JP6119497B2 - Automatic door pinching detection device and detection method for vehicle - Google Patents

Description

  The present invention relates to a pinch detection device and a detection method for detecting pinching of an automatic door mounted on a vehicle.

  In an automatic sliding door mounted on a vehicle, a foreign object may be caught when the sliding door is slidingly moved. In such a case, the occurrence of the pinching is detected immediately, and the door is stopped or reversed. It is necessary to let As a conventional example of such a pinch detection device, for example, one described in Patent Document 1 (Japanese Patent Laid-Open No. 61-69391) is known.

  In Patent Document 1, the current value of the motor that drives the sliding door is monitored, and it is determined that pinching has occurred when the amount of increase in the current value exceeds a preset threshold current. In such a conventional pinching detection device, the value of the current flowing through the motor or the rate of increase (differential value) of the current is monitored. For example, when the vehicle is stopped on a slope, according to the inclination of the road The motor current during normal operation of the sliding door fluctuates, and pinching detection with high accuracy may not be possible.

JP-A-61-69391

  As described above, the conventional jamming detection device detects the current value flowing through the motor, and detects whether the current value or the rate of increase of the current exceeds a preset threshold value, thereby detecting the foreign object jamming. Therefore, depending on the situation where the vehicle is stopped, a malfunction may be caused, and there is a problem that pinching detection cannot be performed with high accuracy.

  The present invention has been made in order to solve such a conventional problem, and an object of the present invention is to provide a vehicle automatic door pinching detection device capable of detecting the occurrence of pinching with high accuracy, and It is to provide a detection method.

  To achieve the above object, the present invention comprises speed detecting means for detecting the moving speed of the automatic door, and current detecting means for measuring the motor current flowing in the motor that drives the automatic door. Based on the moving speed of the automatic door, the deceleration of the automatic door is obtained, and when the deceleration reaches a preset threshold deceleration, the change in the motor current is monitored, and the increase amount of the motor current is predetermined. When the value is reached, it is determined that pinching has occurred.

  In the vehicle automatic door pinching detection apparatus and detection method according to the present invention, when the automatic door deceleration reaches the threshold deceleration, the change in the motor current is monitored, and the pinching is performed based on the increase amount of the motor current. Therefore, it is possible to detect the occurrence of pinching with high accuracy.

It is a circuit diagram which shows the structure of the pinching detection apparatus which concerns on one Embodiment of this invention, and its peripheral device. It is a flowchart which shows the process sequence of the pinching detection apparatus which concerns on one Embodiment of this invention. In the pinch detection device according to one embodiment of the present invention, it is a characteristic diagram showing a change in motor current and a change in door speed when pinching occurs. It is explanatory drawing which shows the fluctuation | variation of the integrated value in the pinching detection apparatus which concerns on one Embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a pinch detection device according to an embodiment of the present invention. As shown in FIG. 1, this pinch detection device determines whether or not a foreign object (human body or obstacle) has been pinched during operation of a slide door (automatic door) mounted on a vehicle. . That is, the motor 17 for reversibly sliding the sliding door detects this when the speed decreases or stops due to the occurrence of pinching. The pinching detection device includes a controller 100 that controls driving of the motor 17, an encoder 16 (speed detection means) that detects the rotational speed of the motor 17, and an ammeter 15 (current detection means) that measures a current value flowing through the motor 17. ) And.

  The controller 100 rotates the motor 17 forward and backward, thereby controlling the opening / closing drive of the sliding door, the rotational speed of the motor 17 detected by the encoder 16, and the current value detected by the ammeter 15. The calculation control unit 13 that executes the pinching detection process based on the data, the storage unit 12 that stores various data, and the signal that indicates the determination result of whether or not the pinch has occurred based on the processing results of the calculation control unit 13 And a detection signal output unit 14 for outputting.

  The drive circuit 11 supplies the voltage output from the battery VB to the motor 17 to reversibly rotate the motor 17 when a drive signal is input by a switch operation or the like by an occupant. That is, the sliding door is slid in the opening direction or the closing direction by rotating in the normal direction or the reverse direction.

  The arithmetic control unit 13 obtains the moving speed of the sliding door at every predetermined sampling time based on the rotation speed of the motor 17 detected by the encoder 16. Furthermore, based on this moving speed, the deceleration (negative acceleration) of the sliding door after the sliding door starts operating is obtained. As will be described later, when the moving speed decreases to a preset threshold speed and the deceleration reaches a preset threshold deceleration, a predetermined period (for example, 10 minutes) is set from this point. Is set as a sandwiching monitoring period (Tth described later).

  That is, the arithmetic control unit 13 obtains the deceleration of the automatic door based on the moving speed of the automatic door (sliding door) detected by the speed detecting means (encoder 16), and the deceleration reaches the deceleration threshold. In this case, it has a function as monitoring period setting means for setting a predetermined period as an intervening monitoring period. Further, the arithmetic control unit 13 has a function as a pinching determination unit that determines that pinching has occurred when the increase amount of the motor current reaches a predetermined value within the pinching monitoring period.

  When the calculation control unit 13 determines that pinching has occurred, the detection signal output unit 14 outputs a pinching detection signal indicating the determination result to a subsequent device (not shown).

  The controller 100 can be configured as an integrated computer including a central processing unit (CPU), storage means such as RAM, ROM, and hard disk.

  FIG. 2 is a flowchart showing a processing procedure of the pinch detection device according to the present embodiment. Hereinafter, the operation of the pinch detection device according to the present embodiment will be described with reference to FIG. First, in step S11, the arithmetic control unit 13 acquires the rotational speed of the motor 17 detected by the encoder 16, and obtains the speed of the sliding door based on the rotational speed. In step S <b> 12, the arithmetic control unit 13 acquires a current value detected by the ammeter 15.

  In step S13, the arithmetic control unit 13 determines whether or not the pinch monitoring is currently being performed. That is, it is determined whether or not it is within the pinching monitoring period described above. Initially, since pinching is not being monitored (NO in step S13), the process proceeds to step S14.

  In step S <b> 14, the arithmetic control unit 13 compares the moving speed measured at the current sampling time with the moving speed measured at the previous sampling time. If the current movement speed is higher than the previous movement speed (NO in step S14), the process in the current sampling cycle is terminated. That is, it is determined that the sliding door is not decelerated, and the pinching detection process is terminated. On the other hand, when the current moving speed is lower than the previous moving speed, that is, when the moving speed of the slide door tends to be reduced (YES in step S14), the process proceeds to step S15.

  In step S15, the calculation control unit 13 increments a count value C indicating a decrease in the door speed. That is, C = C + 1. This count value C is stored in the storage unit 12.

  In step S <b> 16, the arithmetic control unit 13 determines whether the door speed count value C exceeds a preset count threshold value N. If C ≦ N (NO in step S16), the processing in the current sampling cycle is terminated. On the other hand, if C> N (YES in step S16), the process proceeds to step S17. In other words, the fact that C> N is established indicates that the door speed has continuously decreased for a time corresponding to N times (time indicated by “sampling period × N”). Therefore, it is determined that the deceleration at the time of the operation of the slide door (at the time of closing or opening) has reached the threshold deceleration.

  In step S <b> 17, the arithmetic control unit 13 determines whether or not the sliding door moving speed Va is lower than a preset threshold speed Vth. If Va ≧ Vth (NO in step S17), processing is performed in the current sampling cycle. That is, if the moving speed is higher than the threshold speed Vth, it is determined that the sliding door is moving at a certain speed and is not decelerated so much, and at this point, no pinching has yet occurred. Judge that. On the other hand, if Va> Vth (YES in step S17), the process proceeds to step S18.

  In step S <b> 18, the calculation control unit 13 sets during pinching monitoring. That is, a predetermined period set in advance is set as the sandwiching monitoring period, and counting of the sandwiching monitoring period is started. Further, in step S19, the arithmetic control unit 13 acquires the current value at this time, and sets this current value as the reference current value. The reference current value is stored in the storage unit 12 shown in FIG. Further, the count value C described above is reset. That is, C = 0.

  In the next sampling cycle processing, since it is determined that the monitoring period is in the processing shown in step S13 (YES in step S13), the processing proceeds to step S20. In step S20, the calculation control unit 13 calculates the difference between the current value (detected current value) detected by the ammeter 15 and the reference current value detected in the process of step S19 described above. At this time, the difference is calculated only when the detected current value is larger than the reference current value, and in other cases, that is, when the detected current value is smaller than the reference current value, the difference is not calculated. Then, the obtained difference is stored in the storage unit 12. This difference is accumulated in the storage unit 12 in the subsequent processing. This integrated value indicates the increase amount of the motor current.

  In step S21, the integrated value of the difference stored in the storage unit 12 (amount of increase in motor current; this is assumed to be Ia) is compared with a preset threshold current Ith, and when Ia> Ith. (YES in step S21), the process proceeds to step S24. If Ia ≦ Ith (NO in step S21), the process proceeds to step S22. Initially, since the integrated value Ia does not reach the threshold current Ith, the process proceeds to step S22.

  In step S22, the arithmetic control unit 13 determines whether or not the monitoring elapsed time Ta, which is the elapsed time since the start of the pinching monitoring, exceeds the pinching monitoring period Tth described above. If Ta ≦ Tth (NO in step S22), the process in the current sampling cycle is terminated. On the other hand, if Ta> Tth (YES in step S22), in step S23, the arithmetic control unit 13 cancels the pinching monitoring. In other words, if the integrated value of the amount of change in the current value (in other words, the integrated value of the amount of current change) does not reach a certain value during the preset pinching monitoring period, the cause of the sliding door slowing down is the pinching of foreign matter It is judged that it is not due to the above, and the monitoring of pinching is canceled.

  On the other hand, when the integrated value Ia increases and the integrated value Ia exceeds the threshold current Ith in the process of step S21 (YES in step S21), the calculation control unit 13 is caught in the slide door in step S24. Judge that it was done. Thereafter, the detection signal output unit 14 illustrated in FIG. 1 outputs a detection signal indicating occurrence of pinching to a subsequent device (not illustrated). In response to this detection signal, the subsequent device executes processing such as stopping of the sliding door or reverse rotation to avoid damage to foreign matter due to pinching. Thus, when a foreign object is caught during the movement of the slide door, this can be detected promptly.

  Next, the above-described sandwiching operation will be described in more detail with reference to the timing chart shown in FIG. FIG. 3 is a characteristic diagram showing changes in operating time of the sliding door, door speed (moving speed of the sliding door), and motor current. In FIG. 3, a curve S1 indicates a change in door speed, and a curve S2 indicates a change in motor current.

  When the operation of the sliding door is started at time t0, the door speed starts to gradually increase. At this time, the current flowing through the motor 17 (motor current) rapidly increases due to the inrush current, but immediately decreases and becomes a stable current. Thereafter, the door speed (S1) is stabilized at a substantially constant speed, and the motor current (S2) is also substantially constant.

  Now, when a foreign object (a human body or an obstacle) is caught in the slide door at the time indicated by the symbol Q1 in FIG. Along with this, the motor current indicated by the curve S2 increases. As a result, as shown in the processing of steps S14 to S19 in FIG. 2, the door speed deceleration reaches the threshold deceleration, and the sliding door moving speed Va becomes less than the threshold speed Vth. Therefore, at the time t1, timing of the pinching monitoring period is started. That is, the sandwiching monitoring period Tth is set from time t1 to time t3 after a certain time.

  Thereafter, as shown in steps S20, S21, and S24 of FIG. 2, the integrated value Ia of the current change amount is obtained within the sandwiching monitoring period Tth. This corresponds to obtaining the area of the triangular region indicated by the reference sign Q2 in FIG. When the integrated value Ia exceeds the threshold current Ith, that is, when the time t2 shown in FIG. 3 is reached, the occurrence of pinching is detected. That is, within the pinching monitoring period Tth, the area of the region Q2 shown in FIG. 2 is sequentially calculated, and when this area reaches a predetermined value, it is determined that pinching has occurred.

  In this manner, the automatic door pinching detection device according to the present embodiment detects the moving speed of the sliding door when the sliding door is operated. When the sliding door deceleration reaches the threshold deceleration, the change amount of the motor current is monitored, and the increase amount of the motor current (in this embodiment, the integrated value Ia of the difference from the reference current value) is preliminarily determined. When the set threshold current Ith is reached, it is determined that pinching has occurred.

  Generally, when pinching occurs, a decrease in the moving speed (door speed) of the sliding door is detected earlier than an increase in motor current. Therefore, in the present embodiment, a decrease in the door speed is detected first, and thereafter, when an increase in the motor current is detected, pinching is detected. This can be prevented, and when pinching occurs, it can be detected immediately.

  In addition to the sliding door deceleration, the sliding door moving speed Va is detected, and when the moving speed Va falls below a preset threshold speed Vth, the amount of change in the motor current is monitored. It is possible to detect the occurrence of pinching with accuracy. That is, when the moving speed Va is higher than the threshold speed Vth (Va> Vth), it is determined that the door speed has not been reduced so much, and there is a high possibility that pinching has not occurred. Therefore, by setting this condition “Va> Vth” as the sandwiching detection condition, more accurate detection can be performed.

  Further, when the sliding door deceleration reaches the threshold deceleration, the pinching monitoring period Tth is set. Then, when the integrated value Ia reaches the threshold current Ith within this pinching monitoring period Tth, it is determined that pinching has occurred. That is, if Ia> Ith does not hold between the start of pinching monitoring and the passage of the pinching monitoring period Tth, the occurrence of pinching is not detected. Therefore, for example, when the moving speed is reduced due to freezing of the door or the like, it is possible to prevent erroneous detection of occurrence of pinching, and pinching detection with higher accuracy can be performed.

  In addition, a reference current value that is a reference for the motor current is set in advance, and when the pinch monitoring is being performed, the difference between these is obtained when the detected current value exceeds the reference current value. Then, the difference is integrated to determine an integrated value Ia. Further, when the integrated value Ia exceeds the threshold current Ith, it is determined that pinching has occurred. That is, even if the current change causes a sudden up-and-down fluctuation as indicated by the symbol q1 in FIG. 4A or the symbol q3 in FIG. 4B, the change in the integrated value Ia is as shown in FIG. Since it changes so as to increase linearly as indicated by the symbol q2 shown in c), it is possible to detect the increase amount of the motor current with higher accuracy without being affected by a sudden current fluctuation, and to detect pinching with high accuracy. It becomes.

  Furthermore, in this embodiment, the motor current when the sliding door deceleration reaches the threshold deceleration is detected, and this motor current is used as the reference current value. That is, the increase amount of the motor current is obtained on the basis of this current value. Therefore, pinching detection can be performed with higher accuracy. That is, the motor current changes according to the surrounding environment. For example, it varies depending on the environment such as the ambient temperature and whether the road surface on which the vehicle is stopped is inclined. Therefore, by using the motor current when the sliding door deceleration reaches the threshold deceleration as the reference current value, it becomes possible to detect overcurrent with high accuracy according to the surrounding environment, and to detect pinching with higher accuracy. It becomes possible.

  In the above-described embodiment, the difference between the detected current and the reference current is obtained, integrated to obtain an integrated value Ia, and the trapping is detected when Ia reaches the threshold current Ith in the integrated value. explained. However, the present invention is not limited to this, and when the sliding door deceleration reaches the threshold deceleration, a change amount (for example, a differential value) of the motor current is calculated, and this change amount is set in advance. It is also possible to adopt a configuration in which pinching is detected when the threshold value is reached. That is, in the present invention, “the increase amount of the motor current reaches a predetermined value” means that the increase rate of the current exceeds the threshold value in addition to the integrated value Ia shown in the above-described embodiment reaching the threshold current Ith. In addition, this is a concept including that a current that increases relative to a reference current (current that flows in a normal state) exceeds a threshold.

  As mentioned above, although the pinch detection device and detection method for an automatic door for a vehicle according to the present invention have been described based on the illustrated embodiment, the present invention is not limited to this, and the configuration of each part has the same function. It can be replaced with one having any configuration.

  For example, in the above-described embodiment, a slide door mounted on a vehicle has been described as an example of an automatic door. However, the present invention is not limited to this, and a hatchback door can be automatically opened and closed. It is also possible to apply to a simple audback door. In addition, the “pinch” described in the present embodiment is applied not only when the sliding door is moving in the closing direction, but also when detecting pinching when the sliding door is sliding in the opening direction. Is possible.

  In addition, although the configuration in which the ammeter 15 is provided outside the controller 100 has been described with reference to FIG.

  The present invention can be used to quickly detect a foreign object when it is caught in an automatic door mounted on a vehicle.

DESCRIPTION OF SYMBOLS 11 Drive circuit 12 Memory | storage part 13 Operation control part 14 Detection signal output part 15 Ammeter 16 Encoder 17 Motor 100 Controller

Claims (6)

In a vehicle automatic door pinching detection device that detects that a foreign object has been pinched in the automatic door during operation of the automatic door mounted on the vehicle,
Speed detecting means for detecting the moving speed of the automatic door;
Current detecting means for measuring a motor current flowing in a motor for driving the automatic door;
Based on the moving speed of the automatic door, the deceleration of the automatic door is obtained, and when the deceleration reaches a preset threshold deceleration, the change in the motor current is monitored, and the increase amount of the motor current is predetermined. A pinch judging means for judging that pinching has occurred when the value is reached;
An automatic door pinching detection apparatus for vehicles, comprising:   The pinch determination means monitors the change in motor current when the automatic door deceleration reaches a threshold deceleration, and when the movement speed of the automatic door decreases to a preset threshold speed, 2. The vehicle automatic door pinching detection apparatus according to claim 1, wherein when the value increase amount reaches a predetermined value, it is determined that pinching has occurred. When the deceleration of the automatic door reaches the threshold deceleration, further comprising a monitoring period setting means for setting a predetermined period as a sandwiching monitoring period,
The pinching determination means determines that pinching has occurred when the increase amount of the motor current reaches a predetermined value within the monitoring period. The automatic door pinching detection device for a vehicle according to any one of the above. The sandwiching judging means is
During the pinching monitoring period, the current value detected by the current detection means is acquired at a predetermined sampling period, and when this current value exceeds a preset reference current value, this difference is calculated and integrated. 4. The vehicle automatic door pinching detection device according to claim 3, wherein when the integrated value reaches a preset threshold current, it is determined that pinching has occurred.   5. The vehicle automatic door pinching detection according to claim 4, wherein a current value detected by the current detection means when the deceleration reaches a deceleration threshold is set as the reference current value. 6. apparatus. In the operation of the automatic door for a vehicle to detect that a foreign object is caught in the automatic door during the operation of the automatic door mounted on the vehicle,
Detecting the moving speed of the automatic door;
Measuring a motor current flowing in a motor driving the automatic door;
Based on the moving speed of the automatic door, the deceleration of the automatic door is obtained, and when the deceleration reaches a preset threshold deceleration, the change in the motor current is monitored, and the increase amount of the motor current is predetermined. If the value is reached, determining that pinching has occurred;
A method for detecting pinching of an automatic door for a vehicle, comprising:

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