St3 of the stroke region ΔSt2 (error range), for example, due to aging deterioration, etc. Further, it is possible to detect the inclusion of the foreign matter based on the detection threshold Th corresponding to the stroke St3, that is, the fully closed threshold Thc. The same applies to the case where the transition to the fully latched state of the latch mechanism 12 is completed at any stroke St of the DC motor 11 from the actual stroke St4 to the stroke St3. Therefore, for example, when a transition is made so that the detection threshold continuously decreases monotonically in the range from the actual stroke St4 to the stroke St3, a relatively small detection threshold is adopted in the range to detect foreign object pinching. It can suppress becoming difficult.

  (5) In this embodiment, by stopping the driving of the DC motor 11 based on the detection of the full latch state by the full latch switch 54, for example, when the driving of the DC motor 11 is stopped by the locking of the DC motor 11, It is possible to prevent the active lever 24 from being overstroked or the back door 3 from being excessively pulled in the closing direction.

  (6) In the present embodiment, when the DC motor 11 is overstroke, the back door 3 is excessively pulled in the closing direction by locking the rotation of the pinion 22 (DC motor 11) by the restricting portion 24b of the active lever 24. Can be prevented.

(7) In the present embodiment, the calculation load can be reduced by using the detection threshold Th stored in advance in the memory M based on the reference threshold ThB.
In addition, you may change the said embodiment as follows.

-In the said embodiment, the detection threshold value changed so that it may continue decreasing monotonically in the range from actual stroke St4 to stroke St3 may be sufficient.
In the above embodiment, the reference threshold value ThB coincides with the fully closed threshold value Thc at any stroke St in the stroke region ΔSt2 (error range) due to a monotonically decreasing transition accompanying an increase in the stroke St of the DC motor 11. I just need it.

  In the embodiment, the rotational speed difference DN that is basically a negative number is used in the detection of the pinching. On the other hand, for the sake of convenience, the absolute value (positive number) of the rotational speed difference DN is used, and the polarity of the detection threshold and the comparison with the detection threshold related to the pinching detection are matched to the polarity. However, it does not depart from the present invention. In other words, since the “detection threshold” defines the boundary of whether or not it is in a pinched state, if the “rotational speed difference DN” to be compared is indicated by a negative number, “below” the detection threshold. When the “rotational speed difference DN” is indicated by an absolute value, it is determined that the pinch is in a pinched state by “exceeding” the detection threshold. Therefore, in this case, “the calculated rotational speed difference is below a preset threshold value” means that “the calculated rotational speed difference DN is above a preset threshold value” when the calculated rotational speed difference DN is compared with an absolute value. Are also allowed.

The function (door release function) for switching the door lock device 10 from the fully latched state to the unlatched state may be omitted.
In the embodiment, an AC motor may be employed instead of the DC motor 11.

  -As an opening / closing body, a swing door, a sliding door, a trunk lid, a sunroof, a window glass, etc. may be sufficient. In addition, the drive mechanism that mechanically links the opening and closing body and the motor is arbitrary, and if the idle running section of the motor is set, a link mechanism, a cam mechanism, a gear mechanism, a cable (rope, belt) A transmission mechanism, a screw mechanism, or a combination of these may be employed as appropriate. The point is that a predetermined error range (variation) exists between the rotation amount (stroke St) of the motor and the fully closed state of the opening / closing body.

Next, the technical idea that can be grasped from the above embodiment and other examples will be described below.
(A) a latch mechanism that is switchable in a fully latched state that holds the vehicle door in a fully closed state, a half latch state that holds the vehicle door in a half door state, and an unlatched state that does not hold the vehicle door;
A closed-side transmission member linked to the latch mechanism;
A driving force is transmitted to the latch mechanism via the closed-side transmission member through an idle running section, and the latch mechanism in the half latch state is switched to the full latch state and the full latch state of the latch mechanism is set by the full latch detection means. A motor that stops the switching drive of the latch mechanism by being detected;
Rotation detection means for detecting the rotation amount and rotation speed of the motor;
A computing means for computing a rotational speed difference that is a deviation between the rotational speed of the motor detected in the idle running section and the current rotational speed of the motor detected thereafter;
In a vehicle door closer device comprising a pinching detection means for detecting pinching of a foreign object by the calculated rotational speed difference being less than a threshold value stored in a storage means,
The threshold value changes according to the rotation amount of the motor so that the reference rotation amount of the motor corresponding to the fully latched state of the latch mechanism matches a predetermined fully closed threshold value corresponding to the fully latched state of the latch mechanism. The reference rotation amount of the motor and the reference rotation amount so that the reference threshold value matches the full-closed threshold value with the actual rotation amount of the motor corresponding to the full latch state of the latch mechanism detected by the full latch detection means at a predetermined time. A vehicle door closer device characterized by being shifted by a deviation of an actual rotation amount. Usually, the rotation amount (actual rotation amount) of the motor corresponding to the fully latched state of the latch mechanism varies within a predetermined range. This is because the rotation amount of the motor and the opening / closing position of the vehicle door do not have a fixed relationship due to the influence of assembly variation. According to this configuration, the threshold value matches the fully closed threshold value with the actual rotation amount of the motor corresponding to the full latch state of the latch mechanism detected by the full latch detection means at the predetermined time. Thus, the motor is shifted by a deviation between the reference rotation amount and the actual rotation amount of the motor. Therefore, for example, in the rotation amount (actual rotation amount) of the motor corresponding to the fully latched state of the latch mechanism, the optimum threshold value corresponding to the rotation amount, that is, the optimum fully closed threshold value corresponding to the fully latched state of the latch mechanism. Based on the above, it is possible to detect the pinching of the foreign matter by the pinching detection means. In addition, when the reference threshold value is changed in consideration of a door reaction force or the like assumed at the time of driving to switch the latch mechanism in the half latch state to the full latch state, the latch mechanism is brought into the full latch state. Even with an arbitrary amount of rotation of the motor until the transition is completed, the pinch detection means causes the foreign object to be caught based on the threshold corresponding to the rotation amount, the optimum threshold considering the actual door reaction force, etc. Can be detected.

  M ... Memory (storage means), 3 ... Back door (opening / closing body), 11 ... DC motor (motor), 54 ... Full latch switch (fully closed state detection means), 40 ... Door ECU (calculation means, pinching detection means) 51 ... Pulse sensors (rotation detection means).

Claims (4)

For a vehicle in which the opening / closing body is driven to close by the driving force of the motor through the idle running section of the motor and the closing operation of the opening / closing body is stopped by detecting the fully closed state of the opening / closing body by the fully closed state detecting means. An opening / closing body drive control device,
Rotation detection means for detecting the rotation amount and rotation speed of the motor;
A computing means for computing a rotational speed difference that is a deviation between the rotational speed of the motor detected in the idle running section and the current rotational speed of the motor detected thereafter;
A pinching detection means for detecting pinching of a foreign substance by the calculated rotational speed difference being less than a threshold value stored in a storage means;
The threshold value corresponds to the rotation amount of the motor so that the reference rotation amount of the motor corresponding to the fully closed state of the opening / closing body matches a predetermined full-closed threshold value corresponding to the fully closed state of the opening / closing body. The reference threshold value for the motor is set such that the reference threshold value for the motor matches the threshold value for the full-closed state with the actual rotation amount of the motor corresponding to the fully-closed state of the opening / closing body detected by the full-closed state detecting means at a predetermined time. A vehicle opening / closing body drive control device, which is shifted by a deviation between a reference rotation amount and the actual rotation amount. In the vehicle opening / closing body drive control device according to claim 1,
The vehicle opening / closing body drive control device, wherein the predetermined time is an initial setting process at the time of factory shipment. In the vehicle opening / closing body drive control device according to claim 1 or 2,
The vehicle opening / closing body drive control device, wherein the predetermined time is an interrupt process. In the vehicle opening / closing body drive control device according to any one of claims 1 to 3,
The threshold value is set so as to maintain the fully closed threshold value from the actual rotation amount to a maximum rotation amount within an error range of the rotation amount of the motor corresponding to the fully closed state of the opening / closing body. A vehicle opening / closing body drive control device.