JP7334607B2 - Vehicle opening/closing body control device - Google Patents

Description

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

2. Description of the Related Art Conventionally, in a vehicle opening/closing body control device, such as a power sliding door device, which has a drive source and opens and closes an opening/closing body of a vehicle, by monitoring the current value of a motor that serves as the driving source, the electric current generated in the opening/closing body There are some that detect pinching. For example, in the vehicle opening/closing body control device described in Patent Document 1, when the advance angle control for advancing the phase of the motor control signal is executed, it is determined that the opening/closing body has been caught in the entrapment detection determination. Change the judgment conditions so that judgment becomes difficult. As a result, even if the current value increases due to the execution of the advance angle control, an error is less likely to occur in the entrapment detection determination.

JP 2019-2224 A

However, the current value of the motor may fluctuate greatly due to the drive control other than when the advance angle control as described above is executed. Even in such a case, it is desirable to detect the entrapment with high accuracy, so there is still room for improvement in this respect.

SUMMARY OF THE INVENTION An object of the present invention is to provide a vehicle opening/closing body control device capable of accurately detecting entrapment.

A vehicular opening/closing body control apparatus for solving the above-described problems includes a drive control unit that operates an opening/closing body of a vehicle using a motor as a drive source, and an entrapment detection that executes a pinch detection determination of the opening/closing body based on a current value of the motor. a speed control unit that controls the operating speed of the opening/closing body through supply of driving power to the motor; and an acceleration operation input that accelerates the opening/closing body during drive control. and a target speed changing unit for increasing a target speed for controlling the operating speed of the opening/closing member when the input of the acceleration operation is detected, wherein the entrapment detection unit a determination condition changing unit for changing the determination condition for the pinch detection determination so as to make it difficult to determine that the opening/closing body has become pinched when the target speed is raised; an entrapment detection determination unit during acceleration operation for executing the entrapment detection determination, wherein the entrapment detection determination unit during acceleration operation holds a minimum current value detected after the input of the acceleration operation; When the current value exceeding the current increase threshold set based on the minimum current value is detected, it is determined that the acceleration operation is finished, and the time point when it is determined that the acceleration operation is finished is set as a reference. After the current stabilization period has passed, execution of the entrapment detection determination during acceleration operation based on the changed determination condition ends.

That is, the current value of the motor, which is the driving source of the opening/closing member, fluctuates due to the input of acceleration operation by the user and the increase in the target speed due to the detection thereof. However, according to the above configuration, even in such a case, it is possible to avoid erroneous detection due to an increase in the current value, and to accurately detect pinching occurring in the opening/closing body. Further, the increase in the current value due to the increase in the target speed occurs when the acceleration operation by the user ends after the current value of the motor has decreased due to the reduction in the load associated with the input of the acceleration operation. Then, this increased current value then decreases again, and changes at a constant value substantially equal to that before the acceleration operation was input by the user. In this respect, according to the above configuration, it is possible to accurately detect the end of the acceleration operation and appropriately set the execution interval for the entrapment detection determination during the acceleration operation. Accordingly, it is possible to minimize the effect of sensitivity deterioration due to the change of the determination condition, and to accurately detect the entrapment of the opening/closing body.

In the vehicle opening/closing body control device that solves the above-described problems, the entrapment detection determination unit during acceleration operation determines a current value at the start of acceleration operation when the current value decreases due to the start of input of the acceleration operation. is held, and it is determined that the acceleration operation has ended when the current value exceeding the current increase threshold value and the current value at the start of the acceleration operation is detected.

According to the above configuration, it is possible to accurately detect the end of the acceleration operation by the user.
In the vehicle opening/closing body control device that solves the above-described problems, the entrapment detection determination unit during acceleration operation determines that the acceleration operation has ended when the current value exceeding the current increase threshold is continuously detected. preferably.

According to the above configuration, it is possible to accurately detect the end of the acceleration operation by the user.
In the vehicular opening/closing body control device that solves the above-described problems, the entrapment detection section determines that the opening/closing body is entrapped when the current value exceeds a threshold value, and the determination condition changing section: When the target speed is raised, it is preferable to set the threshold of the current value to a value larger than when the target speed is not raised.

That is, when an acceleration operation is input, a large value is set in advance as the threshold value for entrapment detection determination during acceleration operation based on the current value of the motor that increases due to the increase in the target speed. As a result, it is possible to suppress the erroneous determination by preventing the current value of the motor from exceeding the threshold even though the opening/closing body is not actually caught.

In the vehicular opening/closing body control device that solves the above-described problems, the entrapment detection unit determines that the opening/closing body is entrapped when the differential value of the current value exceeds a threshold value, and changes the determination condition. Preferably, when the target speed is raised, the unit sets the threshold of the differential value to a value larger than when the target speed is not raised.

That is, by using the differential value, it is possible to quickly detect the rise of the current value that increases due to the pinching occurring in the opening/closing member. However, even when the target speed is increased by detecting the acceleration input, the rise of the current value tends to be steep. Accordingly, also in the entrapment detection determination during acceleration operation based on the differential value of the current value, entrapment detection of the opening/closing body can be performed with higher accuracy by setting a large value for the threshold in advance.

In the vehicular opening/closing body control device for solving the above-described problems, the acceleration operation detection unit detects when the operating speed of the opening/closing body exceeds a speed increase threshold value larger than the target speed set on the basis of the target speed. , preferably the input of the acceleration operation is detected.

According to the above configuration, it is possible to accurately detect the acceleration operation input by the user.

According to the present invention, entrapment detection can be performed with high accuracy.

1 is a side view of a vehicle provided with a sliding door; FIG. The schematic block diagram of a power sliding door apparatus. 4 is a flowchart showing a processing procedure for entrapment detection determination; 4 is a flowchart showing a processing procedure for entrapment detection determination; 4 is a flow chart showing a processing procedure for determination of occurrence detection of an acceleration operation input; 4 is a flowchart showing a processing procedure for changing the target speed based on detection of an acceleration operation input; FIG. 10 is a flowchart showing a processing procedure for changing determination conditions in entrapment detection determination in accordance with a change in target speed; FIG. 7 is a graph showing changes in target speed and current value in normal drive control; 7 is a graph showing changes in target speed and current value in drive control during acceleration operation; 7 is a graph showing a mode of termination of pinch detection determination during acceleration operation based on detection of termination of acceleration operation and setting of current stabilization period; 4 is a flowchart showing a processing procedure for updating the minimum current value detected after an acceleration operation is input; 4 is a flowchart showing a processing procedure for detecting the end of an acceleration operation; FIG. 10 is a flowchart showing a processing procedure for ending entrapment detection determination during acceleration operation; FIG. FIG. 11 is a flow chart showing a processing procedure for detecting the end of acceleration operation according to another example; FIG. FIG. 11 is a flow chart showing a processing procedure for detecting the end of acceleration operation according to another example; FIG. FIG. 11 is a flow chart showing another example of a processing procedure for ending entrapment detection determination during acceleration operation; FIG. FIG. 11 is a flow chart showing a processing procedure for detecting occurrence detection of an acceleration operation input according to another example; FIG.

An embodiment in which a vehicle opening/closing body control device is embodied in a power sliding door device will be described below with reference to the drawings.
As shown in FIG. 1, the vehicle 1 of this embodiment includes a slide door 4 that opens and closes a door opening 3 provided on the side surface 2s of the vehicle body 2. As shown in FIG. Specifically, the vehicle 1 has a plurality of guide rails 5a to 5c extending in the longitudinal direction (horizontal direction in FIG. 1), and a plurality of guide roller units 6a to 5c connected to each of the guide rails 5. 6c and are provided. That is, the slide door 4 of this embodiment is supported by the side surface 2s of the vehicle body 2 via the guide rails 5 and the guide roller units 6. As shown in FIG. Further, each guide rail 5 and each guide roller unit 6 can move the engagement position of each guide roller unit 6 with respect to each guide rail 5 along the extending direction of each guide rail 5. ing. Thus, the slide door 4 of the present embodiment is configured to move in the longitudinal direction of the vehicle along the side surface 2s of the vehicle body 2. As shown in FIG.

That is, the slide door 4 of the present embodiment moves toward the front side of the vehicle (left side in FIG. 1) to enter a fully closed state in which the door opening 3 is closed, and moves toward the rear side of the vehicle (right side in FIG. 1). , the vehicle 1 is fully opened so that passengers can get in and out of the vehicle 1 through the door opening 3 . 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. As shown in FIG. The slide door 4 is provided with a front lock 11a and a rear lock 11b as fully closed locks for restraining the slide door 4 at the fully closed position. Furthermore, the slide door 4 is provided with a full-open lock 11c for restraining the slide door 4 at the full-open position. In the sliding door 4 of this embodiment, each locking device 11 is connected to the door handle 10 via a remote controller 12 .

That is, the sliding door 4 of the present embodiment is designed to be released from the restrained state by each locking device 11 by operating the door handle 10 thereof. The sliding door 4 can be released from the locked state by each lock device 11 by remote control by the occupant operating an operation switch provided in the passenger compartment or by operating a portable device or the like. ing. The sliding door 4 can be manually opened and closed using the door handle 10 as a grip.

Further, the slide door 4 of this 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 is rotated by receiving drive power from the door ECU 25 . That is, the door ECU 25 controls the operation of the door actuator 21 by supplying driving power to the motor 20 . In the vehicle 1 of the present embodiment, the power slide door device 30 is thus formed as a vehicle opening/closing body control device capable of opening and closing the slide door 4 based on the driving force of the motor 20. there is

More specifically, the door actuator 21 of this embodiment includes an opening/closing driving section 31 that drives the opening/closing body and the slide door 4 to open/close based on the driving force of the motor 20 .
Further, the door actuator 21 of this embodiment is provided with a pulse sensor 32 that outputs a pulse signal Sp in synchronization with the operation of the opening/closing drive section 31 . Based on the pulse output from the pulse sensor 32, the door ECU 25 of this embodiment detects the movement position X and the operating speed V of the slide door 4 driven by the door actuator 21. FIG.

Furthermore, the operation input signal Scr is input to the door ECU 25 of the present embodiment from an operation input unit 33 provided in the door handle 10, the vehicle interior, a 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. The operation of the door actuator 21 is controlled so as to move the slide door 4 in the requested direction of operation.

More specifically, the door ECU 25 of this embodiment sets the target speed Vt when opening and closing the slide door 4 . In the power sliding door device 30 of this embodiment, the target speed Vt of the sliding door 4 is stored in the storage area 25m of the door ECU 25. FIG. The door ECU 25 of the present embodiment is configured to execute drive control of the slide door 4 through supply of drive power to the motor 20 so that the operating speed V of the slide door 4 follows the target speed Vt. there is

In addition, the door ECU 25 of the present embodiment can also be used when, for example, a foreign object such as an occupant's hand or foot is caught between the front edge portion 4f of the sliding door 4 and the front edge portion 3f of the door opening 3. It has a function of executing detection determination of entrapment occurring in the slide door 4 . Specifically, the current value I of the motor 20 is input to the door ECU 25 of this embodiment. Based on the current value I of the motor 20, the door ECU 25 of the present embodiment executes a pinch detection determination of the slide door 4. FIG.

As shown in the flowchart of FIG. 3, the door ECU 25 of this embodiment acquires the current value I of the motor 20 (step 101), and compares the current value I of the motor 20 with a threshold value Ith (step 102). When the current value I exceeds the threshold value Ith (I>Ith, step 102: YES), it is determined that the slide door 4 is pinched (step 103), and the current value I is equal to or less than the threshold value Ith. If (I≤Ith, step 102: NO), it is determined that entrapment has not occurred (step 104).

Further, as shown in the flowchart of FIG. 4, the door ECU 25 of this embodiment calculates the differential value α of the acquired current value I of the motor 20 (step 201). Further, the door ECU 25 of this embodiment compares the differential value α of the current value I with the threshold value αth (step 202). When the differential value α of the current value I exceeds the threshold value αth (α>αth, step 202: YES), it is determined that the slide door 4 is pinched (step 203), and the current value I is equal to or less than the threshold value αth (α≦αth, step 202: NO), it is determined that entrapment has not occurred (step 204).

That is, when entrapment occurs, the rotation of the motor 20 is restricted, and the current value I increases (restraint current). The door ECU 25 of the present embodiment is configured to detect entrapment of the slide door 4 by monitoring a change in current generated in the motor 20 thereby.

Further, the door ECU 25 of the present embodiment has a function of detecting input of an acceleration operation when a user performs an operation to accelerate the slide door 4 during drive control of the slide door 4 .

Specifically, as shown in the flowchart of FIG. 5, the door ECU 25 of the present embodiment uses the target speed Vt of the slide door 4 as a reference and sets a speed increase threshold value V0 greater than the target speed Vt (step 301). In the door ECU 25 of this embodiment, the speed increase threshold V0 is calculated by adding a predetermined value β to the target speed Vt of the slide door 4 (V0=Vt+β). Further, the door ECU 25 of this embodiment compares the operating speed V of the sliding door 4 with this speed increase threshold value V0 (step 302). When the operating speed V of the slide door 4 exceeds the speed increase threshold value V0 (V>V0, step 302: YES), it is determined that an acceleration operation has been input (step 303).

In addition to the case where the sliding door 4 is operated in the driving direction by using the door handle 10 as a grip, the acceleration operation by the user includes a so-called door pushing operation in which the sliding door 4 itself is pushed in the driving direction. is assumed.

Furthermore, the door ECU 25 of the present embodiment raises the target speed Vt for controlling the operating speed V of the slide door 4 when such input of acceleration operation is detected.
As shown in FIG. 2, the door ECU 25 of this embodiment holds a first target speed Vt1 and a second target speed Vt2 higher than the first target speed Vt1 as the target speed Vt in the storage area 25m. (Vt2>Vt1). When the input of the acceleration operation is detected as described above, the target speed Vt used for drive control of the slide door 4 is changed from the first target speed Vt1 corresponding to the normal operation to the second target speed Vt1 corresponding to the acceleration operation. It is configured to change to speed Vt2.

Specifically, as shown in the flowchart of FIG. 6, when the door ECU 25 of the present embodiment does not detect the input of the acceleration operation (step 401: NO), the first target speed Vt1, which is the initial set value, is used to execute drive control of the slide door 4 (normal drive control: Vt=Vt1, step 402). Note that this first target speed Vt1 is also used as the target speed Vt in the detection determination of occurrence of acceleration operation input shown in FIG. When the door ECU 25 detects the input of the acceleration operation in step 401 (step 401: YES), the door ECU 25 reads out the second target speed Vt2 from the storage area 25m (step 403). Then, the target speed Vt is changed from the first target speed Vt1 to the second target speed Vt2, and drive control of the slide door 4 is executed (during acceleration operation drive control: Vt=Vt2, step 404).

Further, when the door ECU 25 of the present embodiment increases the target speed Vt for drive control by detecting the input of the acceleration operation in this way, the determination condition for detecting pinching occurring in the slide door 4 is to change

As shown in FIG. 2, the door ECU 25 of the present embodiment stores a threshold value Ith (see FIG. 3) for pinch detection determination based on the current value I of the motor 20, a first threshold value Ith1, and a threshold value Ith1 in the storage area 25m. A second threshold Ith2 having a value greater than the first threshold Ith1 is held (Ith2>Ith1). Further, the door ECU 25 stores a first threshold value αth1 and a value larger than the first threshold value αth1 as a threshold value αth for judgment of entrapment detection based on the differential value α of the current value I (see FIG. 4) in the storage area 25m. (αth2>αth1). When the target speed Vt for drive control is increased as described above, the threshold value Ith for the pinch detection determination based on the current value I and the threshold value αth for the pinch detection determination based on the differential value α of the current value I are set to The first threshold values Ith1 and αth1 corresponding to the normal operation are respectively changed to the second threshold values Ith2 and αth2 corresponding to the acceleration operation.

Specifically, as shown in the flowchart of FIG. 7, the door ECU 25 of the present embodiment performs the initial setting during normal operation of the sliding door 4 at the first target speed Vt1 (step 501: NO). Entrapment detection determination of the sliding door 4 is executed using the first thresholds Ith1 and αth1 which are values (Ith=Ith1, αth=αth1, step 502). In step 501, the door ECU 25 increases the target speed Vt for drive control by detecting an acceleration operation input (step 501: YES). is read (step 503). Then, using these second threshold values Ith2 and αth2, entrapment detection determination of the slide door 4 is executed (entrapment detection determination during acceleration operation: Ith=Ith2, αth=αth2, step 504).

That is, as shown in FIG. 8, when there is no acceleration operation input by the user, the target speed Vt for drive control is set to the first target speed Vt1, which is the initial setting value, until near the end point position where the slide door 4 is stopped. fixed to Incidentally, FIG. 8 shows an example in which the slide door 4 is closed from the fully open position to the fully closed position. Further, the door ECU 25 of the present embodiment changes the target speed Vt of the drive control from the first target speed Vt1 to the third target speed when the slide door 4 reaches the vicinity of the fully closed position, which is the end point position of the drive control. Gradually decreases to Vt3. Further, the operating speed V of the sliding door 4 indicated by the one-dot chain line in FIG. 4 follows the target speed Vt. Therefore, the current value I of the motor 20 increases as the sliding door 4 starts to be driven, and then remains substantially constant until the drive control is stopped. Similarly, changes in the acceleration of the current value I are also limited to the start and end positions of the drive control (not shown). The door ECU 25 of the present embodiment is configured to set a value larger than the current value I, which changes at such a substantially constant value, as the threshold value Ith for determination of pinch detection in the normal state, that is, the first threshold value Ith1. It has become.

On the other hand, as shown in FIG. 9, when an acceleration operation is input, for example, the user presses the slide door 4 during drive control, and the operation force for accelerating the slide door 4 and the acceleration operation The current value I of the motor 20 fluctuates greatly due to the change in the target speed Vt due to the detection of . As a result, the differential value α of the current value I also fluctuates greatly.

Specifically, the load on the motor 20 is reduced based on the operating force applied to the slide door 4 by the user, so that the current value I greatly decreases. Furthermore, in the power sliding door device 30 of the present embodiment, after that, the input of this acceleration operation is detected, and the target speed Vt for drive control is changed from the first target speed Vt1 to the second target speed Vt2. The duty of the motor drive is increased so that the operating speed V follows the increased target speed Vt. As a result, the current value I of the motor 20 is greatly increased.

Based on this point, the door ECU 25 of the present embodiment adjusts the threshold values Ith and αth for the pinch detection determination to the first threshold values Ith1 and The second thresholds Ith2 and αth2 are raised from αth1. That is, the determination conditions for the pinch detection determination are changed so that it becomes difficult to determine that the slide door 4 has been pinched. Thus, in the power sliding door device 30 of the present embodiment, it is possible to avoid erroneous detection due to an increase in the target speed Vt, and to accurately detect pinching occurring in the sliding door 4. It's becoming

More specifically, as shown in FIG. 10, the door ECU 25 of the present embodiment holds the minimum current value Imin of the motor 20 detected after the acceleration operation input (the acceleration operation input generation position X1) (see FIG. 2). ). Further, the door ECU 25 determines that the acceleration operation by the user has ended when a current value I exceeding a current increase threshold Ithu set based on the minimum current value Imin is detected. Then, the door ECU 25 of the present embodiment detects the end of the acceleration operation (acceleration operation input end detection position X3) after the current stabilization period R has passed (current stabilization period elapsed position). X4), the execution of the entrapment detection determination during the acceleration operation is terminated.

Specifically, as shown in the flowchart of FIG. 11, the door ECU 25 of the present embodiment detects when the user is accelerating the sliding door 4 (step 601: YES). The current value I of the motor 20 to be set is compared with the minimum current value Imin held in the storage area 25m (step 602). It should be noted that the door ECU 25 of this embodiment uses the current value I at the time when the target speed Vt is increased by detecting the input of the acceleration operation as the initial value of the minimum current value Imin. When the detected current value I is lower than the minimum current value Imin held in the storage area 25m (I<Imin, step 602: YES), the detected current value I is the minimum current value Imin. (Imin=I, step 603). That is, the detected current value I is held in the storage area 25m as a new minimum current value Imin.

Further, as shown in the flowchart of FIG. 12, the door ECU 25 of the present embodiment reads the minimum current value Imin from the storage area 25m (step 701), adds a predetermined value γ to the minimum current value An increase threshold Ithu is set (Ithu=Imin+γ, step 702). Then, the detected current value I of the motor 20 is compared with the current increase threshold value Ithu (step 703), and if the current value I is larger (I>Ithu, step 703: YES), use It is determined that the acceleration operation by the user has ended (step 704).

Further, as shown in the flowchart of FIG. 13, when the door ECU 25 of the present embodiment detects the end of the acceleration operation (step 801: YES), the door ECU 25 determines the movement position of the slide door 4 at that time, that is, the acceleration operation input end detection. A current stabilization period R is set with a value obtained by adding a predetermined value .delta. to the position X3 as the current stabilization period elapsed position X4 (X4=X3+.delta., step 802). Further, the door ECU 25 counts the amount of movement of the slide door 4 (step 803) to determine whether or not the current stabilization period R set based on the time at which it is determined that the acceleration operation has ended has passed. (step 804). When the door ECU 25 of the present embodiment determines that the current stabilization period R has elapsed (step 804: YES), the door ECU 25 of the present embodiment ends execution of the entrapment detection determination during acceleration operation, and normal entrapment detection is performed. The state for executing the detection determination is restored (step 805).

That is, as shown in FIG. 10, the increase in the current value I due to the increase in the target speed Vt corresponding to the input of the acceleration operation is caused by the end of the acceleration operation by the user after the increase in the target speed Vt. Occur. Then, the increased current value I then decreases again and changes at a constant value substantially equal to that before the acceleration operation was input by the user.

Based on this point, the door ECU 25 of the present embodiment detects the end of the acceleration operation by monitoring the current value I of the motor 20, which increases after decreasing due to the input of the acceleration operation. Further, the door ECU 25 sets the current stabilization period R in consideration of the subsequent fluctuations in the current value I. During the current stabilization period R, the threshold values Ith and αth for the pinch detection determination are set to They are raised to the second thresholds Ith2 and αth2 corresponding to the acceleration operation, respectively. Further, after the current stabilization period R has elapsed, the door ECU 25 lowers the threshold values Ith and αth for the pinch detection determination to the first threshold values Ith1 and αth1, which are the initial set values. In other words, the door ECU 25 of the present embodiment makes it difficult to determine that the sliding door 4 has been pinched during a limited period of time from the detection of the input of the acceleration operation by the user to the elapse of the current stabilization period R. Entrapment detection determination at the time of acceleration operation with the changed determination condition is executed so as to be. In the power sliding door device 30 of the present embodiment, even after the current value I increased by raising the target speed Vt of the drive control is reduced again, the power sliding door device 30 can accurately generate electric current in the sliding door 4 . It is possible to detect pinching.

Next, the operation of this embodiment will be described.
When the user performs an operation to accelerate the slide door 4 during drive control of the slide door 4, the target speed Vt for controlling the operating speed V of the slide door 4 is increased. Further, along with the increase in the target speed Vt, the determination conditions for the pinch detection determination are changed so that it becomes difficult to determine that the sliding door 4 has been pinched. Furthermore, when a current value I exceeding a current increase threshold value Ithu set based on the minimum current value Imin detected after the input of the acceleration operation is detected, it is determined that the acceleration operation has ended. Then, after the current stabilization period R, which is set based on the time at which it is determined that the acceleration operation has ended, has elapsed, the determination conditions are changed so as to make it difficult to determine that entrapment has occurred as described above. Execution of the entrapment detection determination during acceleration operation is terminated.

Next, the effects of this embodiment will be described.
(1) In the power sliding door device 30 as a vehicle opening/closing body control device, the door ECU 25 includes a drive control section 40a that operates the slide door 4, which is the opening/closing body of the vehicle 1, using the motor 20 as a drive source, and the motor 20. It has a function as an entrapment detection unit 40b that executes an entrapment detection determination of the slide door 4 based on the current value I. The door ECU 25 as the drive control section 40 a has a function as a speed control section 40 c that controls the operating speed V of the slide door 4 by supplying drive power to the motor 20 . The door ECU 25 also functions as an acceleration operation detection unit 40d for detecting an acceleration operation input by the user to accelerate the slide door 4 during drive control, and detects the operation speed when an acceleration operation input is detected. and a function as a target speed changing unit 40e for increasing the target speed Vt for controlling V. Furthermore, the door ECU 25 as the entrapment detection unit 40b changes the determination condition for entrapment detection so that it becomes difficult to determine that an entrapment has occurred in the slide door 4 when the target speed Vt is increased. It has a function as a changing unit 40f. Then, the door ECU 25 has a function as an entrapment detection determination section 40g during acceleration operation that executes an entrapment detection determination based on the changed determination condition. Further, the door ECU 25 as the entrapment detection determination unit 40g during acceleration operation holds the minimum current value Imin detected after the input of the acceleration operation, and the current exceeding the current increase threshold value Ithu set based on this minimum current value Imin. When the value I is detected, it is determined that the acceleration operation has ended. After the elapse of the current stabilization period R set based on the time point at which the door ECU 25 determines that the acceleration operation has ended, the door ECU 25 terminates execution of the entrapment detection determination during acceleration operation based on the changed determination condition. do.

That is, the current value I of the motor 20, which is the driving source of the slide door 4, fluctuates due to the input of acceleration operation by the user and the increase in the target speed Vt due to the detection thereof. However, according to the above configuration, even in such a case, it is possible to avoid erroneous detection due to an increase in the current value I, and to detect entrapment occurring in the slide door 4 with high accuracy. Further, the increase in the current value I due to the increase in the target speed Vt occurs when the acceleration operation by the user is terminated after the current value I of the motor 20 has decreased due to the reduction in the load associated with the input of the acceleration operation. do. Then, the increased current value I then decreases again and changes at a constant value substantially equal to that before the acceleration operation was input by the user. In this respect, according to the above configuration, it is possible to accurately detect the end of the acceleration operation and appropriately set the execution interval for the entrapment detection determination during the acceleration operation. As a result, it is possible to minimize the influence of sensitivity deterioration due to the change of the determination condition, and to detect entrapment of the slide door 4 with high accuracy.

(2) The door ECU 25 sets the current value I at the time when the target speed Vt is increased by detecting the input of the acceleration operation as the initial value of the minimum current value Imin, and stores the detected current value I in the storage area 25m. is lower than the minimum current value Imin held at , the minimum current value Imin is updated with the detected current value I. As a result, it is possible to accurately detect the end of the acceleration operation by the user.

(3) The door ECU 25 determines that the slide door 4 is pinched when the current value I exceeds the threshold value Ith. Then, when the target speed Vt is raised by detecting the input of the acceleration operation, the door ECU 25 sets the second threshold Ith2 larger than the first threshold Ith1 in the case where the target speed Vt is not raised. A threshold value Ith for judging entrapment detection based on the value I is set.

That is, when an acceleration operation is input, the threshold value Ith for the entrapment detection determination during acceleration operation based on the current value I is set to a large value in advance by the amount corresponding to the increase in the current value I of the motor 20 due to the increase in the target speed Vt ( Ith2>Ith1). As a result, the current value I of the motor 20 does not exceed the threshold value Ith even though the sliding door 4 is not actually caught, thereby suppressing the erroneous determination. .

(4) The door ECU 25 determines that the slide door 4 is pinched when the differential value α of the current value I exceeds the threshold value αth. Then, when the target speed Vt is increased by detecting the input of the acceleration operation, the door ECU 25 sets the second threshold value αth2 larger than the first threshold value αth1 in the case where the target speed Vt is not increased. A threshold value αth for judging entrapment detection based on the differential value α of the value I is set.

That is, by using the differential value α, it is possible to quickly detect the rise of the current value I that increases due to the entrapment occurring in the slide door 4 . However, even when the target speed Vt is raised by detecting the input of the acceleration operation, the rise of the current value I tends to be steep. Therefore, also in the determination of entrapment detection during acceleration operation based on the differential value α of the current value I, by setting a large value for the threshold αth in advance (αth2>αth1), the entrapment of the slide door 4 can be detected with higher accuracy. detection can be performed.

(5) The door ECU 25 detects an acceleration operation input when the operating speed V of the slide door 4 exceeds a speed increase threshold value V0 that is set based on the target speed Vt and is larger than the target speed Vt. As a result, it is possible to accurately detect the acceleration operation input by the user.

It should be noted that the above embodiment can be implemented with the following modifications. The above embodiments and the following modifications can be combined with each other within a technically consistent range.

- In the above-described embodiment, the power slide door device 30 having the slide door 4 provided at the door opening 3 of the vehicle 1 as an opening/closing body is embodied. However, the present invention is not limited to this, and may be applied to an opening/closing body such as a back door or a swing-type side door provided at the rear portion of a vehicle. Further, for example, the present invention may be applied to devices for opening and closing bodies other than doors, such as a window regulator and a sunroof device for raising and lowering the window glass of a vehicle.

In the above-described embodiment, the door ECU 25 as the entrapment detection determination section 40g during acceleration operation holds the minimum current value Imin detected after the input of the acceleration operation. Then, when a current value I exceeding a current increase threshold value Ithu set based on the minimum current value Imin is detected, it is determined that the acceleration operation has ended.

However, the present invention is not limited to this, and the current value Ist at the start of the acceleration operation at the time when the current value I decreases due to the start of the input of the acceleration operation is held (see FIG. 10). As for the current value Ist at the start of the acceleration operation, for example, the current value I of the motor 20 is continuously held, and the starting point of the current decrease with the minimum current value Imin as the peak is traced back. A method such as estimating the start time can be considered.

Then, as shown in the flowchart of FIG. 14, the current value I of the motor 20 exceeds the current increase threshold Ithu (I>Ithu, step 903: YES), and the current value I exceeding the acceleration operation start current value Ist If detected (I>Ist, step 904: YES), it may be determined that the acceleration operation has ended (step 905). As a result, it is possible to more accurately detect the input of the acceleration operation by the user.

Also, as shown in the flowchart of FIG. 15, when the current value I exceeding the current increase threshold Ithu is continuously detected (step 1003: YES and step 1004: YES), it is determined that the acceleration operation is completed. It may be configured (step 1005). Note that the content of the continuation determination may be arbitrarily changed, for example, by setting a continuous excess time requirement, setting an excess ratio within a unit time, or the like. As a result, it is possible to more accurately detect the input of the acceleration operation by the user.

・Furthermore, the start timing of holding and updating the minimum current value Imin can be arbitrarily changed, for example, by going back to the point in time when the current value I has decreased due to the start of the input of the acceleration operation. good too. That is, it suffices if the peak of the current drop caused by the input of the acceleration operation can be captured.

In the above embodiment, when the end of the acceleration operation is detected, the value obtained by adding a predetermined value δ to the movement position of the sliding door 4 at that time, that is, the acceleration operation input end detection position X3, is defined as the current stabilization period elapsed position X4. However, the current stabilization period R may be set according to the passage of time.

For example, as shown in the flowchart of FIG. 16, the elapsed time from the time when the end of the acceleration operation is detected (step 1101: YES) is measured (step 1102). Then, when the elapsed time has passed the predetermined time set as the current stabilization period R (step 1103: YES), the execution of the entrapment detection determination during acceleration operation may be terminated (step 1104).

In the above-described embodiment, it is determined that an acceleration operation has been input when the operating speed V of the slide door 4 exceeds the speed increase threshold value V0 that is set based on the target speed Vt.

However, not limited to this, as shown in the flowchart of FIG. 17, as the operating speed V exceeds the speed increase threshold V0 (V>V0, step 1202: YES), the current value I of the motor 20 decreases to the current decrease threshold Ithd (I<Ithd, step 1203: YES), it may be determined that an acceleration operation has been input (step 1204). As a result, it is possible to more accurately detect the acceleration operation input by the user.

Next, technical ideas that can be grasped from the above embodiment and modifications will be described.
(b) The acceleration operation detection unit detects the input of the acceleration operation when the operating speed of the opening/closing member exceeds the speed increase threshold and the current value is below the current decrease threshold. A control device for opening and closing a vehicle. As a result, it is possible to accurately detect the acceleration operation input by the user.

(b) The entrapment detection determination unit during acceleration operation sets the current value at the time when the target speed is increased as an initial value of the minimum current value, and the detected current value is higher than the held minimum current value. is low, the minimum current value is updated with the detected current value. As a result, it is possible to accurately detect the end of the acceleration operation by the user.

4 Sliding door (opening/closing body)
20... Motor 30... Power slide door device (vehicle opening/closing body control device)
25 Door ECU
40a Drive control unit 40b Entrapment detection unit 40c Speed control unit 40d Acceleration operation detection unit 40e Target speed change unit 40f Judgment condition change unit 40g Entrapment detection judgment unit during acceleration operation I Current value Imin Minimum current Value Ithu... Current increase threshold R... Current stabilization period

Claims (6)

a drive control unit that operates an opening/closing body of a vehicle using a motor as a drive source;
an entrapment detection unit that executes entrapment detection determination of the opening/closing body based on the current value of the motor;
The drive control unit
a speed control unit that controls the operating speed of the opening/closing member by supplying driving power to the motor;
an acceleration operation detection unit that detects input of an acceleration operation that accelerates the opening/closing body under drive control;
a target speed changing unit that increases a target speed for controlling the operating speed of the opening/closing body when the input of the acceleration operation is detected,
The entrapment detection unit is
a determination condition changing unit that changes the determination condition for the pinch detection determination so as to make it difficult to determine that the opening/closing body has been pinched when the target speed is increased;
an entrapment detection determination unit during acceleration operation for executing the entrapment detection determination based on the changed determination condition,
The entrapment detection determination unit during acceleration operation,
holding the minimum current value detected after the input of the acceleration operation, and determining that the acceleration operation is completed when the current value exceeding the current increase threshold set based on the minimum current value is detected; , vehicle opening/closing body control for terminating execution of the entrapment detection determination during acceleration operation based on the changed determination condition after a current stabilization period set based on the time at which it is determined that the acceleration operation has ended. Device. In the vehicle opening/closing body control device according to claim 1,
The entrapment detection determination unit during acceleration operation,
holding the current value at the start of the acceleration operation at the time when the current value decreases due to the start of input of the acceleration operation;
Determining that the acceleration operation has ended when the current value exceeding the current increase threshold and the current value at the start of the acceleration operation is detected;
A vehicle opening/closing body control device characterized by: In the vehicle opening/closing body control device according to claim 1 or 2,
The entrapment detection determination unit during acceleration operation determines that the acceleration operation has ended when the current value exceeding the current increase threshold is continuously detected;
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 3,
The entrapment detection unit determines that entrapment of the opening/closing body has occurred when the current value exceeds a threshold value, and
wherein, when the target speed is increased, the determination condition changing unit sets the threshold of the current value to a value larger than when the target speed is not increased;
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 4,
The entrapment detection unit determines that entrapment of the opening/closing body has occurred when the differential value of the current value exceeds a threshold value, and
wherein, when the target speed is increased, the determination condition changing unit sets the threshold of the differential value to a value larger than when the target speed is not increased;
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 5,
The acceleration operation detection unit detects the input of the acceleration operation when the operating speed of the opening/closing body exceeds a speed increase threshold value that is larger than the target speed set on the basis of the target speed;
A vehicle opening/closing body control device characterized by: