JP7377059B2 - Opening/closing control device for vehicle opening/closing body - Google Patents

Description

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

Conventionally, when it is necessary to stop the vehicle opening/closing body, a pinch detection process immediately stops the rotation of the vehicle opening/closing body (short brake: a process that shorts the positive and negative poles of the motor to stop the motor drive). An opening/closing control device for a vehicle opening/closing body is known (for example, see Patent Document 1).

However, if the pinch detection process is executed when the vehicle opening/closing body is moving at a high speed, the vehicle opening/closing body will suddenly stop and the vehicle opening/closing body will vibrate due to the reaction. If a foreign object is caught between the vehicle opening/closing body and the vehicle body, it is necessary to perform a reversal process to reverse the direction of rotation of the vehicle opening/closing body, but the reversal process cannot be performed when the vehicle opening/closing body is vibrating. . Further, the time it takes for the vibrations to subside varies depending on the slope of the road surface, the temperature, the opening degree of the door, etc. For this reason, it is difficult to predict and set the waiting time (short brake output time) from executing the pinch detection process to executing the reversing process, and the waiting time must be set longer than necessary. .

Japanese Patent Application Publication No. 2015-74907

An object of the present invention is to provide an opening/closing control device for a vehicle opening/closing body that can stop the vehicle opening/closing body in a short time.

As a means for solving the above problems, the present invention provides an opening/closing drive unit that opens and closes a vehicle opening/closing body that opens and closes an opening in a vehicle body, and a rotation speed of the vehicle opening/closing body that is set to a preset target speed. The opening/closing drive section is feedback-controlled to automatically open/close the vehicle opening/closing body, and the target speed for automatic opening/closing is one of an acceleration range and a deceleration range, a constant speed range, and one of the acceleration range and the first speed range. a control unit that is executed in the other three stages of the deceleration range, and the control unit is configured such that a difference between the target speed and the rotational speed of the vehicle opening/closing body is set in advance during the automatic opening/closing. When the threshold value is exceeded, a specific process is executed, and the specific process changes the target speed to a target speed for stopping that has a larger degree of deceleration than the deceleration range, and drives the opening/closing drive unit according to the target speed for stopping. Provided is an opening/closing control device for a vehicle opening/closing body, which controls the rotational speed of the vehicle opening/closing body and stops the rotational operation of the vehicle opening/closing body when the rotation speed of the vehicle opening/closing body falls within a preset allowable speed range .

According to this configuration, even if it is detected that the rotation of the vehicle opening/closing body is obstructed, the rotational movement of the vehicle opening/closing body is not immediately stopped, but the rotation speed of the vehicle opening/closing body is sufficiently reduced. I try to slow down and then stop. Therefore, vibrations are less likely to be generated from the vehicle opening/closing body, and the time required for the vehicle opening/closing body to completely stop from the start of stopping the rotational movement can be shortened.

After the specific process is completed, the control unit preferably controls the opening/closing drive unit to perform a reversal process of opening the vehicle opening/closing body.

According to this configuration, the reversing process is performed after the vehicle opening/closing body is stopped smoothly so as not to vibrate, so that the reversing process can be started from a specific process in a short time.

It is preferable that the control section feedback-controls a duty ratio of a PWM signal sent to a drive circuit of the opening/closing drive section so that the rotational speed of the vehicle opening/closing body reaches the target speed.

According to this configuration, the rotational speed of the vehicle opening/closing body can be smoothly reduced, and vibrations can be easily prevented from occurring when the vehicle is stopped.

According to the present invention, even when the vehicle opening/closing body is stopped, its rotational movement is not immediately stopped, but is decelerated and then stopped. Therefore, the vehicle opening/closing body is less likely to vibrate, and as a result, the stopping time can be shortened.

FIG. 2 is a perspective view showing the rear part of the vehicle according to the present embodiment. 2 is a sectional view showing the spindle drive mechanism of FIG. 1. FIG. FIG. 1 is a block diagram showing an opening/closing control device according to the present embodiment. 3 is a flowchart showing an automatic opening process executed by the opening/closing control device of FIG. 2. FIG. 5 is a flowchart showing the authentication process of FIG. 4. FIG. 5 is a flowchart showing the unlocking process of FIG. 4. FIG. 5 is a flowchart showing the opening/closing process of FIG. 4. FIG. 2 is a graph showing the relationship between the opening/closing position and rotational speed of the back door shown in FIG. 1. FIG. 3 is a flowchart showing a pinch detection process executed by the opening/closing control device of FIG. 2. FIG. It is a graph which shows the change of the target speed of a backdoor, and actual rotational speed when performing a pinch detection process by the opening/closing control apparatus based on this embodiment. It is a graph showing changes in the target speed and actual rotational speed of the backdoor when stopping the backdoor using a conventional method.

Embodiments of the present invention will be described below with reference to the accompanying drawings. Note that the following description is essentially just an example, and is not intended to limit the present invention, its applications, or its uses.

As shown in FIG. 1, an opening 2 is formed in the rear part of the vehicle body 1. A back door 3, which is an example of a vehicle opening/closing body, is provided in the opening 2. The back door 3 is rotatably attached to the vehicle body 1 around a support shaft (not shown) provided in the upper part. The back door 3 is rotated by a spindle drive mechanism 4, which is an example of an opening/closing drive unit. That is, the spindle drive mechanisms 4 are arranged on both sides of the back door 3, and are driven to move the back door 3 into a fully open position where the opening 2 is opened around the spindle, and a fully closed position where the opening 2 is closed. Rotate between.

As shown in FIG. 2, each spindle drive mechanism 4 includes a first housing 5 in which an electric motor and the like are housed, and a second housing 6 in which a spindle and the like are housed.

A door-side connecting member 7 is fixed to one end of the first housing 5 . The door side connecting member 7 is rotatably connected to a joint ball 8 provided on the back door 3. An electric motor 9 is housed within the first housing 5 . The rotation speed of the electric motor 9 is detected by a rotation sensor 10. As the rotation sensor 10, a magnetic sensor using a Hall element, an optical sensor using an LED (light emitting diode), a PD (photodiode), or the like can be used. A rotating shaft 9a of the electric motor 9 is connected to a spindle 12 in the second housing 6 via a reduction gear mechanism 11. The other end of the first housing 5 is connected to the second housing 6.

The second housing 6 accommodates a spindle 12 and a spindle nut 13. A spindle nut 13 is screwed onto the spindle 12. The spindle nut 13 reciprocates in the axial direction within the second housing 6 as the spindle 12 rotates forward and backward. The rear end of a cylindrical push rod 14 is fixed to the front end of the spindle nut 13. The front end of an outer cylinder 15 is fixed to the front end of the push rod 14. The push rod 14 and the outer cylinder 15 are arranged coaxially. Between the push rod 14 and the outer cylinder 15, a coil spring 16 is arranged on the outer diameter side, and an inner cylinder 17 is arranged on the inner diameter side. Further, a vehicle body side connecting member 18 is fixed to the front end of the push rod 14. The vehicle body side connecting member 18 is rotatably connected to a joint ball 19 provided on the vehicle body 1.

In the spindle drive mechanism 4, when the electric motor 9 is driven to rotate the rotating shaft 9a in the forward direction, the spindle 12 rotates in the forward direction, and the spindle nut 13 moves toward the other end of the second housing 6. As a result, the amount of protrusion of the outer cylinder 15 and the push rod 14 relative to the second housing 6 increases, and the back door 3 rotates in the opening direction. Furthermore, when the electric motor 9 is driven to reversely rotate the rotating shaft 9a, the spindle nut 13 also rotates in the reverse direction, and the spindle nut 13 moves toward one end of the second housing 6. As a result, the amount of protrusion of the outer cylinder 15 and the push rod 14 with respect to the second housing 6 is reduced, and the back door 3 is rotated in the closing direction.

As shown in FIG. 3, the back door 3 is provided with a door latch device 20, a back door opening/closing device 21, a door open switch 22, a door close switch 23, and the like. Here, the functions are divided into the door open switch 22 and the door close switch 23, but the door open/close switch may have both functions. Furthermore, the door open switch 22 and the door close switch 23 may be a handle switch provided on the outside of the back door 3, a gate switch provided inside, a driver switch located in the driver's seat, etc. (the positions where these switches are provided are particularly limited). ) may be substituted, or an operation switch on the electronic key 26 may be substituted.

The door latch device 20 includes a latch motor 25 that rotates the latch 24 in forward and reverse directions. The rotational position of the latch 24 is detected by a full latch switch 26, a half latch switch 27, a release switch 28, and the like. The full latch switch 26 detects a full latch position where the latch 24 fully engages the striker exposed in the opening 2 of the vehicle body 1. The release switch 28 detects a release position where the latch 24 is in a state where it can be removed from the striker. Half latch switch 27 detects a half latch position between the full latch position and the release position.

A door open switch 22 and a door close switch 23 are provided on the outer surface of the back door 3. When the door open switch 22 or the door close switch 23 is operated, a door open operation signal or a door close operation signal is output to the control device 29. The control device 29 outputs a PWM (Pulse Width Modulation) signal to the spindle drive mechanism 4 based on the door opening operation signal or the door closing operation signal. The spindle drive mechanism 4 receives the PWM signal at the motor drive circuit 30, and controls the electric motor 9 based on the PWM signal to rotate the back door 3 from the fully closed position to the fully open position or vice versa. .

Next, automatic opening processing of the back door 3 will be explained.

As shown in FIG. 4, the automatic opening process of the back door 3 is performed by an authentication process (step S100), an unlocking process (step S200), and an opening/closing process (step S300).

As shown in FIG. 5, in the authentication process, the control device 29 determines whether a door opening operation signal has been received from the door opening switch 22 (step S110). If the door opening operation signal is received, the BCM 30 is requested to authenticate the electronic key (step S111).

Upon receiving the authentication request from the control device 29 (step S120), the BCM 30 requests the electronic key to send an authentication code (step S121). When the BCM 30 receives the authentication code sent from the electronic key (step S122), it compares the received authentication code with a pre-registered regular code (step S123), and sends the comparison result to the control device 29. (Step S124).

In the control device 29, based on the comparison result, if the authentication code and the regular code match (step S112: YES), the unlocking process is executed (step S113), and if they do not match (step S112: NO), the control device 29 executes the unlocking process (step S113). ), the automatic release process ends.

As shown in FIG. 6, in the unlocking process (step S200), a release signal is output to the door latch device 20 (step S201). The door latch device 20 drives the latch motor 25 based on the input release signal. Here, it is determined whether the latch 24 is rotated to the release position by the release switch 28 (step S202). When the latch 24 rotates to the release position and an on signal is input from the release switch 28, the opening/closing process (step S300) is executed. If an on signal is not input from the release switch 28 within a predetermined time, an error is reported as a malfunction has occurred in the door latch device 20 (step S203), and the automatic opening process is ended.

As shown in FIG. 7, in the opening/closing process (step S300), a PWM signal is output to the spindle drive mechanism 4 (step S301) to start the opening operation of the back door 3. During this time, rotational position calculation processing is executed. In the rotation position calculation process, the rotation speed of the electric motor 9 is detected by the rotation sensor 10 (step S302). Then, the rotational position of the back door 3 is calculated based on the rotation speed of the electric motor 9 from the fully closed position of the back door 3 (step S303).

In this embodiment, the rotation sensor 10 is provided in one spindle drive mechanism 4, and the other spindle drive mechanism 4 outputs an output to the motor drive circuit 30 based on the rotation speed detected by the rotation sensor 10. The duty ratio of the PWM signal is feedback-controlled. However, the rotation sensor 10 may be provided in both spindle drive mechanisms 4, the average value of the detected rotational speeds may be calculated, and control may be performed for each spindle drive mechanism 4. Further, both spindle drive mechanisms 4 may be feedback-controlled based on the average value calculated by both.

The opening operation of the back door 3 is performed from a fully closed position to a fully open position in three stages: an acceleration range, a constant speed range, and a deceleration range. In the graph of FIG. 8, the horizontal axis is the opening/closing position of the back door 3 (rotation speed of the electric motor 9), and the vertical axis is the rotation speed of the back door 3 (rotation speed of the electric motor 9: rotational speed of the rotating shaft 9a per unit time). rotation speed). The origin O is the fully closed position, the right end X is the fully open position, the right triangle on the left is the acceleration area, the rectangle in the center is the constant speed area, and the right triangle on the right is the deceleration area. A trapezoidal graph shows changes in the target speed TS.

In the acceleration range, the target speed TS is set to an acceleration target speed ATS in which the rotation speed gradually increases with respect to the rotation speed of the electric motor 9. Then, the duty ratio of the PWM signal output to the motor drive circuit 30 is feedback-controlled so that this acceleration target speed ATS is obtained. As a result, the back door 3 rotates while accelerating from a stopped state.

In the constant speed range, the target speed TS is set to a constant speed target speed CTS in which the rotational speed of the electric motor 9 is maintained at a constant value. Then, the duty ratio of the PWM signal output to the motor drive circuit 30 is feedback-controlled so that the constant speed target speed CTS is obtained. Thereby, the back door 3 rotates at a constant speed.

In the deceleration region, the target speed TS is set to a deceleration target speed DTS at which the rotational speed of the electric motor 9 gradually decreases. Then, the duty ratio of the PWM signal output to the motor drive circuit 30 is feedback-controlled so that this target speed for deceleration DTS is obtained. As a result, the rotational speed of the back door 3 gradually decreases until it stops at the fully open position.

If it is determined that the back door 3 has rotated to the fully open position as described above (step S304), the output of the PWM signal to the electric motor 9 of the spindle drive mechanism 4 is stopped (step S305), and the door is automatically opened. Finish the process. Note that whether or not the back door 3 has rotated to the fully open position can be determined based on, for example, the rotation position of the back door 3 calculated in step S303, the elapsed time from the start of driving the electric motor 9, etc. good.

Note that the automatic closing process of the back door 3 is the same as the automatic opening process described above, except that the rotation direction of the back door 3 is different, and the same control is performed in the three stages of acceleration range, constant speed range, and deceleration range. This is done by Therefore, a description of the automatic closing process will be omitted here.

If the back door 3 collides with an obstacle during the automatic opening process, or if a foreign object gets caught between the back door 3 and the vehicle body 1 during the automatic closing process, proceed as follows. A pinch detection process for the back door 3 is executed, and a reversal process is executed as described later.

First, a description will be given of the jamming detection process of the back door 3 when a foreign object is caught between the back door 3 and the vehicle body 1 during execution of the automatic closing process.

As shown in FIG. 9, in the entrapment detection process, the actual (current) rotational position of the back door 3 and the target speed at the actual rotational position are read (step S401). Furthermore, the actual rotation speed of the back door 3 at this time is read (step S402). The actual rotational position of the back door 3 is obtained from the number of rotations of the electric motor 9 from the fully closed position or the fully open position of the back door 3. The actual rotation speed of the back door 3 is obtained from the rotation speed of the electric motor 9.

The difference between the target speed and the actual rotational speed is calculated (step S403). Then, it is determined whether this speed difference exceeds a preset threshold (step S404). The threshold value may be a value that exceeds the range in which the rotational speed S of the electric motor 9 changes when the back door 3 is normally opened and closed. If the rotational speed S of the electric motor 9 varies by (±α) with respect to the target speed TS, the threshold value TL may be set to satisfy TL>|TS−S|+α.

If the speed difference exceeds the threshold, it is determined that the rotation speed of the back door 3 is slow and the rotation operation of the back door 3 is hindered for some reason, and the rotation operation of the back door 3 is determined as follows. and stop it. For example, when the back door 3 is automatically closed, a foreign object may be caught between the back door 3 and the vehicle body 1, causing the back door 3 to stop rotating midway. The door may not be able to be rotated in the closing direction. Further, when the automatic opening process of the back door 3 is being executed, the ceiling of the garage or the like may come into contact with the back door 3 and the back door cannot be rotated any further in the door opening direction.

To stop the rotation of the back door 3, the target speed TS is changed to a preset target speed for stopping STS, and the rotation speed is gradually decelerated (step S405). The target speed for stopping STS is the degree of decrease in rotational speed relative to the rotational speed of the electric motor 9 (degree of deceleration) than the target speed for deceleration DTS when the rotational speed of the back door 3 is reduced in the deceleration region of automatic opening/closing processing. is set large. However, the degree of deceleration is set smaller than the degree of deceleration that would occur if the vehicle were to be stopped immediately. Thereby, the rotational speed of the back door 3 can be reduced smoothly and without difficulty.

If the rotational speed of the back door 3 is sufficiently reduced and falls within the allowable speed range (step S406), the rotational movement is completely stopped (step S407). Here, the permissible speed range includes a state in which the rotational movement of the backdoor 3 is completely stopped, and a state in which the vibration generated in the backdoor 3 is within the permissible range even if the rotational movement of the backdoor 3 is stopped. This includes the state of being suppressed. Further, the permissible range of vibration means a range in which there is almost no vibration of the back door 3, or even if there is vibration, it does not cause problems in the reversing process described later.

If the back door 3 stops, then the back door 3 is reversed.

In the process of reversing the back door 3, a PWM signal is output to the motor drive circuit 30 to rotate the electric motor 9 in the reverse direction. The reason why the back door 3 is normally rotated in the opposite direction is when a foreign object is caught in the pinch detection process, so it is necessary to rotate the back door in the opposite direction. In particular, if the trapped foreign object is a person, the trapped state must be resolved immediately. Therefore, a target speed in the reversing process (reverse target speed) is set, and the duty ratio of the PWM signal output to the motor drive circuit 30 is increased or decreased by feedback control so that the back door 3 rotates at the reverse target speed. Thereby, control can be performed according to the user's intention. That is, it is possible to quickly eliminate a foreign object, particularly a state in which a part of the body is trapped by the foreign object. Although it is not necessary to completely rotate the back door 3 to the fully open position in the reversing process, it is preferable to rotate the back door 3 to a position where the jammed state can be sufficiently eliminated so that the jammed state does not occur again.

FIG. 10 shows changes in the target speed TS and the actual rotation speed RS when the back door 3 is rotated by the automatic opening process, stopped by the pinch detection process, and restarted by the reversal process. . Further, FIG. 11 shows a change in the target speed and the actual speed when the back door 3 is rotated by the automatic opening process and immediately stopped without executing the entrapment detection process.

As shown in FIG. 11, when the rotation of the back door 3 is immediately stopped (the pinch detection process is immediately executed without performing feedback control according to the target speed TS shown by the solid line), the rotation of the back door 3 is It can be seen that the rotational speed RS of changes as shown by the dashed line, and the back door 3 vibrates greatly. In re-driving, that is, reversing driving, while the back door 3 is vibrating, even if feedback control is attempted, the disturbance is large and the speed is unstable, so it cannot be performed normally. Therefore, it is necessary to wait until the vibrations subside. Therefore, sufficient time is secured for re-driving the electric motor 9, which is longer than the time required for the vibrations of the back door 3 to subside.

On the other hand, as shown in FIG. 10, when the rotation of the back door 3 is stopped by the pinch detection process, the rotation speed RS (indicated by a dashed-dotted line) is gradually decreased according to the target speed TS (indicated by a solid line). Although some time is required for this to occur, the rotational speed RS of the back door 3 hardly fluctuates, that is, vibrates thereafter. Therefore, the waiting time until the electric motor 9 is driven again can be set short, and the time required for the back door 3 to rotate again after it stops rotating can be shortened as a whole.

Note that the present invention is not limited to the configuration described in the above embodiments, and various changes are possible.

In the embodiment described above, the back door 3 is stopped while being decelerated. However, if the rotation speed is equal to or lower than a preset speed, there is no need to decelerate, so the rotation operation is stopped immediately. You can also do this. Whether or not the rotation speed of the back door 3 is equal to or lower than the set speed may be determined based on the rotation speed of the rotation shaft 9a of the electric motor 9 detected by the rotation sensor 10. If the detected rotational speed is smaller than a preset value, the rotational speed of the back door 3 may be stopped immediately without decelerating.

In the embodiment described above, a case has been described in which the opening and closing of the back door 3 is controlled as an example of a vehicle opening and closing body, but opening and closing of other types of doors such as a sliding door and a gull wing can be similarly controlled.

In the embodiment described above, a case has been described in which two spindle drive mechanisms 4 are provided, but even if one or three or more spindle drive mechanisms are provided, the opening/closing control may be performed in the same manner.

In the embodiment described above, each of the above-mentioned processes is executed by software, but it is also possible to use hardware to execute these processes.

1... Vehicle body 2... Opening 3... Back door 4... Spindle drive mechanism 5... First housing 6... Second housing 7... Door side connecting member 8... Joint ball 9... Electric motor 10... Rotation sensor 11... Reduction gear mechanism 12 ...Spindle 13...Spindle nut 14...Push rod 15...Outer tube 16...Coil spring 17...Inner tube 18...Vehicle body side connection member 19...Joint ball 20...Door latch device 21...Back door opening/closing device 22...Door opening switch 23...Door Close switch 24...Latch 25...Latch motor 26...Full latch switch 27...Half latch switch 28...Release switch 29...Control device 30...Motor drive circuit

Claims (3)

an opening/closing drive unit that opens and closes a vehicle opening/closing body that opens and closes an opening in the vehicle body;
The opening/closing drive section is feedback -controlled to automatically open/close the vehicle opening/closing body so that the rotational speed of the vehicle opening/closing body reaches a preset target speed, and the target speed of the automatic opening/closing is set in an acceleration range and a deceleration range. a control unit that is executed in three stages, one of which is a constant speed region, and the other of the acceleration region and the first deceleration region ;
Equipped with
The control unit executes a specific process when a difference between the target speed and the rotational speed of the vehicle opening/closing body exceeds a preset threshold during the automatic opening/closing,
The specific processing includes changing the target speed to a target speed for stopping that has a larger degree of deceleration than the deceleration range, controlling drive of the opening/closing drive unit according to the target speed for stopping, and controlling the rotation of the vehicle opening/closing body. An opening/closing control device for a vehicle opening/closing body that stops the rotating operation of the vehicle opening/closing body when the speed falls within a preset allowable speed range . 2. The opening/closing control device for a vehicle opening/closing body according to claim 1, wherein, after the specific process is completed, the control unit drives and controls the opening/closing drive unit to perform a reversal process for opening the vehicle opening/closing body. . The controller according to claim 1 or 2 , wherein the control unit performs feedback control on a duty ratio of a PWM signal transmitted to a drive circuit of the opening/closing drive unit so that the rotational speed of the vehicle opening/closing body reaches the target speed. Opening/closing control device for vehicle opening/closing body.

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