JP6870488B2 - Vehicle opening / closing body control device - Google Patents

Description

The present invention relates to a vehicle opening / closing body control device.

For example, in a vehicle opening / closing body control device having a drive source and operating the opening / closing body of the vehicle, such as a power slide door device, a motor is often used as the drive source. Conventionally, the motor control device executes advance angle control for advancing the phase of the motor control signal output to the drive circuit of the motor, as described in, for example, Patent Document 1 and Patent Document 2. There is something.

That is, the increase in the rotation speed may cause a delay in the current phase of the motor. However, even in such a case, the motor can be efficiently controlled by appropriately advancing the phase of the motor control signal output to the drive circuit in order to supply the drive power to the motor. Further, by executing such advance angle control, the relationship between the motor torque (T) and the rotation speed (N: rotation speed), that is, the so-called NT characteristic changes. As a result, for example, like the wiper control device described in Patent Document 3, the control target driven by the motor can be moved at high speed.

Japanese Unexamined Patent Publication No. 2013-070570 Japanese Unexamined Patent Publication No. 2012-70626 Japanese Unexamined Patent Publication No. 2015-168273 Japanese Unexamined Patent Publication No. 7-82954

However, the execution of the advance angle control also changes the so-called IT characteristic, that is, the relationship between the motor torque and the current value. As a result, for example, as shown in Patent Document 4, in the case of performing pinch detection based on the current value of the motor, an error may occur in the determination result. Therefore, this point is still improved. It left room for.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a vehicle opening / closing body control device capable of suppressing erroneous determination of pinch detection at the time of execution of advance angle control. There is.

The vehicle opening / closing body control device that solves the above problems includes a drive control unit that operates the opening / closing body of the vehicle using a motor as a drive source, and a pinching detection that executes a pinching detection determination of the opening / closing body based on the current value of the motor. The drive control unit includes a motor control signal output unit that outputs a motor control signal for supplying drive power to the motor, and an advance value for advancing the phase of the motor control signal. The pinching detection unit is provided with an advance angle value setting unit for setting the above, and when the advance angle control based on the advance angle value is executed, the pinch of the opening / closing body occurs. The determination condition for the pinch detection determination is changed so that it becomes difficult to determine.

According to the above configuration, even if the current value of the motor required to generate the same motor torque is increased by executing the advance angle control, the opening / closing body is correctly monitored by monitoring the current value. It is possible to detect the pinching that occurs in.

In the vehicle opening / closing body control device that solves the above problems, the pinching detection unit determines that pinching of the opening / closing body has occurred when the current value of the motor exceeds the determination threshold value, and controls the advance angle. Is executed, it is preferable to set the determination threshold value higher than that when the advance angle control is not executed.

That is, by monitoring the increase in the current value (constrained current) due to the restraint of the rotation of the motor, it is possible to detect the pinching that has occurred in the opening / closing body. Further, when the advance angle control is executed, the determination threshold value for the pinch detection is set higher in advance by the amount that the current value of the motor increases due to the execution of the advance angle control. As a result, even though the opening / closing body is not actually pinched, the erroneous determination can be suppressed by preventing the current value of the motor from exceeding the determination threshold value.

In the vehicle opening / closing body control device that solves the above problems, it is preferable that the pinching detection unit sets the determination threshold value higher as the advance angle value is larger.
That is, as the advance value increases, so does the current value of the motor required to generate the same motor torque. Therefore, by adopting such a configuration, it is possible to more effectively suppress the erroneous determination of the pinch detection.

According to the present invention, it is possible to suppress erroneous determination of pinch detection during execution of advance angle control.

A side view of a vehicle provided with a sliding door. Schematic diagram of the power sliding door device. The control block diagram of the power slide door device. The flowchart which shows the mode of advance angle control. The graph which shows the NT characteristic of the motor which changes by execution of the advance angle control, and the relationship with the advance angle value. Explanatory diagram of the advance map. A flowchart showing a processing procedure of pinch detection. A flowchart showing a processing procedure for changing the judgment condition of the pinch detection judgment when the advance angle control is executed. Explanatory drawing of the correction map used for changing the judgment condition of the pinch detection judgment. The graph which shows the IT characteristic of a motor which changes by execution of advance angle control. A flowchart showing another example of advance value setting. The figure which shows an example of the advance angle adjustment value calculation. The flowchart which shows the processing procedure of another example which changes the judgment condition of pinch detection at the time of execution of advance angle control. The flowchart which shows the mode of the guard processing which executes on the advance angle value in order to suppress the erroneous determination of pinch detection.

Hereinafter, an embodiment in which the vehicle opening / closing body control device is embodied as a power slide door device will be described with reference to the drawings.
As shown in FIG. 1, the vehicle 1 of the present embodiment includes a sliding door 4 for opening and closing a door opening 3 provided on a side surface 2s of a vehicle body 2. Specifically, the vehicle 1 is connected to a plurality of (three) guide rails 5 (5a to 5c) extending in the front-rear direction (left-right direction in FIG. 1) and each of these guide rails 5. A plurality of guide roller units 6 (6a to 6c) are provided. That is, the slide door 4 of the present embodiment is supported on the side surface 2s of the vehicle body 2 via each of these guide rails 5 and each guide roller unit 6. Further, each of these guide rails 5 and each guide roller unit 6 can move the engagement position of each guide roller unit 6 with respect to each of the guide rails 5 along the extending direction of each guide rail 5. ing. As a result, the slide door 4 of the present embodiment is configured to move in the front-rear direction of the vehicle along the side surface 2s of the vehicle body 2.

That is, when the sliding door 4 of the present embodiment moves to the front side of the vehicle (left side in FIG. 1), the door opening 3 is closed in a fully closed state, and the rear side of the vehicle (right side in the figure). By moving to, the occupant of the vehicle 1 can get on and off through the door opening 3 in a fully open state. The slide door 4 is provided with a door handle 10 for opening and closing the slide door 4.

Further, as shown in FIG. 2, the sliding door 4 is provided with a plurality of locking devices 11. The slide door 4 is provided with a front lock 11a and a rear lock 11b as fully closed locks that restrain the slide door 4 at the fully closed position. Further, the slide door 4 is provided with a fully open lock 11c for restraining the slide door 4 in the fully open position. Then, in the slide door 4 of the present embodiment, each of these lock devices 11 is connected to the door handle 10 via the remote controller 12.

That is, the sliding door 4 of the present embodiment is designed so that the restrained state by each lock device 11 is released by operating the door handle 10 (outside door handle and inside door handle). The sliding door 4 can be released from the restrained state by each of the lock devices 11 by remote control by the occupant operating an operation switch provided in the vehicle interior, a portable device, or the like. ing. The sliding door 4 can be manually opened and closed by using the door handle 10 as a gripping portion.

Further, the slide door 4 of the present embodiment is provided with a door actuator 21 having a motor 20 as a drive source. Further, the motor 20 of the door actuator 21 rotates by receiving the drive power from the door ECU 25. That is, the door ECU 25 controls the operation of the door actuator 21 through the supply of driving power to the motor 20. Then, in the vehicle 1 of the present embodiment, a power slide door device 30 as a vehicle opening / closing body control device capable of opening / closing the slide door 4 based on the driving force of the motor 20 is formed. There is.

More specifically, the door actuator 21 of the present embodiment includes an opening / closing drive unit 31 that opens / closes and drives the slide door 4 via a drive cable (not shown) based on the driving force of the motor 20.

Further, the door actuator 21 of the present embodiment is provided with a pulse sensor 32 that outputs a pulse signal Sp synchronized with the operation of the opening / closing drive unit 31. Then, the door ECU 25 of the present embodiment detects the moving position X and the moving speed Vdr of the sliding door 4 driven by the door actuator 21 based on the pulse output of the pulse sensor 32.

Further, the door ECU 25 of the present embodiment is adapted to input an output signal (operation input signal Scr) of the operation input unit 33 provided in the door handle 10, the vehicle interior, the portable device, or the like. That is, the door ECU 25 of the present embodiment detects the operation request of the slide door 4 by the user based on the operation input signal Scr. Then, the operation of the door actuator 21 is controlled so as to move the slide door 4 in the required operation direction.

More specifically, as shown in FIG. 3, the door ECU 25 of the present embodiment includes a control target calculation unit 41 that calculates a control target ε of the motor 20 as a drive source for opening and closing the slide door 4. ing. Further, the door ECU 25 includes a motor control signal output unit 43 that outputs a motor control signal Smc based on the control target ε. Further, the door ECU 25 includes a drive circuit 45 that outputs drive power to the motor 20 based on the motor control signal Smc. The door ECU 25 of the present embodiment is configured to control the operation of the door actuator 21 through the supply of driving power to the motor 20.

Specifically, the control target calculation unit 41 of the present embodiment has an operation input signal Scr indicating an operation request of the user, a moving position X and a moving speed Vdr of the slide door 4, or various vehicles such as a vehicle speed. The control target ε of the motor 20 is calculated based on the state quantity. In the door ECU 25 of the present embodiment, the control target ε output by the control target calculation unit 41 indicates the rotation direction of the motor 20 and its duty (on-duty ratio). Further, a brushless motor is adopted as the motor 20 of the present embodiment, and the rotation angle (electric angle) θ of the motor 20 detected by the rotation angle sensor 47 is input to the motor control signal output unit 43. .. The motor control signal output unit 43 of the present embodiment is configured to output a motor control signal Smc whose phase changes according to the rotation angle θ of the motor 20.

That is, the drive circuit 45 of the present embodiment uses a well-known PWM inverter in which a plurality of switching elements (FETs: Field effect transistors (not shown)) are connected in a bridge shape. Further, the motor control signal Smc output by the motor control signal output unit 43 is obtained by the control target calculation unit 41 together with a combination of on / off patterns according to the rotation angle θ of the motor 20 for each switching element of the drive circuit 45. It is a PWM control signal that defines the on / off timing corresponding to the on-duty ratio shown in the output control target ε. The door ECU 25 of the present embodiment is configured to output three-phase (U, V, W) drive power to the motor 20 via the drive circuit 45 thereof.

Further, the door ECU 25 of the present embodiment includes an advance angle value setting unit 51 for setting an advance angle value α for advancing the phase of the motor control signal Smc. That is, the rotation angle θ of the motor 20 and the advance angle value α output by the advance angle value setting unit 51 are input to the motor control signal output unit 43 of the present embodiment. Then, the door ECU 25 of the present embodiment has a configuration in which the motor control signal output unit 43 can supply drive power to the motor 20 by the motor control signal Smc whose phase is advanced by the advance angle value α. (Advance angle control).

Specifically, as shown in the flowchart of FIG. 4, the door ECU 25 of the present embodiment acquires the rotation speed N (for example, the number of rotations / minute) of the motor 20 (step 101), and the rotation speed N is predetermined. It is determined whether the speed is N1 or higher (step 102). When the rotation speed N of the motor 20 is equal to or higher than the predetermined speed N1 (N ≧ N1, step 102: YES), the advance angle control is executed (step 103), and the rotation speed N satisfies the predetermined speed N1. If not (N <N1, step 102: NO), the advance angle control is not executed (step 104).

That is, as shown in FIG. 5, by executing the advance angle control, the so-called NT characteristic showing the relationship between the motor torque T and the rotation speed N changes to the high rotation / low torque type. Based on this point, in the power slide door device 30 of the present embodiment, it is possible to increase the rotation speed N of the motor 20 by executing the advance angle control as shown in the figure by simulation or the like in advance. The relationship between the rotational speed N and the motor torque T is required. Then, the door ECU 25 of the present embodiment sets the lower limit value of the rotation speed N capable of accelerating the motor 20 by executing the advance angle control to the predetermined speed N1, that is, by the advance angle control. The advance angle control is executed only in the low load region where the motor 20 is rotating while leaving a spare force for increasing the rotation speed N.

Further, the waveform shown by the broken line in FIG. 5 represents the NT characteristic of the motor 20 when the advance angle value α of the advance angle control is “α1”. Similarly, in the figure, the waveform shown by the alternate long and short dash line is the NT characteristic when the advance angle value α of the advance angle control is “α2”, and the waveform shown by the alternate long and short dash line is the advance angle of the advance angle control. It represents the NT characteristics when the value α is “α3”. The waveform shown by the solid line in the figure represents the NT characteristic of the motor 20 when the advance angle value α of the advance angle control is “α0 = 0 °”, that is, when the advance angle control is not executed. ..

Further, in the advance angle values α0 to α3 shown in each of these waveforms, the larger the number, the larger the value for advancing the motor control signal Smc is set (α0 <α1 <α2 <α3). The intervals between the advance angle values α0 to α3 are adjusted to equal values (α3-α2 = α2-α1 = α1-α0).

That is, the speed-increasing action of the motor 20 by executing the advance angle control becomes more remarkable as the advance angle value α becomes larger. In the region where the advance value α is small (for example, α <α0), the influence of the change in the advance value α is extremely small.

Based on this point, as shown in FIG. 6, in the door ECU 25 of the present embodiment, the advance angle value setting unit 51 sets the initial value of the advance angle value α to “α1”. Further, the advance angle value setting unit 51 sets a larger advance angle value α as the rotation speed N of the motor 20 increases. Further, in the power slide door device 30 of the present embodiment, the relationship between the rotation speed N of the motor 20 and the advance angle value α is held in the storage area 25 m of the door ECU 25 in a map format (in the map format). See FIG. 2, advance angle map 53). Then, in the door ECU 25 of the present embodiment, when the advance angle control is executed, the motor control signal Smc has an advance angle value α corresponding to the rotation speed N of the motor 20 defined by the advance angle map 53. The phase of is advanced.

Further, as shown in FIG. 3, in the door ECU 25 of the present embodiment, for example, foreign matter such as a occupant's hand or foot is placed between the front end portion 4f of the slide door 4 and the front edge portion 3f of the door opening 3. It is provided with a pinch detection unit 55 that executes detection determination of pinch that occurs in the slide door 4 when it is pinched. Specifically, in the door ECU 25 of the present embodiment, the value of the current flowing into the drive circuit 45 from the vehicle-mounted power supply 60 detected by the current sensor 57, that is, the current value Im of the motor 20 is input to the sandwiching detection unit 55. Will be done. The pinch detection unit 55 of the present embodiment is configured to execute the pinch detection determination based on the current value Im of the motor 20.

Specifically, as shown in the flowchart of FIG. 7, when the pinch detection unit 55 of the present embodiment acquires the current value Im of the motor 20 (step 201), the pinch detection threshold Is used for the pinch detection is set (step 201). Step 202). Further, the pinch detection unit 55 compares the determination threshold value Is with the current value Im of the motor 20 (step 203), and when the current value Im exceeds the determination threshold value Is (Im> Is, step 203: YES). , It is determined that the sliding door 4 is pinched (step 204). Then, when the current value Im of the motor 20 is equal to or less than the determination threshold value Is (Im ≦ Is, step 203: NO), it is determined that the slide door 4 is not pinched (step 205).

That is, the rotation of the motor 20 is constrained by the occurrence of pinching, so that the current value Im of the motor 20 rises (constrained current). The pinch detection unit 55 of the present embodiment is configured to detect the pinch of the slide door 4 by monitoring the change in the current generated in the motor 20.

Further, as shown in the flowchart of FIG. 8, when the pinch detection unit 55 of the present embodiment sets the pinch detection determination threshold value Is (see FIG. 7, step 202), the pinch detection unit 55 stores the reference value I0 in the door ECU 25. When it is read from the area 25 m (step 301, see FIG. 2), it is subsequently determined whether or not the advance angle control is being executed (step 302). Then, when the advance angle control is being executed (step 302: YES), a higher determination threshold value Is is set than when the advance angle control is not being executed (step 302: NO) (step 302: NO). Steps 303-305).

More specifically, as shown in FIGS. 2 and 9, the door ECU 25 of the present embodiment holds a correction map 61 for correcting the determination threshold value Is (reference value I0) used for pinch detection in the storage area 25 m. .. Specifically, in the door ECU 25 of the present embodiment, the correction map 61 defines the relationship between the advance angle value α and the correction value β in the advance angle control during execution. The correction map 61 of the present embodiment has a configuration in which a larger correction value β is calculated as the advance angle value α set in the advance angle control during execution is larger.

That is, as shown in the flowchart of FIG. 8, when the sandwiching detection unit 55 of the present embodiment is executing the advance angle control (step 302: YES), the advance angle value α of the advance angle control is acquired (step 302: YES). Step 303). Further, the pinch detection unit 55 calculates the correction value β according to the advance angle value α by using the correction map 61 (step 304). Then, the pinch detection unit 55 of the present embodiment is configured to set the value obtained by adding this correction value β to the reference value I0 as the determination threshold value Is used for the pinch detection (Ith = I0 + β, step 305). ..

On the other hand, when the advance angle control is not executed (step 302: NO), the pinch detection unit 55 sets the reference value I0 read in step 301 as it is to the determination threshold value Is (Ith = I0, step 306). Then, when the advance angle control is executed, the pinch detection unit 55 of the present embodiment makes it difficult to determine that the slide door 4 is pinched in comparison with the case where the advance angle control is not executed. It is configured to change the judgment condition of.

That is, as shown in FIG. 10, the execution of the advance angle control changes the IT characteristics of the motor 20, so that the current value Im required to generate the same motor torque T increases. Based on this point, the pinch detection unit 55 of the present embodiment determines the pinch detection detection so that it is difficult to determine in advance that the slide door 4 has been pinched when the advance angle control is executed. Change the judgment conditions. As a result, even though pinching does not actually occur, the current value Im of the motor 20 does not exceed the pinching detection determination threshold value Is, thereby suppressing the erroneous determination. ing.

As described above, according to the present embodiment, the following effects can be obtained.
(1) The door ECU 25 executes a pinch detection determination of the slide door 4 as an opening / closing body provided in the door opening 3 of the vehicle 1 based on the current value Im of the motor 20 as a drive source. To be equipped with. Further, the door ECU 25 as the drive control unit 70 advances the phase of the motor control signal output unit 43 that outputs the motor control signal Smc for supplying the drive power to the motor 20 and the motor control signal Smc. The advance angle value setting unit 51 for setting the advance angle value α is provided. Then, the pinch detection unit 55 determines the pinch detection determination condition so that it is difficult to determine that the slide door 4 has been pinched when the advance control based on the advance value α is executed. To change.

According to the above configuration, even if the current value Im of the motor required to generate the same motor torque T is increased by executing the advance angle control, the current value Im is correctly monitored. , It is possible to detect the pinching that has occurred in the sliding door 4.

(2) The pinch detection unit 55 determines that the slide door 4 is pinched when the current value Im of the motor 20 exceeds the determination threshold value Is (see FIG. 7, Im> Is, step 203: YES). (Step 204). Then, when the advance angle control is executed (see FIG. 8, step 302: YES), the advance angle control is not executed (Th = I0, step 302: NO, and step 306). A high determination threshold Is is set (Ith = I0 + β, step 305).

That is, by monitoring the increase in the current value Im (constrained current) due to the restraint of the rotation of the motor 20, it is possible to detect the pinching that has occurred in the slide door 4. Further, when the advance angle control is executed, the determination threshold value Is of the pinch detection is set higher in advance by the amount that the current value Im of the motor increases due to the execution of the advance angle control. As a result, even though the slide door 4 is not actually pinched, the erroneous determination can be suppressed by preventing the current value Im of the motor 20 from exceeding the determination threshold value Is. it can.

(3) The pinch detection unit 55 sets a higher value for the pinch detection determination threshold value Is as the setting of the advance value α in the advance angle control is larger.
That is, as the advance value α increases, the current value Im of the motor 20 required to generate the same motor torque T also increases. Therefore, by adopting such a configuration, it is possible to more effectively suppress the erroneous determination of the pinch detection.

The above embodiment may be changed as follows.
-In the above embodiment, the power slide door device 30 having the slide door 4 provided on the side surface 2s of the vehicle 1 as an opening / closing body is embodied. However, the present invention is not limited to this, and if the motor 20 as a drive source is controlled in advance and the pinch detection is performed based on the current value Im, the opening / closing body may be a back door provided at the rear of the vehicle. It may be a swing type side door or the like. Then, for example, it may be applied to a vehicle opening / closing body control device for an opening / closing body other than a door, such as a wind regulator for raising and lowering a vehicle window glass and a sunroof device.

In the above embodiment, the advance angle value α corresponding to the rotation speed N is set by using the advance angle map 53 in which the relationship between the rotation speed N of the motor 20 and the advance angle value α is defined. .. However, the present invention is not limited to this, and the advance angle value α for advance angle control is set based on other factors such as setting the advance angle value α according to the current value Im of the motor 20 or a combination thereof. It may be.

-Also, a configuration in which the advance angle value α is set by a method other than the map calculation may be adopted.
For example, as shown in the flowchart of FIG. 11, when the motor control signal Smc is output, the advance angle adjustment determination of whether or not to adjust the advance angle value α is executed (step 401). The content of the advance angle adjustment determination may be arbitrarily set by using the rotation speed N of the motor 20, the current value Im, or other elements. Then, as a result of this advance angle adjustment determination, when it is determined that the advance angle value α should be adjusted (step 402: YES), the advance angle value α is adjusted at a predetermined advance angle adjustment value Δα. May be.

Specifically, in the example shown in FIG. 11, by acquiring the current advance angle value α (step 403), the advance angle adjustment value Δα corresponding to the advance angle value α is calculated. Then, when increasing the advance angle value α (step 405: YES), the value obtained by adding the advance angle adjustment value Δα to the advance angle value α is set as a new advance angle value α (α = α + Δα, step. In 406), when the advance value α is to be reduced (step 405: NO), the value obtained by subtracting the advance adjustment value Δα from the advance value α is set as the new advance value α (α = α−). Δα, step 407).

Further, it is preferable to set the advance angle adjustment value Δα so that the change in the rotation speed N of the motor 20 obtained by adjusting the advance angle value α is substantially constant regardless of the magnitude of the advance angle value α. .. For example, the amount of change in the rotation speed N when the advance angle value α is changed from “α2” to “α3” is the rotation speed of the motor 20 when the advance angle value α is changed from “α1” to “α2”. It is assumed that the amount of change in N is twice.

As shown in FIG. 12, in such a case, when the advance angle value α is “α1” to “α2” (α1 ≦ α <α2), the advance angle adjustment value Δα is set to “δ” and “α2”. When ~ "α3", it is assumed that (α2 ≦ α <α3). Further, even in a region where the advance angle value α is “α3” or more (α3 ≦ α (<α4)), when the rotation speed N of the motor 20 changes with the same tendency, that is, the advance angle value α is set at regular intervals. If the amount of change in the rotation speed N is doubled when adjusted, the advance angle adjustment value Δα in the region where the advance angle value α is “α3” or more may be set to “δ / 4”. As a result, the change in the rotation speed N obtained by adjusting the advance angle value α can be made substantially constant regardless of the magnitude of the advance angle value α. As a result, the operation of the motor 20 can be stabilized.

-In the above embodiment, the pinch detection unit 55 sets a higher value for the pinch detection determination threshold value Is as the setting of the advance angle value α is larger. Then, it is decided to change the determination condition of the pinch detection determination at the time of executing the advance angle control so that it becomes difficult to determine that the pinch of the slide door 4 has occurred. However, the present invention is not limited to this, and when the advance angle control is executed, the current value Im of the motor 20 may be corrected to a low value and compared with the determination threshold value Is of the pinch detection.

For example, as shown in the flowchart of FIG. 13, when the advance angle control is being executed (step 502: YES), the correction value β of the determination threshold value Is (reference value I0) in the above embodiment is the same. The correction value γ corresponding to the advance angle value α is calculated (see step 503 and step 504, FIG. 9). Further, this correction value γ is subtracted from the current value Im of the motor 20 acquired in step 501 (Im = Im-γ, step 505). Then, it is preferable that the pinch detection determination is executed by using the new current value Im corrected to a lower value (steps 506 to 508). Even with such a configuration, the same effect as that of the above embodiment can be obtained.

Further, the advance angle value α may be set so that the current value Im of the motor 20 does not exceed the pinch detection determination threshold value Is due to the execution of the advance angle control.
For example, as shown in the flowchart of FIG. 14, in the advance angle adjustment determination (see FIG. 11, step 401) which is not shown, when it is determined to increase the advance angle value α (step 605: YES), the current advance It is determined whether or not the angular value α is smaller than the guard value αx for suppressing the erroneous determination of the pinch detection (step 606). Then, only when the current advance value α is smaller than the guard value αx (α <αx, step 606: YES), the value obtained by adding the advance angle adjustment value Δα to the current advance angle value α is added to the new advance value. It is preferable to set the angle value α (α = α + Δα, step 607).

In the flowchart of FIG. 14, the processes of steps 601 to 604 and 608 (not shown) are the same as the processes of steps 401 to 407 in the flowchart of FIG. And, even with such a configuration, the same effect as that of the above-described embodiment can be obtained.

Further, even in the configuration in which the pinch detection determination of the slide door 4 is executed based on the current differential value of the motor 20, it is difficult to determine that the pinch of the slide door 4 has occurred when the advance angle control is executed. The determination condition of the pinch detection determination may be changed. As a result, it is possible to suppress the erroneous determination of the pinch detection.

In the above embodiment, the motor 20 is rotating with a margin for increasing the rotation speed N by the advance angle control by determining whether or not the rotation speed N of the motor 20 is equal to or higher than the predetermined speed N1. It was decided to execute the advance angle control only in the low load region. However, the present invention is not limited to this, and the motor torque T is calculated based on, for example, the current value Im of the motor 20. At this time, it is preferable to use an arithmetic expression in consideration of the power supply voltage. As a result, the advance angle control may be executed only when the motor 20 is in the low load region (see FIG. 5, T ≦ T1).

Next, the technical ideas that can be grasped from the above embodiments will be described together with the effects.
(A) The pinch detection unit determines that the pinch of the opening / closing body has occurred when the current value of the motor exceeds the determination threshold value, and when the advance control is executed, the pinch detection unit determines that the pinch has occurred. A vehicle opening / closing body control device, characterized in that the current value is corrected to a value lower than when the advance angle control is not executed and compared with the determination threshold value.

That is, when the advance angle control is executed, the pinch detection determination is executed with the value corrected for the current value of the motor due to the execution of the advance angle control. As a result, even though the opening / closing body is not actually pinched, the erroneous determination can be suppressed by preventing the current value of the motor from exceeding the determination threshold value.

(B) The drive control unit includes a drive control unit that opens and closes an opening / closing body of a vehicle using a motor as a drive source, and a pinching detection unit that executes a pinching detection determination of the opening / closing body based on a current value of the motor. Is a motor control signal output unit that outputs a motor control signal for supplying drive power to the motor, an advance value setting unit that sets an advance value for advancing the phase of the motor control signal, and When the current value of the motor exceeds the determination threshold value, the pinch detection unit determines that the opening / closing body is pinched, and the advance value setting unit determines that the pinch has occurred. A vehicle opening / closing body control device that sets the advance angle value so that the current value of the motor does not exceed the determination threshold value by executing the advance angle control based on the angle value. As a result, it is possible to suppress erroneous determination of pinch detection during execution of advance angle control.

1 ... Vehicle, 2 ... Body, 2s ... Side, 3 ... Door opening, 3f ... Front edge, 4 ... Sliding door (opening and closing), 4f ... Front end, 20 ... Motor, 21 ... Door actuator, 25 ... Door ECU, 25m ... storage area, 30 ... power slide door device, 31 ... open / close drive unit, 32 ... pulse sensor, 33 ... operation input unit, 41 ... control target calculation unit, 43 ... motor control signal output unit, 45 ... drive circuit , 47 ... Rotation angle sensor, 51 ... Advance angle value setting unit, 53 ... Advance angle map, 55 ... Pinching detection unit, 57 ... Current sensor, 60 ... In-vehicle power supply, 61 ... Correction map, 70 ... Drive control unit, ε ... Control target, Smc ... Motor control signal, θ ... Rotation angle, α, α0 to α3 ... Advance angle value, Δα ... Advance angle adjustment value, αx ... Guard value, N ... Rotation speed, N1 ... Predetermined speed, T ... Motor torque , Im ... current value, Is ... judgment threshold, I0 ... reference value, β, γ ... correction value, X ... movement position, Sp ... pulse signal, Vdr ... movement speed, Scr ... operation input signal.

Claims (3)

A drive control unit that operates the opening and closing body of the vehicle using a motor as a drive source,
A pinch detection unit that executes a pinch detection determination of the open / close body based on the current value of the motor is provided.
The drive control unit
A motor control signal output unit that outputs a motor control signal for supplying drive power to the motor, and a motor control signal output unit.
An advance angle value setting unit for setting an advance angle value for advancing the phase of the motor control signal, and an advance angle value setting unit.
To be equipped with
The pinch detection unit is
When the advance angle control based on the advance angle value is executed, the vehicle open / close body control changes the determination condition of the pinch detection determination so that it is difficult to determine that the pinch of the open / close body has occurred. apparatus. In the vehicle opening / closing body control device according to claim 1,
When the current value of the motor exceeds the determination threshold value, the pinching detection unit determines that pinching of the opening / closing body has occurred, and at the same time,
A vehicle opening / closing body control device, characterized in that, when the advance angle control is executed, a higher determination threshold value is set than when the advance angle control is not executed. In the vehicle opening / closing body control device according to claim 2.
The pinch detection unit sets the determination threshold value as the advance value becomes larger.
A vehicle opening / closing body control device characterized by.

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