JP7377666B2 - 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.

In the opening/closing control of the vehicle opening/closing body, the vehicle opening/closing body may be stopped in the middle of the opening/closing operation, and then restarted from the stopped position. In this case, depending on the degree of opening of the vehicle opening/closing body, the torque may be large and the opening/closing body may not rotate, or the torque may be small and the opening/closing body may rotate faster than necessary. Furthermore, this torque varies depending on the slope of the road surface, the environmental temperature, and the opening degree of the door, and is not stable.

Conventionally, a method has been proposed in which the rotational speed of a back door, which is a vehicle opening/closing body, is reduced by changing the duty ratio of a PWM signal at a constant rate (see Patent Document 1).

However, conventional opening/closing control only changes the drive speed of the motor by changing the duty ratio of the PWM signal, and in reality, it is difficult to stably open/close the vehicle opening/closing body at a predetermined speed. . Furthermore, no consideration is given to the case where the rotational movement of the vehicle opening/closing body is accelerated. For this reason, it is not possible to appropriately control the opening and closing of the vehicle opening and closing body.

Japanese Patent Application Publication No. 2017-166252

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

As a means for solving the above problems, the present invention provides an opening/closing drive unit that drives a vehicle opening/closing body to open/close, and an opening/closing drive unit that drives the vehicle opening/closing body to change its rotational speed at a preset target speed. a control unit that executes an opening/closing process that performs feedback control, and the opening/closing process rotates the vehicle opening/closing body while accelerating the vehicle opening/closing body when the vehicle opening/closing body rotates between a fully closed position and a fully open position. The opening/closing process is executed in an acceleration region, a constant speed region in which the vehicle opening/closing body is rotated at a constant speed, and a deceleration region in which the vehicle opening/closing body is rotated while being decelerated. When executing a re-driving process for re-driving the vehicle opening/closing body after the interruption, the rotating speed of the vehicle opening/closing body changes at a re-driving speed that reaches the constant speed in a preset re-driving time. An opening/closing control device for a vehicle opening/closing body that performs feedback control on the opening/closing drive unit, and wherein the re-driving time is shorter than the time from the start of the acceleration range in the opening/closing process until the vehicle opening/closing body reaches the constant speed. provide.

According to this configuration, the re-driving speed of the vehicle opening/closing body can be returned to the target speed in the constant speed range within the re-driving time. Therefore, it is possible to smoothly control opening and closing by eliminating the influence of torque received during the opening and closing operations of the vehicle opening and closing body.

Preferably, the control unit switches to the opening/closing process when the re-driving speed in the re-driving process reaches a target speed in the acceleration range.

Preferably, the control unit switches to the opening/closing process when the re-driving speed in the re-driving process reaches a target speed in the deceleration region.

According to these configurations, it is possible to set an appropriate rotation speed and return to the original opening/closing control at an early stage.

As a means for solving the above problems, the present invention provides an opening/closing drive unit that drives a vehicle opening/closing body to open/close, and an opening/closing drive unit that drives the vehicle opening/closing body to change its rotational speed at a preset target speed. a control unit that executes an opening/closing process that performs feedback control, and the opening/closing process includes rotating the vehicle opening/closing body while accelerating the vehicle opening/closing body when the vehicle opening/closing body rotates between a fully closed position and a fully open position. A constant speed range in which the vehicle opening/closing body is rotated at a constant speed, and a deceleration region in which the vehicle opening/closing body is rotated while decelerating, and the control unit When executing a stop process to stop the opening/closing operation of the vehicle opening/closing body based on the above, the opening/closing drive section is fed back so that the vehicle opening/closing body at a constant speed changes at a stopping speed such that the vehicle opening/closing body stops in a preset stopping time. The present invention provides an opening/closing control device for a vehicle opening/closing body in which the stop time is shorter than the time from the start of the deceleration region in the opening/closing process until the vehicle opening/closing body stops.

According to this configuration, the opening/closing operation of the vehicle opening/closing body can be stopped quickly within a preset stopping time, and the influence of torque can be eliminated and opening/closing control can be performed smoothly.

When the stop process is executed in the acceleration range, the control unit performs feedback control on the opening/closing drive unit so that the rotational speed of the vehicle opening/closing body changes at the stop speed from the start of the stop process. It is preferable to do so.

According to this configuration, the rotation of the vehicle opening/closing body can be stopped early even in the acceleration range.

When the stop process is executed in the deceleration region, the control unit feedback-controls the opening/closing drive unit so that the rotational speed of the vehicle opening/closing body changes at the stop speed from the start of the stop process. It is preferable to do so.

According to this configuration, the rotation of the vehicle opening/closing body can be stopped early beyond the degree of deceleration in the deceleration region.

According to the present invention, feedback control is performed so that the rotational speed of the vehicle opening/closing body changes at the redriving speed through the re-driving process, thereby eliminating the influence of torque and smoothly controlling the opening/closing of the vehicle opening/closing body. You can make it happen.

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 rotation speed in the opening/closing process of the back door shown in FIG. 1. FIG. 3 is a flowchart showing a stop process executed by the opening/closing control device of FIG. 2. FIG. 9 is a graph showing changes when a stop process is executed in the opening/closing process of FIG. 8. 3 is a flowchart showing a re-driving process executed by the opening/closing control device of FIG. 2. FIG. 9 is a graph showing changes when re-driving processing is executed in the opening/closing processing of FIG. 8;

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 9 and the like are housed, and a second housing 6 in which a spindle 12 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. Further, the door open switch 22 and the door close switch 23 may be replaced by a handle switch provided on the outside of the back door 3 or a gate switch provided inside. Furthermore, the positions where these switches are provided are not particularly limited.

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.

The door open switch 22 and the door close switch 23 are provided on the outer surface of the back door 3 (see FIG. 1). 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. .

The back door opening/closing device 21 includes a control device 29 consisting of a microcomputer, an input/output circuit, and the like. The control device 29 is connected to a spindle drive mechanism 4, a door latch device 20, a door close switch 23, a door open switch 22, a BCM 31 (Body Control Module), and the like.

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 both spindle drive mechanisms 4 may be feedback-controlled based on the calculated average value. .

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 represents the opening/closing position of the back door 3 (rotational speed of the electric motor 9), and the vertical axis represents the rotation speed of the back door 3 (rotational speed of the electric motor 9). 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.

When the rotation of the back door 3 is forcibly stopped during the automatic opening process, the back door 3 is stopped as follows.

As shown in FIG. 9, the back door 3 stopping process (step S400) stops driving the electric motor 9 based on an opening/closing start request such as an input signal from the door close switch 23 (step S401). It can be determined that the reason for forcibly stopping the rotation of the back door 3 during execution of the automatic opening process is when the user wants to stop the rotation earlier than usual. Therefore, in each of the speed ranges, the time required to stop the rotation of the back door 3 is shortened as follows.

When stopping the back door 3 in a constant speed range, the back door 3 is stopped for a preset stopping time that is sufficiently shorter than stopping the back door 3 in the deceleration range of normal opening operation. That is, as shown by the two-dot chain line in FIG. 10, a target speed DTS for deceleration is set so that the back door 3 can be stopped within the stop time (step S402). Then, the PWM signal output to the motor drive circuit 30 is feedback-controlled so that the rotational speed of the electric motor 9 changes at this deceleration target speed DTS (step S403), and the duty ratio is decreased. Thereby, the backdoor 3 can be stopped in a shorter time than usual from the start of the stopping process.

When stopping the backdoor 3 in the middle of the acceleration range or deceleration range, the rotational speed of the electric motor 9 does not reach the rotational speed in the constant speed range (indicated by point P1 in FIG. 10) or decreases from there. (Indicated by point P2 in FIG. 10). In this case, the rotational speed of the electric motor 9 is changed in accordance with the target speed for deceleration RS, similar to the case where the electric motor 9 is stopped in the constant speed range from the points P1 and P2. That is, the degree of change in the rotational speed of the electric motor 9 in the acceleration range or the deceleration range is changed to the same degree of change as in the case where the stop processing is executed in the constant speed range. Thereby, the time required to stop the rotation of the back door 3 can be shortened in either the acceleration range or the deceleration range.

When the back door 3 is stopped mid-rotation as described above, it is necessary to restart the rotation in response to the user's operation. In this embodiment, the backdoor 3 is re-driven as follows.

As shown in FIG. 11, the back door 3 re-driving process (step S500) re-drives the electric motor 9 based on an opening/closing start request such as an input signal from the door open switch 22 (step S501). That is, the voltage applied to the electric motor 9 is feedback-controlled in the following manner so that the target speed for constant speed in the opening/closing process is reached in a short time.

A re-drive target speed is set so that the normal target speed is reached in a preset re-drive time from the start of re-drive (step S502), and output is output to the motor drive circuit 30 so that this re-drive target speed is obtained. The PWM signal is feedback-controlled (step S503), and the duty ratio of the PWM signal is increased. The re-driving time is set to be shorter than when opening the back door 3 in the acceleration range of the normal opening operation.

When re-driving the electric motor 9 from a state in which the back door 3 is stopped in the middle of the acceleration range (indicated by point P3 in FIG. 12), the target speed (constant speed The target speed of the electric motor 9 to be redriven (redrive target speed RDTS) reaches the target speed in the acceleration region (acceleration region target speed ATS) before reaching the target speed in the acceleration region (target speed ATS in the acceleration region) (point in FIG. 12). (Denoted as P4). Therefore, if the rotational speed reaches the acceleration target speed during the re-driving process (step S504), then feedback control is performed according to the acceleration range target speed ATS (step S505). By the re-driving process, the back door 3 can be returned to the same state as when automatically opening the back door 3 in a short time.

When re-driving the electric motor 9 from the state where the back door 3 is stopped in the constant speed range (indicated by point P5 in FIG. 12), feedback control is performed according to the re-drive target speed RDTS, and the constant speed range target speed CTS is controlled. After reaching this point (indicated by point P6 in FIG. 12), the normal opening operation is resumed.

When re-driving the electric motor 9 from a state in which the back door 3 is stopped in the middle of the deceleration region (indicated by point P7 in FIG. 12), the time required for re-driving the back door 3 is sufficiently shorter than that for opening the back door 3 in the normal opening operation. Feedback control is performed so that it can be rotated to the fully open position. Here, as described above, the redrive target speed RDTS is set so that the normal target speed is reached in a preset redrive time from the start of redrive, and the electric motor is set so that the redrive target speed RDTS is obtained. The voltage applied to 9 is feedback controlled. If the target speed for deceleration DTS is reached during the re-driving process (indicated by point 8 in FIG. 12), the voltage applied to the electric motor 9 is feedback-controlled so that the target speed for deceleration DTS is obtained. . Furthermore, if the back door 3 reaches the fully open position during the re-driving process, the drive of the electric motor 9 may be forcibly stopped.

Note that the automatic closing process of the back door 3 is performed from the fully closed position to the fully open position in three stages: an acceleration range, a constant speed range, and a deceleration range, similarly to the automatic opening process described above, and the electric motor 9 is activated in each speed range. Drive control is performed in the same manner as described above. Therefore, a description of the automatic closing process of the back door 3 will be omitted.

According to the opening/closing control device for a vehicle opening/closing body according to the embodiment, the following effects can be obtained.
(1) By executing the process of stopping the back door 3, the opening/closing operation can be stopped in a shorter time than usual.
(2) By executing the re-driving process of the back door 3, it is possible to return to the normal opening/closing process in a short time.
(3) Regardless of the magnitude of the torque required to rotate the back door 3, the rotation can be reliably stopped or re-driven within a preset time. For example, when opening and closing the back door 3 from a state where it is parked or stopped in the middle of a slope, stopping it in the middle of opening and closing, or re-driving it after stopping, the torque required to rotate the back door 3 is This is different from the case on flat land. Even in this case, by setting a target speed and performing feedback control so that the back door 3 rotates at that target speed, it is possible to reliably stop the rotation or restart the rotation at a preset time. can.

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

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 one may be the spindle mechanism of the present invention, and the other may be a damper mechanism such as a gas spring that does not include an electric motor 5, and the opening and closing may be controlled in the same manner. You can also do this.

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 (vehicle opening/closing body)
4...Spindle drive mechanism (opening/closing drive part)
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 cylinder 16... Coil spring 17...Inner cylinder 18...Vehicle body side connection member 19...Joint ball 20...Door latch device 21...Back door opening/closing device 22...Door open switch 23...Door close switch 24...Latch 25...Latch motor 26...Full latch switch 27... Half latch switch 28...Release switch 29...Control device (control unit)
30...Motor drive circuit 31...BCM

Claims (6)

an opening/closing drive unit that drives the vehicle opening/closing body to open/close;
a control unit that performs an opening/closing process that performs feedback control of the opening/closing drive unit so that the rotational speed of the vehicle opening/closing body changes at a preset target speed;
Equipped with
The opening/closing process includes an acceleration range in which the vehicle opening/closing body rotates while accelerating the vehicle opening/closing body when the vehicle opening/closing body rotates between a fully closed position and a fully open position, and an acceleration range in which the vehicle opening/closing body rotates at a constant speed. It is executed in a constant speed region and a deceleration region in which the vehicle opening/closing body is rotated while decelerating,
When executing a re-driving process for re-driving the vehicle opening/closing body after interrupting the opening/closing process, the control unit may cause the rotational speed of the vehicle opening/closing body to reach the constant speed in a preset re-driving time. feedback- controlling the opening/closing drive unit so as to change at a re-driving speed;
The re-driving time is shorter than the time from the start of the acceleration range in the opening/closing process until the vehicle opening/closing body reaches the constant speed. The opening/closing control device for a vehicle opening/closing body according to claim 1, wherein the control unit switches to the opening/closing process when the redriving speed in the redriving process reaches a target speed in the acceleration range. The opening/closing control device for a vehicle opening/closing body according to claim 1, wherein the control unit switches to the opening/closing process when the redriving speed in the redriving process reaches a target speed in the deceleration region. an opening/closing drive unit that drives the vehicle opening/closing body to open/close;
a control unit that performs an opening/closing process that performs feedback control of the opening/closing drive unit so that the rotational speed of the vehicle opening/closing body changes at a preset target speed;
Equipped with
The opening/closing process includes an acceleration range in which the vehicle opening/closing body rotates while accelerating the vehicle opening/closing body when the vehicle opening/closing body rotates between a fully closed position and a fully open position, and an acceleration range in which the vehicle opening/closing body rotates at a constant speed. It is executed in a constant speed region and a deceleration region in which the vehicle opening/closing body is rotated while decelerating,
When executing a stop process of stopping the opening/closing operation of the vehicle opening/closing body based on a stop signal, the control unit may change the speed so that the constant speed of the vehicle opening/closing body stops at a preset stop time. Feedback control of the opening/closing drive section,
The stop time is shorter than the time from the start of the deceleration region in the opening/closing process until the vehicle opening/closing body stops. When the stop process is executed in the acceleration range, the control unit performs feedback control on the opening/closing drive unit so that the rotational speed of the vehicle opening/closing body changes at the stop speed from the start of the stop process. The opening/closing control device for a vehicle opening/closing body according to claim 4. When the stop process is executed in the deceleration region, the control unit feedback-controls the opening/closing drive unit so that the rotational speed of the vehicle opening/closing body changes at the stop speed from the start of the stop process. The opening/closing control device for a vehicle opening/closing body according to claim 4.

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