JP6891725B2 - Vehicle opening / closing body control device - Google Patents

Description

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

Conventionally, for example, there is an opening / closing body control device having a drive source to open / close the opening / closing body of a vehicle, such as a power slide door device. Then, there is such an opening / closing body control device for a vehicle provided with a so-called assist mode in which an assist force is applied to the opening / closing body when the user manually opens / closes the opening / closing body.

For example, the power slide door device (power assist door) described in Patent Document 1 adjusts the amount of power supply (duty) to the motor based on the current value of the motor as the drive source. Specifically, when the detected current value is lower than the first threshold value, the amount of power supplied to the motor is increased, and when the current value is higher than the second threshold value higher than the first threshold value, the amount of power supplied to the motor is increased. , Reduce the amount of power supplied to the motor. That is, the assist force applied to the slide door can be calculated from the current value of the motor. As a result, the load on the user who opens and closes the sliding door can be effectively reduced.

Further, for example, the power slide door device (door opening / closing assist device) described in Patent Document 2 detects the operating force of the user who opens / closes the sliding door, and assumes that the sliding door can be operated lighter than it actually is. Then, the target operating force is calculated. Then, in order to make the actual operating force follow this target operating force, an assist force is applied to the sliding door.

Japanese Patent No. 5431839 Japanese Unexamined Patent Publication No. 2007-9650

However, in the configuration in which the amount of power supplied to the motor is adjusted by comparing the current value with the threshold value as in the above-mentioned conventional technique, it is difficult to match the assist force applied to the opening / closing body with the user's feeling. Therefore, when the opening / closing body is opened / closed, the operation feeling (operation feeling) of the user may be deteriorated. Then, in a configuration in which an assist force is applied to the opening / closing body in order to make the user's operating force follow the target operating force, an additional configuration for detecting the actual operating force, such as a torque sensor, is required. Therefore, there was still room for improvement in this respect.

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 realizing an excellent operation feeling in an assist mode with a simple configuration. To do.

The vehicle opening / closing body control device that solves the above problems is an assist control unit that controls the operation of the opening / closing drive device using a motor as a drive source in order to apply an assist force for opening / closing the opening / closing body of the vehicle to the opening / closing body. Then, based on the assist force applied to the opening / closing body, the operating resistance of the opening / closing body, the mass of the opening / closing body, and the operating acceleration of the opening / closing body, the opening / closing body is input to the opening / closing body. The operation force calculation unit for calculating the operation force to be performed and the target assist force calculation unit for calculating the target assist force to be applied to the opening / closing body by multiplying the operation force by the assist magnification are provided.

That is, it opens and closes using an external force acting on the opening / closing body as an operating force for moving the opening / closing body, an assist force applied to the opening / closing body, an operating resistance (for example, sliding resistance, etc.) of the opening / closing body, a mass, and an operating acceleration. Build a dynamic model of the body. Then, by solving the equation of motion of this mechanical model, it is possible to obtain the operating force of the user who opens and closes the opening and closing body by calculation without adding a special configuration such as a torque sensor. Further, the assist force is controlled so as to follow the actual assist force applied to the slide door with respect to the target assist force calculated based on the operation force of the user. As a result, it is possible to realize an excellent operation feeling in the assist mode with a simple configuration.

The vehicle opening / closing body control device that solves the above problems preferably includes an operating resistance holding portion that holds the value of the operating resistance according to the moving position and moving speed of the opening / closing body.
According to the above configuration, the operating force of the user can be obtained by calculation with higher accuracy.

In the vehicle opening / closing body control device that solves the above problems, the first assist magnification setting unit that sets the assist magnification when the moving speed of the opening / closing body is equal to or less than the speed excess threshold value and the moving speed of the opening / closing body are It is preferable to include a second assist magnification setting unit that sets the assist magnification to a value lower than the case where the moving speed is equal to or less than the overspeed threshold when the overspeed threshold is exceeded.

According to the above configuration, it is possible to suppress an increase in the moving speed exceeding the overspeed threshold.
In the vehicle opening / closing body control device for solving the above problems, the first assist magnification setting unit sets a predetermined reference magnification to the assist magnification, and the second assist magnification setting unit sets the speed excess threshold value. When the moving speed of the opening / closing body increases beyond the above, the reduction magnification calculation unit that calculates the reduction magnification that increases as the moving speed increases, and the value obtained by subtracting the reduction magnification from the reference magnification are used as the assist magnification. It is preferable to include an assist magnification reducing unit to be set.

According to the above configuration, a stable assist force corresponding to the operation force of the user can be applied to the opening / closing body. Further, as the moving speed of the opening / closing body increases beyond the speed excess threshold value, the assist force applied to the opening / closing body is reduced. As a result, the moving speed of the opening / closing body can be effectively suppressed. Further, as the moving speed of the opening / closing body increases, a reduction magnification larger than the reference magnification is calculated. As a result, a negative value that generates an assist force in the opposite direction to the user's operating force is set in the assist magnification, so that the moving speed of the opening / closing body can be suppressed more effectively. Can be done.

The vehicle opening / closing body control device that solves the above problems includes a gravity movement determining unit that determines whether or not the opening / closing body is in a gravity moving state that moves by its own weight, and when it is determined that the opening / closing body is in the gravity moving state. It is preferable to include a condition changing unit for reducing the reference magnification and the overspeed threshold.

According to the above configuration, it is possible to detect that the opening / closing body is in a gravitational moving state and suppress an increase in the moving speed. As a result, high safety can be ensured.
In the vehicle opening / closing body control device for solving the above problems, the assist control unit applies the assisting force after a predetermined time has elapsed after deciding to execute the assist control for applying the assisting force to the opening / closing body. Upon starting the operation force calculation unit, the operation force calculation unit holds the value of the operation force measured before the elapse of the predetermined time as the initial operation force, and the gravity movement determination unit refers to the opening / closing body. Even after the start of applying the assist force, the opening / closing body is in the gravity moving state when the state in which the operating force is within the detection determination region set based on the initial operating force continues. It is preferable to determine that.

That is, normally, the operating force input to the opening / closing body by the user to open / close the opening / closing body changes when the assisting force is started to be applied to the opening / closing body. Therefore, even after the assist force is started to be applied, if it is determined that the detected operating force does not change much from the initial operating force, it is detected as an external force acting on the opening / closing body. It can be estimated that the operating force is gravity. As a result, it is possible to accurately detect that the opening / closing body is in the gravitational moving state with a simple configuration.

In the vehicle opening / closing body control device for solving the above problems, it is preferable that the first assist magnification setting unit gradually increases the assist magnification after starting the assist control for applying the assist force to the opening / closing body. ..

According to the above configuration, a smooth assist force can be applied and a good operation feeling can be ensured.
In the vehicle opening / closing body control device for solving the above problem, the assist control unit executes assist control for imparting the assist force to the opening / closing body when the moving speed of the opening / closing body becomes equal to or higher than the execution threshold value. It is preferable to determine.

According to the above configuration, when it is necessary to apply an assist force to the opening / closing body, the assist force can be appropriately applied.
In the vehicle opening / closing body control device for solving the above problem, the assist control unit stops the execution of the assist control when the moving speed of the opening / closing body becomes equal to or less than the stop threshold value lower than the execution threshold value. Is preferable.

According to the above configuration, it is possible to suppress the occurrence of hunting and smoothly start and stop the execution of the assist control.

According to the present invention, it is possible to realize an excellent operation feeling in the assist mode with a simple configuration.

Schematic diagram of the power sliding door device. A flowchart showing a processing procedure when shifting to the assist mode. Explanatory drawing of the dynamic model used for assist control of a sliding door. A flowchart showing a processing procedure of assist control. A flowchart showing a processing procedure when switching between the execution state and the standby state of assist control. Explanatory drawing which shows the mode of the assist control in a steady state (normal state and the time of overspeed). The flowchart which shows the processing procedure of the assist magnification setting in a steady state. State transition diagram of assist mode. A flowchart showing a processing procedure when shifting from a standby state to a steady state. Explanatory drawing which shows the mode of assist control in a steady state (at the time of gravity movement). The flowchart which shows the processing procedure about the gravity movement determination, and the reduction of a reference magnification and an overspeed threshold value at the time of gravity movement.

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 sliding door 1 as an opening / closing body is supported by a side surface of a vehicle (not shown) and moves in the front-rear direction to open / close a door opening (not shown) provided on the side surface of the vehicle. To do. Specifically, the sliding door 1 is moved to the front side of the vehicle (left side in FIG. 1) to be in a fully closed state in which the door opening is closed, and is moved to the rear side of the vehicle (right side in FIG. 1). By moving, it is configured to be in a fully open state where occupants can get on and off through the door opening. The slide door 1 is provided with a door handle 3 for opening and closing the slide door 1.

Further, the slide door 1 is provided with a plurality of lock devices 5. The slide door 1 is provided with a front lock 5a and a rear lock 5b as fully closed locks that restrain the slide door 1 in a fully closed position. Further, the slide door 1 is provided with a fully open lock 5c for restraining the slide door 1 in the fully open position. Then, in the slide door 1 of the present embodiment, each of these lock devices 5 is connected to the door handle 3 via the remote controller 6.

That is, the sliding door 1 of the present embodiment is designed so that the restrained state by each lock device 5 is released by operating the door handle 3 (outside door handle and inside door handle). The sliding door 1 can be released from the restrained state by each of the lock devices 5 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 1 can be manually opened and closed by using the door handle 3 as a gripping portion.

Further, the slide door 1 of the present embodiment is provided with a door actuator 11 having a motor 10 as a drive source. Further, the motor 10 of the door actuator 11 rotates by receiving the drive power from the door ECU 20. That is, the door ECU 20 controls the operation of the door actuator 11 through the supply of driving power to the motor 10. Then, in the present embodiment, a power slide door device 30 as a vehicle opening / closing body control device capable of opening and closing the slide door 1 based on the driving force of the motor 10 is formed. ..

More specifically, the door actuator 11 of the present embodiment includes an opening / closing drive unit 31 that drives the opening / closing of the slide door 1 based on the driving force of the motor 10. Further, the door actuator 11 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 20 of the present embodiment detects the moving position X, the moving speed Vdr, and the operating acceleration α of the sliding door 1 driven by the door actuator 11 based on the pulse output of the pulse sensor 32.

Further, the door ECU 20 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 3, the vehicle interior, the portable device, or the like. That is, the door ECU 20 of the present embodiment detects the operation request of the slide door 1 by the user based on the operation input signal Scr. Then, the operation of the door actuator 11 is controlled in order to move the slide door 1 in the required operation direction (power mode, automatic operation).

In the power slide door device 30 of the present embodiment, a vehicle control signal such as an ignition signal Sigma is further input to the door ECU 20. The door ECU 20 of the present embodiment is also configured to use these control signals for driving control of the sliding door 1.

(Assist mode)
Next, an aspect of the assist mode implemented in the power slide door device 30 of the present embodiment will be described.

As shown in the flowchart of FIG. 2, the door ECU 20 of the present embodiment has a sliding door 1 when the moving position X of the sliding door 1 is in an intermediate position between the fully closed position and the fully open position (step 101: YES). 1 is in the automatic operation, that is, it is determined whether the slide door 1 is in a state of moving based on the opening / closing operation request input via the operation input unit 33 (step 102). Then, when the automatic operation is not in progress (step 102: NO), the user manually opens the slide door 1 from the power mode in which the operation of the door actuator 11 is controlled based on the operation input signal Scr indicating the opening / closing operation request. When the opening / closing operation is performed, the sliding door 1 is configured to shift to an assist mode in which an assist force is applied (step 103).

More specifically, as shown in FIG. 3, when the slide door 1 is manually opened and closed, the slide door 1 faces the direction in which the user inputs the operating force Fu (from the left side to the right side in FIG. 3). Will move. Further, due to this movement, the sliding resistance Fv acts on the sliding door 1 in the direction opposite to the operating force Fu on the sliding door 1 (from the right side to the left side in the figure). Then, the door ECU 20 of the present embodiment is the door actuator of the door ECU 20 in order to apply an assist force Fa in the direction in which the slide door 1 moves (from the left side to the right side in the figure) to the slide door 1 based on the operation force Fu of the user. Control the operation of 11 (assist control).

That is, the equation of motion of this mechanical model is expressed by the following equation by using the mass M of the sliding door 1 and the operating acceleration α.
Fu + Fa-Fv = M × α ・ ・ ・ (1)
Further, the following equation is obtained by modifying this (1).

Fu = M × α + Fv-Fa ・ ・ ・ (2)
The door ECU 20 of the present embodiment is configured to execute the assist control by amplifying the user's operating force Fu estimated from the equation (2) and applying it to the slide door 1.

More specifically, as shown in the flowchart of FIG. 4, the door ECU 20 of the present embodiment first detects the current value Im of the motor 10 which is the drive source of the door actuator 11 (step 201). Then, based on the current value Im of the motor 10, the assist force Fa applied to the sliding door 1 by the door actuator 11 is calculated (current value, step 202).

Next, the door ECU 20 detects the moving position X and the moving speed Vdr of the sliding door 1 (steps 203 and 204). Further, the door ECU 20 of the present embodiment holds in advance the value of the sliding resistance Fv associated with the moving position X and the moving speed Vdr of the sliding door 1 in the storage area 20 m in a map format (see FIG. 1, sliding). Resistance map 40). Then, by referring to the detected moving position X and moving speed Vdr of the sliding door 1 with reference to the sliding resistance map 40, the sliding resistance Fv of the sliding door 1 according to the moving position X and the moving speed Vdr. (Map calculation, step 205).

Further, the door ECU 20 reads out the mass M of the slide door 1 held in the storage area 20 m (step 206) and detects the operating acceleration α of the slide door 1 (step 207). Then, the door ECU 20 of the present embodiment calculates the user's operating force Fu input to the slide door 1 in order to open and close the slide door 1 based on the above equation (2) (step 208).

Next, the door ECU 20 sets the assist magnification Y (step 209). Further, the door ECU 20 calculates the target assist force FaT to be applied to the slide door 1 by multiplying the operation force Fu calculated in step 208 (FaT = Fu × Y, step 210). .. Then, the door ECU 20 of the present embodiment is configured to control the operation of the door actuator 11 based on the target assist force FaT, and specifically, to execute the torque control of the motor 10 which is the drive source thereof (step). 211).

The door ECU 20 of the present embodiment converts the target assist force FaT calculated in step 210 into the target current value (ImT) of the motor 10. Then, by executing the current feedback control based on the deviation (| ImT-Im |) between the target current value (ImT) and the actual current value Im, the target assist force FaT is detected in the above step 202. It is configured to follow the assist force Fa.

Further, the door ECU 20 of the present embodiment assists the sliding door 1 when the moving speed Vdr of the sliding door 1 becomes equal to or higher than a predetermined execution threshold value Vs1 after the transition from the power mode to the assist mode (see FIG. 2, step 103). Determines the execution of control.

More specifically, as shown in the flowchart of FIG. 5, the door ECU 20 of the present embodiment detects the moving speed Vdr of the sliding door 1 in the assist mode (step 301), and the execution condition of the assist control is satisfied. It is determined whether or not the assist flag indicating that the assist flag is set is set (step 302). Further, when the assist flag is not set (step 302: NO), the door ECU 20 determines whether or not the moving speed Vdr of the sliding door 1 is equal to or higher than the execution threshold value Vs1 (step 303). Then, when the moving speed Vdr of the slide door 1 is equal to or higher than the execution threshold value Vs1 (Vdr ≧ Vs1, step 303: YES), the assist flag is set (step 304), and the assist control is executed (step 305). ..

If it is determined in step 302 that the assist flag has already been set (step 302: YES), the door ECU 20 does not execute each of the processes of step 303 and step 304, but in step 305. The assist control is executed. Then, in step 303, when it is determined that the moving speed Vdr of the slide door 1 does not reach the execution threshold value Vs1 (Vdr <Vs1, step 303: NO), the execution of the assist control is awaited (standby state, Step 306).

Further, when the door ECU 20 of the present embodiment is in the state of executing the assist control in the step 305, that is, in the state in which the assist flag is set, the moving speed Vdr of the slide door 1 is subsequently set to the execution threshold value Vs1. It is determined whether or not it is equal to or less than a predetermined stop threshold value Vs0 set to a value lower than (step 307). When the moving speed Vdr of the slide door 1 is equal to or less than the stop threshold value Vs0 (Vdr≤Vs0, step 307: YES), the assist flag is cleared (step 308).

That is, by clearing the assist flag in a state where the moving speed Vdr of the slide door 1 is lower than the execution threshold value Vs1, the process of step 306 is executed in the next control cycle. As a result, the door ECU 20 of the present embodiment is configured to stop the execution of the assist control.

Further, the door ECU 20 of the present embodiment sets the assist magnification Y used for calculating the target assist force FaT according to the moving speed Vdr of the slide door 1 (see FIG. 4, step 209).

More specifically, as shown in FIG. 6, when the moving speed Vdr of the sliding door 1 is equal to or less than the speed exceeding threshold value Vth (Vdr ≦ Vth), the door ECU 20 of the present embodiment sets a predetermined reference magnification Y1. The assist magnification is set to Y (Y = Y1). In the present embodiment, the overspeed threshold value Vth is set to a predetermined speed Vdr1 higher than the execution threshold value Vs1. Then, when the moving speed Vdr of the slide door 1 exceeds the overspeed threshold value Vth (Vdr> Vth), the value is lower than when the moving speed Vdr is equal to or less than the overspeed threshold value Vth, that is, the reference magnification Y1 or less. Set a low value to the assist magnification Y.

Specifically, the door ECU 20 of the present embodiment is based on a constant inclination (reduction gradient K) as the moving speed Vdr increases when the moving speed Vdr of the sliding door 1 exceeds the overspeed threshold value Vth. The assist magnification Y is set so as to decrease from the magnification Y1. Further, when the moving speed Vdr of the slide door 1 exceeds the predetermined speed Vdr2, a negative value (minus value) that generates an assist force Fa opposite to the user's operation force Fu is set as the assist magnification Y. Set to. The door ECU 20 of the present embodiment is configured to suppress the moving speed Vdr of the sliding door 1 by this.

More specifically, as shown in the flowchart of FIG. 7, in the setting process of the assist magnification Y of the door ECU 20 of the present embodiment (see FIG. 4, step 209), first, the moving speed Vdr of the sliding door 1 is the speed. It is determined whether or not the excess threshold value is Vth or less (step 401). Then, when the moving speed Vdr is equal to or less than the overspeed threshold value Vth (Vdr ≦ Vth, step 401: YES), the predetermined reference magnification Y1 is set to the assist magnification Y in the normal time (normal assist magnification setting, Y = Y1, step 402).

On the other hand, when it is determined in step 401 that the moving speed Vdr of the slide door 1 exceeds the speed exceeding threshold value Vth (Vdr> Vth, step 401: NO), the door ECU 20 of the present embodiment sets the speed exceeding threshold value Vth. The excess speed Vos that exceeds is calculated (Vos = Vdr-Vth, step 403). Further, the door ECU 20 reads out the reduction gradient K previously held in the storage area 20m (step 404), and calculates the reduction magnification Yd by multiplying the reduction gradient K by the excess speed Vos calculated in the above step 403 (step 404). Yd = Vos × K, step 405). Then, the door ECU 20 of the present embodiment sets a value obtained by subtracting this reduction magnification Yd from the reference magnification Y1 as the assist magnification Y when the speed is exceeded (assist magnification setting when the speed is exceeded, Y = Y1-Yd, step. 406).

That is, the reduction ratio Yd calculated in step 405 increases as the moving speed Vdr of the slide door 1 increases beyond the speed excess threshold value Vth. As a result, the assist magnification Y set in step 406 is reduced, so that the assist force Fa applied to the slide door 1 is reduced (see FIG. 6).

Further, in the power slide door device 30 of the present embodiment, when the moving speed Vdr of the slide door 1 exceeds the predetermined speed Vdr2, the reduction magnification Yd becomes a value larger than the reference magnification Y1 (Yd> Y1). As a result, the assist magnification Y is set to a negative value, so that the assist force Fa in the direction opposite to the operation force Fu of the user is applied to the slide door 1.

Further, as shown in FIG. 8, the door ECU 20 of the present embodiment has two steps after determining the execution of the assist control by satisfying the above-mentioned movement speed condition (assist flag set, see FIG. 5, steps 304 and 305). After the transition state (STc1, STc2), the standby state STw (see FIG. 5, step 306) is shifted to the steady state STs. Then, as a result of the transition to the steady state STs, as described above, the slide door 1 is configured to apply the assist force Fa in the manner shown in each of FIGS. 4 to 7.

More specifically, as shown in the flowchart of FIG. 9, when the door ECU 20 of the present embodiment executes the assist control by satisfying the moving speed condition of the sliding door 1 (step 501: YES), first of all, It is determined whether or not the elapsed time t since the execution of the assist control is determined by the set of the assist flags has already been measured (step 502). If the measurement of the elapsed time t has not been started (step 502: NO), a timer for timing is set and the measurement of the elapsed time t is started (t = 0, step 503).

Further, the door ECU 20 determines whether or not the elapsed time t after determining the execution of the assist control is equal to or less than the first predetermined time t1 (step 504). If it is determined in step 502 that the elapsed time t is already being measured (step 502: YES), the process of step 504 is executed without executing the process of step 503. Then, when the elapsed time t is equal to or less than the first predetermined time t1 (t ≦ t1, step 504: YES), it is determined that the vehicle is in the initial operating force measurement state STc1 which is the first transition state, and the elapsed time t is determined to be in the initial operating force measurement state STc1 which is the first transition state. The measurement of the user's initial operating force Fu0 input to the slide door 1 is executed in a state where the assist force Fa with the motor 10 as the drive source is not applied (step 505).

Specifically, the measurement (estimation calculation) of the initial operating force Fu0 is performed by using the following equation obtained by substituting "Fa = 0" into the above equation (2).
Fu0 = M × α + Fv ・ ・ ・ (3)
The door ECU 20 of the present embodiment calculates a moving average value of the initial operating force Fu0 measured in the initial operating force measuring state STc1. Then, the moving average value is updated as needed, and the initial operating force Fu0 is held in the storage area 20 m (see FIG. 1).

Further, when the door ECU 20 of the present embodiment determines in step 504 that the elapsed time t exceeds the first predetermined time t1 (t> t1, step 504: NO), the elapsed time is further increased. It is determined whether or not t is equal to or less than the second predetermined time t2 (step 506). Then, when the elapsed time t is equal to or less than the second predetermined time t2 (t1 <t ≦ t2, step 506: YES), the process shifts to the assist force adjusting state STc2, which is the second transition state, and the transition state is performed. The assist magnification Y is gradually increased from "0" to the reference magnification Y1 (step 507).

Specifically, the gradual change (gradual increase) process of the assist magnification Y in the assist force adjustment state STc2 is performed so that the assist magnification Y has a predetermined inclination and increases linearly with the passage of time (). Not shown). Then, when the door ECU 20 of the present embodiment determines in step 506 that the elapsed time t exceeds the second predetermined time t2 (t> t2, step 506: NO), the door ECU 20 shifts to the steady state STs. (Step 508).

As shown in FIG. 8, the door ECU 20 of the present embodiment moves the slide door 1 even when it is in the initial operating force measurement state STc1 and the assist force adjustment state STc2, as in the case of the steady state STs. When the speed Vdr becomes the stop threshold value Vs0 or less, the assist flag is cleared and the state shifts to the standby state STw (see FIG. 5, step 307). Then, when the moving speed Vdr of the slide door 1 becomes equal to or higher than the execution threshold value Vs1, the execution of the assist control is determined by the set of the assist flags (see FIG. 5, step 304).

Further, as shown in FIG. 10, when the transition state of the assist mode of the door ECU 20 of the present embodiment is in the steady state STs (see FIG. 8), the sliding door 1 of the door ECU 20 of the present embodiment is, for example, when parking on a slope. It is determined whether or not the vehicle is in a gravity moving state that moves by its own weight. When it is detected that the slide door 1 is in a gravitational movement state, the assist force Fa applied to the slide door 1 is reduced.

More specifically, as shown in the flowchart of FIG. 11, the door ECU 20 of the present embodiment has the current value of the operating force Fu calculated based on the above equation (2) and the above equation (3) held in the storage area 20 m. The difference value from the initial operating force Fu0 based on the above, that is, the amount of change ΔFu of the operating force Fu based on the initial operating force Fu0 is calculated (ΔFu = | Fu0-Fu |, step 601). Further, the door ECU 20 determines whether or not the percentage conversion value (ΔFu / Fu0 × 100) of the change amount ΔFu of the operating force Fu calculated in this step 601 is equal to or less than the predetermined value β (step 602). Further, when the determination condition of step 601 is satisfied (ΔFu / Fu0 × 100 ≦ β, step 602: YES), the door ECU 20 subsequently determines whether or not this state continues for more than a predetermined time tg. (Step 603). Then, when the determination condition of step 602 is satisfied (step 603: YES), the door ECU 20 of the present embodiment determines that the slide door 1 is in a gravity moving state in which it moves by its own weight (gravity movement state detection). , Step 604).

In other words, in the door ECU 20 of the present embodiment, by executing the process of step 602, the current value of the operating force Fu detected in the steady state STs is within the detection determination region based on the initial operating force Fu0 ( It is determined whether or not it is within ± β% of Fu0 (not shown). Further, when the operating force Fu is within the detection determination region, the door ECU 20 determines that the operating force Fu has not changed much from the initial operating force Fu0 measured in the initial operating force measurement state STc1. Then, when this state continues, the door ECU 20 of the present embodiment estimates that the external force input to the slide door 1 as the operating force Fu for moving the slide door 1 in the opening / closing operation direction is gravity. To do.

That is, normally, the operating force Fu that the user inputs to the slide door 1 in order to open and close the slide door 1 changes when the assist force Fa is started to be applied to the slide door 1. Based on this point, the door ECU 20 of the present embodiment monitors the amount of change ΔFu from the initial operating force Fu0 measured in the initial operating force measuring state STc1 as described above. As a result, it is possible to accurately detect that the sliding door 1 is in a gravitational moving state with a simple configuration.

Further, when the door ECU 20 of the present embodiment detects that the sliding door 1 is in the gravitational movement state in the above step 604, the reference magnification Y1 and the speed used for setting the assist magnification Y (see FIG. 7). The excess threshold Vth is reduced (step 605 and step 606, see FIG. 10, Y1 = Ya → Yg, Vth = Vdr1 → Vdr3).

That is, by reducing the reference magnification Y1, the assist force Fa applied to the slide door 1 is also reduced. Further, by reducing the overspeed threshold value Vth, the timing at which the reduction ratio Yd (see FIG. 7) based on the overspeed boss is calculated is also shortened. As a result, the assist force Fa is reduced at a lower moving speed Vdr, and at an earlier timing (see FIG. 10, Vdr2 → Vdr4), the assist force Fa in the direction opposite to the operation force Fu of the user is applied. A negative value (minus value) that is generated is set in the assist magnification Y. The power slide door device 30 of the present embodiment is configured to suppress the moving speed Vdr of the sliding door 1 during gravity movement.

As described above, according to the present embodiment, the following effects can be obtained.
(1) The door ECU 20 as the assist control unit 50a is an opening / closing drive device using the motor 10 as a drive source in order to apply an assist force Fa for opening / closing the slide door 1 as an opening / closing body of the vehicle to the slide door 1. Controls the operation of the door actuator 11 as a. Further, the door ECU 20 as the operating force calculation unit 50b opens and closes the slide door 1 based on the assist force Fa applied to the slide door 1, the sliding resistance Fv which is the operating resistance thereof, the mass M, and the operating acceleration α. The operating force Fu of the user input to the slide door 1 for operation is calculated. Then, the door ECU 20 as the target assist force calculation unit 50c calculates the target assist force FaT to be applied to the slide door 1 by multiplying the calculated operation force by the assist magnification Y.

That is, a mechanical model of the slide door 1 is constructed by using an external force (operating force Fu) acting on the slide door 1, an assist force Fa, a sliding resistance Fv, a mass M, and an operating acceleration α. Then, by solving the equation of motion of this mechanical model, for example, the operating force Fu of the user who opens and closes the slide door 1 can be obtained by calculation without adding a special configuration such as a torque sensor. (Fu = M × α + Fv-Fa). Further, the assist force Fa is controlled so as to follow the actual assist force Fa applied to the slide door with respect to the target assist force FaT calculated based on the user's operation force Fu (FaT = Fu × Y). To do. As a result, it is possible to realize an excellent operation feeling in the assist mode with a simple configuration.

In addition to this, it is possible to suppress the generation of regenerative power due to the manual opening and closing operation of the slide door 1. As a result, the load on each switching element constituting the drive circuit for supplying the drive power to the motor 10 can be reduced.

(2) The door ECU 20 as the operating resistance holding unit 50d previously holds the values of the sliding resistance Fv associated with the moving position X and the moving speed Vdr of the sliding door 1 in the storage area 20m as the sliding resistance map 40. .. As a result, the operating force Fu of the user can be obtained more accurately and by calculation.

(3) When the moving speed Vdr of the sliding door 1 is equal to or less than the speed exceeding threshold value Vth (Vdr ≦ Vth), the door ECU 20 as the first assist magnification setting unit 50e assists the predetermined reference magnification Y1. Set the magnification to Y (Y = Y1). Then, in the door ECU 20 as the second assist magnification setting unit 50f, when the moving speed Vdr of the sliding door 1 exceeds the speed exceeding threshold value Vth (Vdr> Vth), the moving speed Vdr is equal to or less than the speed exceeding threshold value Vth. A value lower than a certain case, that is, a value lower than the reference magnification Y1, is set as the assist magnification Y.

According to the above configuration, a stable assist force Fa corresponding to the user's operation force Fu can be applied to the slide door 1. Then, it is possible to suppress an increase in the moving speed Vdr that exceeds the speed exceeding threshold value Vth.

(4) The door ECU 20 as the reduction magnification calculation unit 50g calculates a reduction magnification Yd that increases as the movement speed Vdr increases when the movement speed Vdr of the slide door 1 exceeds the speed excess threshold value Vth. Then, the door ECU 20 as the assist magnification reducing unit 50h sets the assist magnification Y by subtracting the reduction magnification Yd from the reference magnification Y1 (Y = Y1-Yd).

According to the above configuration, as the moving speed Vdr of the slide door 1 increases beyond the speed excess threshold value Vth, the assist force Fa applied to the slide door 1 is reduced. As a result, the moving speed Vdr of the sliding door 1 can be effectively suppressed. Further, as the moving speed Vdr of the slide door 1 further increases, a reduction magnification Yd larger than the reference magnification Y1 is calculated. As a result, a negative value that generates an assist force Fa opposite to the user's operation force Fu is set in the assist magnification Y, so that the moving speed of the slide door 1 is more effective. Vdr can be suppressed.

(5) The door ECU 20 as the gravity movement determination unit 50j determines whether or not the slide door 1 is in a gravity movement state in which it moves by its own weight. Then, when it is determined that the sliding door 1 is in the gravitational movement state, the door ECU 20 as the condition changing unit 50i reduces the reference magnification Y1 and the speed excess threshold Vth used for calculating the assist magnification Y (Y1). = Ya → Yg, Vdr1 → Vdr3).

According to the above configuration, it is possible to detect that the sliding door 1 is in a gravitational moving state and suppress an increase in the moving speed Vdr. As a result, high safety can be ensured.

(6) The door ECU 20 starts applying the assist force Fa after the first predetermined time t1 elapses after deciding to execute the assist control for applying the assist force Fa to the slide door 1. Further, the door ECU 20 holds the value of the operating force Fu measured before the elapse of the predetermined time (first predetermined time t1) in the storage area 20 m as the initial operating force Fu0. Then, the door ECU 20 has a detection determination region (± β% of Fu0) in which the detected operating force Fu is set based on the initial operating force Fu0 even after the assist force Fa is started to be applied to the sliding door 1. When the state inside is continued, it is determined that the sliding door 1 is in the gravitational moving state.

That is, normally, the operating force Fu that the user inputs to the slide door 1 in order to open and close the slide door 1 changes when the assist force Fa is started to be applied to the slide door 1. Therefore, even after the assist force Fa is started to be applied, if it is determined that the detected operating force Fu does not change much from the initial operating force Fu0, the external force acting on the slide door 1 is applied. It can be estimated that the operating force Fu detected as is gravity. As a result, it is possible to accurately detect that the sliding door 1 is in the gravitational moving state with a simple configuration.

(7) The door ECU 20 gradually increases the assist magnification Y after the start of the assist control for applying the assist force Fa to the slide door 1. As a result, a smooth assist force Fa can be applied and a good operation feeling can be ensured.

(8) The door ECU 20 determines the execution of the assist control when the moving speed Vdr becomes the execution threshold value Vs1 or more. As a result, when it is necessary to apply the assist force Fa to the slide door 1, the assist force Fa can be appropriately applied.

(9) The door ECU 20 stops the execution of the assist control when the moving speed Vdr becomes the stop threshold value Vs0 or less, which is lower than the execution threshold value Vs1. As a result, it is possible to suppress the occurrence of hunting and smoothly start and stop the execution of the assist control.

The above embodiment may be changed as follows.
-In the above embodiment, the power slide door device 30 having the slide door 1 provided on the side surface of the vehicle as an opening / closing body is embodied. However, the present invention is not limited to this, and the opening / closing body that imparts the assist force may be a back door or a swing type side door provided at the rear of the vehicle. 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 sunroof.

-In the above embodiment, the value of the sliding resistance Fv associated with the moving position X and the moving speed Vdr of the sliding door 1 is held in the storage area 20 m as the sliding resistance map 40 in advance. The resistance Fv may be configured to hold a predetermined value (for example, an average value in the movement stroke).

-In the above embodiment, the target assist force FaT is converted into the target current value (ImT) of the motor 10. Then, by executing the current feedback control based on the deviation (| ImT-Im |) between the target current value (ImT) and the actual current value Im, the actual assist force Fa follows the target assist force FaT. I decided to let him. However, not limited to this, if it is possible to make the target assist force FaT follow the actual assist force Fa, for example, based on the deviation between the target assist force FaT and the actual assist force Fa, the motor 10 The control mode may be arbitrarily changed, such as adjusting the duty. Then, the feedforward control may be performed based on the target assist force FaT.

In the above embodiment, when the moving speed Vdr of the slide door 1 exceeds the speed excess threshold value Vth (Vdr> Vth), the reduction magnification Yd is calculated by multiplying the excess speed Vos by a predetermined reduction gradient K (Yd =). Vos × K). Then, the value obtained by subtracting this reduction magnification Yd from the reference magnification Y1 is set as the assist magnification Y when the speed is exceeded (Y = Y1-Yd). However, the present invention is not limited to this, and for example, a map calculation may be used to calculate a reduction factor Yd that increases as the moving speed Vdr increases. Then, by using a predetermined value determined in advance, a value lower than the case where the moving speed Vdr is equal to or less than the speed excess threshold value Vth may be set in the assist magnification Y.

-In addition, when the moving speed Vdr of the slide door 1 exceeds the second overspeed threshold (Vdr2, Vdr4), a negative value that generates an assist force Fa in the opposite direction to the operating force is set as the assist magnification Y. It may be configured to be set to. Then, regardless of the calculation method, a configuration in which a negative value is not set in the assist magnification Y may be used.

-In the above embodiment, when the detected operating force Fu continues to be within the detection determination region (± β% of Fu0) set based on the initial operating force Fu0, the sliding door 1 is moved. It was decided that it was in a gravitational movement state. However, the present invention is not limited to this, and the slide door 1 may be determined to move by gravity by other methods such as using an acceleration sensor provided in the vehicle.

-In the above embodiment, the assist mode has the standby state STw, the initial operation force measurement state STc1, and the assist force adjustment state STc2 in addition to the basic steady state STs. However, the present invention is not limited to this, and for each state (STw, STc1, STc2) other than the steady state STs, the combination of the presence or absence may be arbitrarily changed. Further, the steady state STs may also be configured not to perform reduction control of the reference magnification Y1 and the speed excess threshold Vth at the time of gravity movement. Further, the configuration may be such that the reduction control of the assist magnification Y when the speed is exceeded may not be performed.

Next, the technical ideas that can be grasped from the above embodiments will be described together with the effects.
(A) The second assist magnification setting unit is a negative value that generates the assist force in the direction opposite to the operating force when the moving speed of the opening / closing body exceeds the second speed excess threshold value. Is set to the assist magnification, a vehicle opening / closing body control device.

According to the above configuration, the opening / closing body can be braked by an assisting force in the direction opposite to the operating force of the user, and the moving speed of the opening / closing body can be suppressed more effectively.

1 ... sliding door (opening and closing body), 3 ... door handle, 10 ... motor, 11 ... door actuator (opening and closing drive device), 20 ... door ECU, 20 m ... storage area, 30 ... power slide door device, 31 ... open / close drive unit , 32 ... pulse sensor, 33 ... operation input unit, 40 ... sliding resistance map, 50a ... assist control unit, 50b ... operation force calculation unit, 50c ... target assist force calculation unit, 50d ... operation resistance holding unit, 50e ... th 1 assist magnification setting unit, 50f ... second assist magnification setting unit, 50 g ... reduction magnification calculation unit, 50h ... assist magnification reduction unit, 50i ... condition change unit, 50j ... gravity movement determination unit, X ... movement position, α ... Operating acceleration, M ... Mass, K ... Reduction gradient, Vdr ... Movement speed, Vth ... Speed excess threshold, Vdr1 ... Predetermined speed, Vdr3 ... Predetermined speed (during gravity movement), Vdr2 ... Predetermined speed (second speed excess threshold) ), Vdr4 ... Predetermined speed (second overspeed threshold, when moving by gravity), Vos ... Excess speed, Vs1 ... Execution threshold, Vs0 ... Stop threshold, Y ... Assist magnification, Y1 (Ya, Yg) ... Reference magnification, Yd ... Reduction factor, Im ... Current value, Fa ... Assist force, Fv ... Sliding resistance, Fu ... Operating force, FaT ... Target assist force, Fu0 ... Initial operating force, ΔFu ... Change amount, β ... Predetermined value, t ... Elapsed Time, t1, t2, tg ... predetermined time, STs ... steady state, STw ... standby state, STc1 ... initial operation force measurement state, STc2 ... assist force adjustment state, Sp ... pulse signal, Scr ... operation input signal, Sigma ... ignition signal.

Claims (9)

An assist control unit that controls the operation of the opening / closing drive device using a motor as a drive source to apply an assist force for opening / closing the opening / closing body of the vehicle to the opening / closing body.
It is input to the opening / closing body to open / close the opening / closing body based on the assist force applied to the opening / closing body, the operating resistance of the opening / closing body, the mass of the opening / closing body, and the operating acceleration of the opening / closing body. The operation force calculation unit that calculates the operation force and
A vehicle opening / closing body control device including a target assist force calculating unit that calculates a target assist force to be applied to the opening / closing body by multiplying the operating force by an assist magnification. In the vehicle opening / closing body control device according to claim 1,
A vehicle opening / closing body control device comprising a operating resistance holding portion that holds a value of the operating resistance according to a moving position and a moving speed of the opening / closing body. In the vehicle opening / closing body control device according to claim 1 or 2.
A first assist magnification setting unit that sets the assist magnification when the moving speed of the opening / closing body is equal to or less than the speed excess threshold value, and
When the moving speed of the opening / closing body exceeds the overspeed threshold value, a second assist magnification setting unit for setting a value lower than the case where the moving speed is equal to or less than the overspeed threshold value is provided for the assist magnification. A vehicle opening / closing body control device characterized by. In the vehicle opening / closing body control device according to claim 3.
The first assist magnification setting unit sets a predetermined reference magnification to the assist magnification, and at the same time,
The second assist magnification setting unit is
A reduction magnification calculation unit that calculates a reduction magnification that increases as the movement speed increases when the movement speed of the opening / closing body increases beyond the speed excess threshold value.
A vehicle opening / closing body control device comprising: an assist magnification reduction unit that sets a value obtained by subtracting the reduction magnification from the reference magnification to the assist magnification. In the vehicle opening / closing body control device according to claim 4.
A gravity movement determination unit that determines whether or not the opening / closing body is in a gravity movement state that moves by its own weight,
A vehicle opening / closing body control device comprising: a condition changing unit for reducing the reference magnification and the overspeed threshold value when it is determined that the vehicle is in the gravity moving state. In the vehicle opening / closing body control device according to claim 5.
After deciding to execute the assist control for applying the assist force to the opening / closing body, the assist control unit starts applying the assist force after a lapse of a predetermined time, and also starts applying the assist force.
The operating force calculation unit holds the value of the operating force measured before the elapse of the predetermined time as the initial operating force.
Even after the assist force is started to be applied to the opening / closing body, the gravity movement determination unit continues to be in a state in which the operation force is within the detection determination area set based on the initial operation force. In this case, it is determined that the opening / closing body is in a gravitational movement state.
A vehicle opening / closing body control device characterized by. In the vehicle opening / closing body control device according to any one of claims 3 to 6.
The first assist magnification setting unit gradually increases the assist magnification after starting the assist control for applying the assist force to the opening / closing body.
A vehicle opening / closing body control device characterized by. In the vehicle opening / closing body control device according to any one of claims 1 to 7.
The assist control unit determines to execute the assist control that applies the assist force to the opening / closing body when the moving speed of the opening / closing body becomes equal to or higher than the execution threshold value.
A vehicle opening / closing body control device characterized by. In the vehicle opening / closing body control device according to claim 8.
The assist control unit stops the execution of the assist control when the moving speed of the opening / closing body becomes equal to or lower than the stop threshold value lower than the execution threshold value.
A vehicle opening / closing body control device characterized by.

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