JP7413905B2 - Vehicle opening/closing body control device - Google Patents

Description

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

Patent Document 1 describes a vehicle that includes a vehicle body having a roof provided with an opening and a sunroof device mounted on the roof. The sunroof device includes a sliding roof that opens and closes the opening, a motor that drives the sliding roof, a pulse generating means that outputs pulses according to the amount of rotation of the motor, and a motor that controls the motor based on the pulses output by the pulse generating means. and a control section. The range of movement of the sliding roof includes a locked position on the closed side where the sliding roof cannot be moved in the closing direction due to mechanical contact, and a locked position on the open side where the sliding roof cannot be moved in the opening direction due to mechanical contact. and are included.

Then, when operating the sliding roof to close, the control unit stops the sliding roof at a fully closed position before the locking position on the closing side, and when operating the sliding roof to open, stopping the sliding roof at the locking position on the open side. Stop the sliding roof at the fully open position before this point. Specifically, the control unit stores pulse information corresponding to the fully closed position and the fully open position, and compares the pulse information with a value obtained by counting the pulses output when the sliding roof is opened/closed. Determine whether the fully closed position or the fully open position has been reached.

Japanese Patent Application Publication No. 2005-290939

In the sunroof device as described above, there may be a discrepancy between the fully closed position and fully open position stored in the control unit and the actual fully closed position and fully open position due to aging or the like. In this case, it is preferable that the control section corrects the pulse information according to the fully closed position and the fully open position stored in the control section.

Incidentally, this situation is generally common to a control device for a vehicle opening/closing body that opens and closes the opening/closing body based on pulses corresponding to the amount of rotation of a motor. An object of the present invention is to provide a control device for a vehicle opening/closing body that can correct information necessary for opening/closing operations of the opening/closing body.

Below, means for solving the above problems and their effects will be described.
A control device for a vehicle opening/closing body that solves the above problem includes an opening/closing body that opens and closes an opening of a vehicle, a motor that drives the opening/closing body, and a fully open position where the opening/closing body fully opens the opening. The present invention is applied to a vehicle opening/closing device that includes a variable position in which the load of the motor varies within an operating range between a fully closed position where the opening/closing body fully closes the opening, and is set within the operating range of the opening/closing body. an acquisition unit that acquires the position of the opening/closing body based on the origin position; a storage unit that stores the fully closed position, the fully open position, and the variable position based on the origin position; The opening/closing body is opened and closed between the fully closed position and the fully open position by controlling the motor based on the position of the opening/closing body and the fully closed position and the fully open position stored in the storage unit. a control section to operate, and the variable position stored in the storage section as a first variable position, and the variable position acquired by the acquisition section during the opening/closing operation of the opening/closing body after the first variable position is stored. is the second variable position, and if there is a positional deviation between the first variable position and the second variable position, the fully closed position and the fully open position are stored in the storage unit based on the positional deviation. A correction unit that performs a correction process to correct the position.

In a vehicle opening/closing device to which the control device having the above configuration is applied, when opening/closing the opening/closing body, the opening/closing body passes through a variable position where the load of the motor varies. In the vehicle opening/closing device, if a positional deviation occurs between the first variable position stored in the storage unit and the second variable position acquired when the opening/closing body is operated to open/close, the storage unit A positional shift also occurs between the fully closed and fully open positions stored by the controller and the actual fully closed and fully open positions.

In this regard, when there is a positional deviation between the first variable position and the second variable position, the control device performs the correction process based on the positional deviation between both positions. Therefore, when the control device opens and closes the opening/closing body, it is possible to prevent the opening/closing body from stopping at a position that deviates from the actual fully closed position and full open position. In this way, the control device can correct the information necessary for the opening/closing operation of the opening/closing body.

In the control device for a vehicle opening/closing body, the fluctuation position is a fluctuation start position at which the load of the motor starts to fluctuate when the opening/closing body is opened or closed, and the first fluctuation position is changed to a first fluctuation position. and the second fluctuation position is set as a second fluctuation start position, and the correction unit adjusts the first fluctuation position when a positional deviation occurs between the first fluctuation start position and the second fluctuation start position. Preferably, the correction process is performed based on a difference between the start position and the second fluctuation start position.

The fluctuation start position where the motor load starts to fluctuate is more likely to be clear than the fluctuation end position where the motor load ends to fluctuate. Therefore, the control device for the vehicle opening/closing body can accurately determine whether or not there is a positional shift between the first fluctuation start position and the second fluctuation start position. Further, the control device for the vehicle opening/closing body can accurately perform the correction process based on the difference between the first fluctuation start position and the second fluctuation start position.

In the vehicle opening/closing body control device, the vehicle opening/closing device includes a plurality of variable positions within an operating range of the opening/closing body between the fully closed position and the fully open position, and the storage unit stores a plurality of the first variable positions, and when a positional shift occurs between the plurality of first variable positions and the plurality of second variable positions, the correction unit corrects the positional shift. It is preferable to perform the correction processing based on the above.

The control device configured as described above performs the correction process based on the positional deviations of the plurality of first variable positions and the plurality of second variable positions, and therefore can perform the correction process with high accuracy.
In the control device for a vehicle opening/closing body, the fluctuation position includes a fluctuation start position at which the load of the motor starts to fluctuate and a fluctuation position at which the load of the motor ends when the opening/closing body is opened or closed. an end position, the first fluctuation position includes a first fluctuation start position corresponding to the fluctuation start position, a first fluctuation end position corresponding to the fluctuation end position, and the second fluctuation position includes a second fluctuation start position corresponding to the fluctuation start position and a second fluctuation end position corresponding to the fluctuation end position, and the correction unit is configured to adjust the first fluctuation start position and the second fluctuation start position. If a positional shift occurs in the position and a positional shift occurs in the first variation end position and the second variation end position, the difference between the first variation start position and the second variation start position and the first variation end position. Preferably, the correction process is performed based on an average value between the position and the difference between the second variation end position.

The control device for a vehicle opening/closing body configured as described above performs a correction process based on the average value of the difference between the first fluctuation start position and the second fluctuation start position and the difference between the first fluctuation end position and the second fluctuation end position. In terms of implementation, the correction process can be performed with higher accuracy.

In the control device for a vehicle opening/closing body, the fluctuation position includes a plurality of fluctuation start positions at which the load of the motor starts to fluctuate when the opening/closing body is opened or closed, and the first fluctuation position is , the correction unit includes a plurality of first fluctuation start positions corresponding to the plurality of fluctuation start positions, the second fluctuation position includes a plurality of second fluctuation start positions corresponding to the plurality of fluctuation start positions, and the correction unit If a positional shift occurs between the plurality of first fluctuation start positions and the plurality of second fluctuation start positions, it is preferable to perform the correction process based on the positional deviation.

The control device for a vehicle opening/closing body configured as described above performs correction processing based on the respective positional deviations between the plurality of first fluctuation start positions and the plurality of second fluctuation start positions, so that the correction processing is performed with high accuracy. can be carried out.

In the above-described control device for a vehicle opening/closing body, when a positional shift occurs between the plurality of first fluctuation start positions and the plurality of second fluctuation start positions, the correction unit is configured to It is preferable that the correction process is performed based on an average value of the differences between the fluctuation start position and the plurality of second fluctuation start positions.

The control device for a vehicle opening/closing body configured as described above can easily calculate the respective positional deviations between the plurality of first fluctuation start positions and the plurality of second fluctuation start positions as an average value of the differences.
In the above-mentioned control device for a vehicle opening/closing body, the control unit is configured to change the first variation when performing an initialization process for storing the fully closed position and the fully open position based on the origin position in the storage unit. Preferably, the position is stored in the storage section.

The control device having the above configuration can store accurate variable positions in the storage unit by performing initialization processing, for example, when the vehicle opening/closing device is shipped. In this case, the control device can perform the correction process with high accuracy.

In the control device for a vehicle opening/closing body, it is preferable that the correction unit does not perform the correction process when the opening/closing body is closed.
When the opening/closing body operates to close, there is a risk that the load on the motor may fluctuate at a position different from the actual fluctuating position due to a foreign object being caught. In other words, there is a possibility that the accuracy of obtaining the second variable position may be reduced. In this regard, since the control device having the above configuration does not perform the correction process during the closing operation of the opening/closing body, it is possible to suppress the correction process from being performed erroneously.

In the control device for a vehicle opening/closing body, it is preferable that the correction section does not perform the correction process when the vehicle is running.
When the opening/closing body opens and closes while the vehicle is running, the load on the motor may vary at a position different from the actual position due to vibrations, traveling wind, etc. acting on the opening/closing body. In this regard, since the control device configured as described above does not perform the correction process while the vehicle is running, it is possible to prevent the correction process from being performed erroneously.

A control device for a vehicle opening/closing body can correct information necessary for opening/closing operations of the opening/closing body.

FIG. 1 is a plan view of a vehicle equipped with a sunroof device according to a first embodiment. FIG. 3 is a side view of the sunroof device when the movable panel is placed in the fully closed position in the first embodiment. FIG. 3 is a side view of the sunroof device when the movable panel is placed in the tilt-up position in the first embodiment. FIG. 2 is a side view of the sunroof device when the movable panel is placed in the fully open position in the first embodiment. FIG. 3 is a schematic diagram showing the operating range of the movable panel of the first embodiment. 7 is a graph showing an example of a variation in motor load during the opening operation of the movable panel in the first embodiment. 5 is a flowchart illustrating the flow of processing performed by the control device during the opening operation of the movable panel in the first embodiment. 5 is a flowchart illustrating the flow of processing performed by the control device in order to perform correction processing in the first embodiment. 7 is a graph showing an example of a variation in motor load during the opening operation of the movable panel in the first embodiment. 7 is a graph illustrating an example of a change in motor load during an opening operation of a movable panel in the second embodiment. 7 is a flowchart illustrating the flow of processing performed by the control device to perform correction processing in the second embodiment. 7 is a graph illustrating an example of a change in motor load during an opening operation of a movable panel in the second embodiment. The graph which shows an example of the variation of the load of a motor at the time of the opening operation of a movable panel in the example of a change.

(First embodiment)
Hereinafter, a vehicle equipped with a control device for a vehicle opening/closing body according to a first embodiment will be described with reference to the drawings. In the following description, the axis extending in the width direction of the vehicle is indicated by the X-axis, the axis extending in the longitudinal direction of the vehicle is indicated by the Y-axis, and the axis extending in the vertical direction of the vehicle is indicated by the Z-axis.

As shown in FIG. 1, the vehicle 10 includes a vehicle body 20 in which a roof 21 is provided with a roof opening 22, a base frame 30 that partitions the roof opening 22, a sunroof device 40 mounted on the roof 21, and a sunroof device. The sunroof device 40 includes an operation switch SW that is operated when the sunroof device 40 is activated, and a control device 100 that controls the sunroof device 40.

The roof opening 22 has a substantially rectangular shape with the width direction being the longitudinal direction and the front and rear direction being the lateral direction, when viewed from above. The roof opening 22 corresponds to an example of a "vehicle opening." The base frame 30 includes a pair of guide rails 31 extending in the front-rear direction, a front housing 32 extending in the width direction, and a center frame 33 extending in the width direction behind the front housing 32. The front housing 32 connects the front end portions of the pair of guide rails 31, and the center frame 33 connects the intermediate portions of the pair of guide rails 31 in the front-rear direction. In this way, the pair of guide rails 31, the front housing 32, and the center frame 33 define the roof opening 22.

Next, the sunroof device 40 will be explained.
As shown in FIGS. 1 and 2, the sunroof device 40 includes a movable panel 50 that opens and closes the roof opening 22, and a drive device 60 that drives the movable panel 50. In the first embodiment, the sunroof device 40 corresponds to an example of a "vehicle opening/closing device."

As shown in FIG. 1, the movable panel 50 has a rectangular plate shape that is one size larger than the roof opening 22 when viewed from above. The movable panel 50 is, for example, a translucent glass panel. In the first embodiment, the movable panel 50 corresponds to an example of an "opening/closing body".

As shown in FIGS. 1 and 2, the drive device 60 includes a support bracket 61 that supports the movable panel 50, a front link 62 that supports the front end of the support bracket 61, and a support bracket 61 located behind the front link 62. and a rear link 63 that supports the. The drive device also includes a drive shoe 64 that drives the front link 62 and the rear link 63 by moving along the guide rail 31, a motor 65 that serves as a drive source for the movable panel 50, and a drive shoe 64 that drives the movable panel 50. 64. A push-pull cable 66 is provided. The drive device 60 also includes a front block 67 that defines the forward movement limit of the drive shoe 64, a rear block 68 that defines the rearward movement limit of the drive shoe 64, and a signal that corresponds to the rotation angle of the motor 65. It has a rotation angle sensor SE that outputs. As shown in FIG. 1, among the components of the drive device 60, the components other than the motor 65 are paired in the width direction.

Next, the operation of the sunroof device 40 will be explained.
As shown in FIGS. 1 and 2, when the drive shoe 64 is located near the front end of the guide rail 31, the longitudinal direction of the support bracket 61 substantially coincides with the longitudinal direction of the guide rail 31. In the state shown in FIG. 2, the movable panel 50 supported by the support bracket 61 is placed in a "fully closed position Pc" in which the roof opening 22 is fully closed. When the movable panel 50 is placed in the fully closed position Pc, the drive shoe 64 comes closest to the front block 67 but does not come into contact with the front block 67.

As shown in FIGS. 1 and 3, when the push-pull cable 66 driven by the motor 65 pushes the drive shoe 64 rearward when the movable panel 50 is placed in the fully closed position Pc, the rear link 63 get up. That is, the rear end of the support bracket 61 is raised, and the movable panel 50 is placed at the "tilt-up position Pt" where the rear end is raised.

As shown in FIGS. 1 and 4, when the push-pull cable 66 driven by the motor 65 pushes the drive shoe 64 rearward when the movable panel 50 is placed at the tilt-up position Pt, the front link 62 and The rear link 63 moves rearward. That is, the support bracket 61 supported by the front link 62 and the rear link 63 moves rearward, and the movable panel 50 moves rearward with the rear end raised relative to the front end. As a result, the movable panel 50 is placed at the "fully open position Po" where the roof opening 22 is fully opened. When the movable panel 50 is placed in the fully open position Po, the drive shoe 64 comes closest to the rear block 68 but does not come into contact with the rear block 68.

On the other hand, when the push-pull cable 66 driven by the motor 65 pulls the drive shoe 64 forward when the movable panel 50 is placed in the fully open position Po, the front link 62 and the rear link 63 move forward. That is, the support bracket 61 supported by the front link 62 and the rear link 63 moves forward, and the movable panel 50 is placed at the tilt-up position Pt. Further, when the push-pull cable 66 driven by the motor 65 pulls the drive shoe 64 forward while the movable panel 50 is placed at the tilt-up position Pt, the rear link 63 tilts forward. That is, the rear end portion of the support bracket 61 is lowered, and the movable panel 50 is placed in the fully closed position Pc.

Thus, in the first embodiment, the drive shoe 64 moves along the guide rail 31 without contacting the front block 67 and the rear block 68, so that the movable panel 50 can be moved to the fully closed position Pc, the tilt-up position Pt, and the like. It operates between the fully open position Po. If the movable panel 50 continues to open even after passing through the fully open position Po, the movable panel 50 will be stopped by the contact between the drive shoe 64 and the rear block 68. On the other hand, if the movable panel 50 continues to close even after passing through the fully closed position Pc, the movable panel 50 is stopped due to the contact between the drive shoe 64 and the front block 67. In this way, the front block 67 and the rear block 68 function as mechanical stoppers when the movable panel 50 attempts to operate outside the normal operating range between the fully closed position Pc and the fully open position Po for some reason. .

Furthermore, in the sunroof device 40, when the movable panel 50 operates near the tilt-up position Pt, the sliding resistance of the drive shoe 64 may vary. In the following description, the position of the movable panel 50 when the sliding resistance of the drive shoe 64 fluctuates, or in other words, the position of the movable panel 50 when the load of the motor 65 fluctuates, will be referred to as a "fluctuation position Px." Furthermore, the operating range including the variable position Px of the movable panel 50 is referred to as a "variable range Rx." In the first embodiment, the variation range Rx is an operating range that includes the tilt-up position Pt. Although the variable position Px naturally occurs due to the structure of the sunroof device 40, the sunroof device 40 may be designed so that it occurs intentionally for the purpose of control, which will be described later.

Note that when the motor 65 is rotated at a constant rotational speed VM and the load on the motor 65 increases, the rotational speed VM of the motor 65 decreases. In the first embodiment, a decrease in the rotational speed VM of the motor 65 is considered to be an increase in the load on the motor 65.

As shown in FIG. 1, the operation switch SW is a switch operated by a user, and is installed around the driver's seat or around the roof opening 22. The operation switch SW includes a switch that automatically operates the movable panel 50 to the fully open position Po, a switch that automatically operates the movable panel 50 to the fully closed position Pc, and a switch that automatically operates the movable panel 50 to the tilt-up position Pt. The operation switch SW generates an open operation command signal for opening the movable panel 50 to the fully open position Po, a close operation command signal for operating the movable panel 50 to close the movable panel 50 to the fully closed position Pc, and A tilt operation command signal for tilting the movable panel 50 to the tilt-up position Pt is output to the control device 100. Here, the automatic operation refers to an operation mode in which the movable panel 50 continues to operate to the target position even if the user does not continue to operate the operation switch SW.

Next, the control device 100 will be explained.
As shown in FIG. 1, the control device 100 controls an acquisition unit 101 that acquires the position of the movable panel 50, a storage unit 102 that stores position information necessary for opening and closing the movable panel 50, and a motor 65. It has a control unit 103 that opens and closes the movable panel 50 by opening and closing the movable panel 50, and a correction unit 104 that performs correction processing when a deviation occurs in the position information in the storage unit 102.

The acquisition unit 101 is connected to the rotation angle sensor SE. A pulse is input to the acquisition unit 101 from the rotation angle sensor SE at every predetermined rotation angle of the motor 65. The acquisition unit 101 acquires, as the position of the movable panel 50, a pulse count value that increases or decreases as the movable panel 50 opens and closes.

Specifically, the acquisition unit 101 sets the pulse count value at the origin position Porg set within the operating range of the movable panel 50 to "0". When the movable panel 50 operates to open, the acquisition unit 101 adds "1" to the pulse count value every time a pulse is input from the rotation angle sensor SE, and when the movable panel 50 operates to close, Every time a pulse is input from the rotation angle sensor SE, the pulse count value is subtracted by "1". In this way, the acquisition unit 101 acquires the position of the movable panel 50 based on the origin position Porg.

In the first embodiment, the position of the movable panel 50 when the drive shoe 64 contacts the front block 67 is defined as the origin position Porg. Therefore, under the conditions where the movable panel 50 opens and closes between the fully closed position Pc and the fully open position Po, the pulse count value is always a positive value. Note that it is also possible to set any one of the fully closed position Pc, tilt-up position Pt, fully open position Po, and other positions as the origin position Porg.

The storage unit 102 stores the current position of the movable panel 50, a fully closed position Pc, a tilt-up position Pt, a fully open position Po, and a variable position Px based on the origin position Porg, and the rotational speed VM of the motor 65 in the variable range Rx. , memorize. That is, the storage unit 102 stores pulse count values corresponding to the current position, the fully closed position Pc, the tilt-up position Pt, and the fully open position Po. The storage unit 102 also stores a pulse count value corresponding to the variable position Px and a value indicating the rotational speed VM of the motor 65 for each pulse count value in the variable range Rx. The storage unit 102 continues to hold information regardless of whether the ignition power of the vehicle 10 is turned on or off.

The control unit 103 causes the storage unit 102 to store the fully closed position Pc, the tilt-up position Pt, the fully open position Po, the variable position Px, and the load of the motor 65 within the variable range Rx, such as when the vehicle 10 is shipped. Perform initialization processing. As shown in FIG. 5, the control unit 103 operates the movable panel 50 in the closing direction until the drive shoe 64 contacts the front block 67 in the initialization process. For example, the control unit 103 may determine whether the drive shoe 64 has contacted the front block 67 based on an increase in the load on the motor 65. When the drive shoe 64 contacts the front block 67, the control unit 103 stops the movable panel 50 and stores the stopped position of the movable panel 50 in the storage unit 102 as the origin position Porg. The distance from the origin position Porg to the fully closed position Pc, the distance from the origin position Porg to the tilt-up position Pt, and the distance from the origin position Porg to the fully open position Po are numerical values determined from the specifications of the sunroof device 40. Therefore, at the time when the origin position Porg is determined, the fully closed position Pc, the tilt-up position Pt, and the fully open position Po are determined.

Subsequently, the control unit 103 opens the movable panel 50 from the origin position Porg to the fully open position Po via the fully closed position Pc and the tilt-up position Pt. Here, when the movable panel 50 operates to open the fluctuation range Rx, which is the operating range of the movable panel 50 when the load of the motor 65 tends to fluctuate, the control unit 103 controls the motor 65 in association with the pulse count value. The rotation speed VM is stored in the storage unit 102. Note that the variation range Rx includes the tilt-up position Pt, and is a range spanning the tilt operation range Rt and the slide operation range Rs.

FIG. 6 shows the relationship between the position of the movable panel 50 and the rotational speed VM of the motor 65 when the movable panel 50 operates to open in the initialization process, specifically, when the movable panel 50 tilts up and slides open. This is a graph showing. As shown in FIG. 6, in the first embodiment, it is assumed that the rotational speed VM of the motor 65 is temporarily reduced only once when the movable panel 50 is opened. Further, in FIG. 6, for ease of explanation and understanding, fluctuations in the rotational speed VM of the motor 65 are shown as being significant.

In the initialization process, the control unit 103 causes the storage unit 102 to store changes in the rotational speed VM of the motor 65 in a variation range Rx indicated by a thick line among the operating ranges of the movable panel 50. The control unit 103 causes the storage unit 102 to store the change in the rotational speed VM of the motor 65 in the fluctuation range Rx, and then stores the fluctuation position Px at which the rotational speed VM of the motor 65 starts to decrease in the storage unit 102. In the following description, this position will be referred to as the first fluctuation start position PxA1. The first fluctuation start position PxA1 is an example of a "first fluctuation position."

When the movable panel 50 reaches the fully closed position Pc, the control unit 103 closes the movable panel 50 from the fully open position Po to the fully closed position Pc via the tilt up position Pt. Note that in the initialization process, if the control unit 103 determines that the initialization process cannot be completed normally, such as when the rotational speed VM of the motor 65 changes unintentionally, the control unit 103 performs the initialization process again. It is preferable.

When the initialization process is completed, the control unit 103 opens and closes the movable panel 50 by controlling the motor 65 based on the position of the movable panel 50 acquired by the acquisition unit 101 and the position information stored in the storage unit 102. It becomes possible to operate it. Specifically, when an opening command signal is input from the operation switch SW, the control unit 103 opens the movable panel 50 based on the fully open position Po stored in the storage unit 102. Further, when a closing operation command signal is input from the operation switch SW, the control section 103 closes the movable panel 50 based on the fully closed position Pc stored in the storage section 102. Further, when a tilt-up command signal is input from the operation switch SW, the control unit 103 tilts the movable panel 50 based on the tilt-up position Pt stored in the storage unit 102. As an example, when the movable panel 50 is opened from the fully closed position Pc to the fully open position Po, the pulse count value indicating the current position of the movable panel 50 increases as the movable panel 50 approaches the fully open position Po. The control unit 103 ends the opening operation of the movable panel 50 when the pulse count value indicating the current position of the movable panel 50 becomes a pulse count value corresponding to the fully closed position Pc stored in the storage unit 102.

Further, in a situation where the movable panel 50 is operated to open, the control unit 103 monitors the rotational speed VM of the motor 65 with respect to the position of the movable panel 50 when the movable panel 50 operates within the fluctuation range Rx. Then, the control unit 103 calculates the position where the rotational speed VM of the motor 65 starts to decrease. In the following description, this position will be referred to as the second fluctuation start position PxA2. The second fluctuation start position PxA2 is an example of a "second fluctuation position."

The second fluctuation start position PxA2 is a position corresponding to the first fluctuation start position PxA1. The first fluctuation start position PxA1 is a reference fluctuation position Px that does not change unless initialization processing is performed, while the second fluctuation start position PxA2 is a fluctuation position Px that may deviate due to various reasons described below. . That is, the second fluctuation start position PxA2 is a fluctuation position Px to be compared with the first fluctuation start position PxA1. The second fluctuation start position PxA2 is the fluctuation position Px acquired after the initialization process is performed, and is acquired by the acquisition unit during the opening operation of the movable panel 50 after the first fluctuation start position PxA1 is stored in the storage unit 102. It can be said that 101 is the acquired fluctuating position Px.

In addition, when the movable panel 50 during the opening/closing operation comes into contact with a foreign object, the control unit 103 performs a pinch determination process that interrupts the opening/closing operation of the movable panel 50 or reverses the operating direction of the movable panel 50. is preferred. The control unit 103 may determine whether the movable panel 50 has come into contact with a foreign object, for example, based on a decrease in the rotational speed VM of the motor 65.

As the user continues to use the vehicle 10, when the sunroof device 40 deteriorates over time, when the rotation angle sensor SE cannot accurately output a pulse signal according to the rotation angle of the motor 65, and when the sunroof device 40 When initialization processing is not performed after overhaul, a shift may occur in the variable position Px. Specifically, the second fluctuation start position PxA2 may be displaced from the first fluctuation start position PxA1.

Therefore, when there is a positional shift between the first fluctuation start position PxA1 and the second fluctuation start position PxA2, the correction unit 104 performs a correction process to correct the origin position Porg. Specifically, the correction unit 104 performs a correction process to correct the origin position Porg based on the difference ΔP between the first fluctuation start position PxA1 and the second fluctuation start position PxA2.

For example, if the second fluctuation start position PxA2 is shifted by 10 pulses in the opening direction with respect to the first fluctuation start position PxA1, the correction unit 104 changes the origin position Porg stored in the storage unit 102 by 10 pulses. Correct it so that it shifts in the closing direction. Similarly, when the second fluctuation start position PxA2 is shifted by 10 pulses in the closing direction of the movable panel 50 with respect to the first fluctuation start position PxA1, the correction unit 104 shifts the origin position Porg in the opening direction by 10 pulses. Correct it so that it shifts.

When the origin position Porg is corrected in this manner, the origin position Porg is shifted before and after the correction, and the fully closed position Pc, tilt-up position Pt, and fully open position Po stored in the storage unit 102 are shifted. In this way, the correction unit 104 corrects the fully closed position Pc, the fully open position Po, and the tilt-up position Pt stored in the storage unit 102 in the correction process.

In the first embodiment, in the initialization process, the first fluctuation start position PxA1 is stored in the storage unit 102, and the control unit 103 calculates the second fluctuation start position PxA2 when the movable panel 50 is opened. Therefore, after the movable panel 50 is opened, the correction unit 104 performs a correction process based on the difference ΔP between the first fluctuation start position PxA1 and the second fluctuation start position PxA2.

However, the correction unit 104 does not perform the correction process if there is a possibility that the correction process cannot be performed normally. In this case, while the control unit 103 is allowed to open and close the movable panel 50, the correction process by the correction unit 104 is restricted. A case in which the correction unit 104 restricts implementation of correction processing will be described below.

When the movable panel 50 is closed, foreign objects are more likely to be caught than when the movable panel 50 is opened. That is, when the movable panel 50 is opened, the rotational speed VM of the motor 65 may fluctuate due to the foreign matter being caught. Therefore, the correction unit 104 does not perform correction processing when the movable panel 50 is closed.

While the vehicle 10 is running, particularly when the vehicle 10 is running at high speed, vibrations act on the sunroof device 40, and negative pressure depending on the running speed acts on the movable panel 50. That is, while the vehicle 10 is running, there is a possibility that the rotational speed VM of the motor 65 may fluctuate when the movable panel 50 is opened/closed. Therefore, the correction unit 104 does not perform the correction process when the vehicle speed VB is equal to or higher than the speed determination value Vth. The speed determination value Vth may be a determination value for determining whether the vehicle body 20 is stopped or running, or may be a determination value for determining whether the vehicle body 20 is stopped, running at a low speed, or running at a high speed. It may also be used as a determination value for determination.

When starting the internal combustion engine in the vehicle 10 equipped with an internal combustion engine, and when opening/closing the sliding door in the vehicle 10 equipped with a power sliding door, the battery voltage EB tends to drop temporarily. In this case, when the movable panel 50 is opened and closed, the rotational speed VM of the motor 65 tends to decrease or become unstable. Therefore, the correction unit 104 does not perform the correction process when the battery voltage EB is less than the predetermined voltage determination value Eth.

Hereinafter, with reference to the flowchart shown in FIG. 7, the flow of processing performed by the control device 100 to open the movable panel 50 will be described. Although not shown in FIG. 7, it is preferable to perform the pinch determination process also when the movable panel 50 is opened.

As shown in FIG. 7, when the opening operation command signal is input, the control device 100 starts the opening operation of the movable panel 50 (S11). Subsequently, the control device 100 determines whether the vehicle speed VB is equal to or higher than the speed determination value Vth (S12). When the vehicle body speed VB is less than the speed determination value Vth (S12: NO), for example, when the vehicle 10 is stopped, the control device 100 determines whether the battery voltage EB is equal to or higher than the voltage determination value Eth (S13). . If the battery voltage EB is equal to or higher than the voltage determination value Eth (S13: YES), the control device 100 turns on the correction flag (S14). Here, the correction flag is a flag that is turned off at the start of the flowchart shown in FIG. 7, and is a flag for determining whether or not to perform correction processing.

Next, the control device 100 determines whether the movable panel 50 is operating within the fluctuation range Rx based on the pulse count value that increases with the opening operation of the movable panel 50 (S15). If the movable panel 50 is not operating within the variation range Rx (S15: NO), the control device 100 moves the process to the subsequent step S17. On the other hand, when the movable panel 50 is operating within the variation range Rx (S15: YES), the control device 100 acquires the rotational speed VM of the motor 65 as the load of the motor 65 (S16).

Thereafter, the control device 100 determines whether the movable panel 50 has reached the fully open position Po based on the pulse count value (S17). If the movable panel 50 has not reached the fully open position Po (S17: NO), the control device 100 moves the process to step S15. On the other hand, if the movable panel 50 has reached the fully open position Po, the control device 100 ends the opening operation of the movable panel 50 (S18) and ends this process.

On the other hand, in the previous step S12, if the vehicle body speed VB is equal to or higher than the speed determination value Vth (S12: YES), the control device 100 moves the process to step S15. Further, in the previous step S13, if the battery voltage EB is less than the voltage determination value Eth (S13: NO), the control device 100 moves the process to step S15. That is, in these cases, the correction flag remains off. Moreover, when performing the process of step S15 with the correction flag turned off, the control device 100 does not need to perform the process of step S16.

Next, with reference to the flowchart shown in FIG. 8, the flow of the process executed by the control device 100 to implement the correction process will be described.
As shown in FIG. 8, the control device 100 determines whether the correction flag is on (S21). If the correction flag is off (S21: NO), that is, if it is not appropriate to perform the correction process based on the rotational speed VM of the motor 65 in the variation range Rx acquired during the most recent opening operation of the movable panel 50, the control The device 100 ends this process. In this case, the control device 100 does not perform the correction process.

On the other hand, if the correction flag is on (S21: YES), the control device 100 calculates a difference ΔP indicating the amount of positional deviation between the first fluctuation start position PxA1 and the second fluctuation start position PxA2 (S22). Subsequently, the control device 100 determines whether the absolute value of the difference |ΔP| is less than or equal to the difference determination value ΔPth (S23). The difference determination value ΔPth is a determination value for determining whether the difference ΔP calculated in step S22 is a valid value. It can be said that the difference determination value ΔPth is a guard value for preventing correction processing from being performed based on an unrealistic and erroneous difference ΔP. As an example, the difference determination value ΔPth may be a value of several percent to several tens of percent of the distance between the origin position Porg and the fully open position Po.

If the absolute value of the difference |ΔP| is greater than or equal to the difference determination value ΔPth (S23: NO), the control device 100 ends this process, and if the absolute value of the difference |ΔP| is less than the difference determination value ΔPth (S23: YES), a correction process is performed according to the magnitude of the difference ΔP (S24). In the correction process, the position information stored in the storage unit 102 is corrected according to the magnitude of the difference ΔP and whether the difference ΔP is positive or negative.

The operation of the first embodiment will be explained.
FIG. 9 shows the relationship between the position of the movable panel 50 and the rotational speed VM of the motor 65 when the movable panel 50 is opened. In FIG. 9, the rotational speed VM of the motor 65 indicated by a solid line is the one when the movable panel 50 is opened during the initialization process, and the rotational speed VM of the motor 65 indicated by a dashed line can be set arbitrarily by the user. This is when the movable panel 50 is opened at the timing shown in FIG. Moreover, in FIG. 9, the variation range Rx within the operating range of the movable panel 50 is shown by a thick line.

As shown by the dashed line in FIG. 9, when the movable panel 50 is closed when the position information of the movable panel 50 stored in the storage unit 102 is deviated from the actual position of the movable panel 50, The movable panel 50 stops at a fully closed position Pc' shifted from the original fully closed position Pc. Similarly, when the movable panel 50 is opened when the position information of the movable panel 50 stored in the storage unit 102 is deviated from the actual position of the movable panel 50, the fully open position is shifted from the fully open position Po. The movable panel 50 stops at position Po'.

In such a case, a positional shift corresponding to the difference ΔP has occurred between the first fluctuation start position PxA1 and the second fluctuation start position PxA2. Therefore, the position information stored in the storage unit 102 is corrected based on the difference ΔP.

In the example shown by the dashed line in FIG. 9, the position stored in the storage unit 102 is a position further in the closing direction than the original position, so the pulse count value corresponding to the position stored in the storage unit 102 is the difference. Only the pulse corresponding to ΔP is subtracted. As a result, the discrepancy between the position stored in the storage unit 102 and the actual position is eliminated.

The effects of the first embodiment will be explained.
(1) When a positional deviation occurs between the first fluctuation start position PxA1 and the second fluctuation start position PxA2, the control device 100 performs a correction process based on the positional deviation between both positions. Therefore, when the movable panel 50 is opened and closed, the control device 100 can prevent the movable panel 50 from stopping at a position that deviates from the actual fully closed position Pc and the fully open position Po. In this way, the control device 100 can correct the information necessary for opening and closing the movable panel 50.

(2) When the rotational speed VM of the motor 65 fluctuates, the fluctuation start position where the rotational speed VM starts to fluctuate is easier to clearly obtain than the fluctuation end position where the rotational speed VM ends to fluctuate. In this regard, the control device 100 performs the correction process based on the difference ΔP between the first fluctuation start position PxA1 and the second fluctuation start position PxA2. Therefore, the control device 100 can perform the correction process with high accuracy.

(3) For example, the control device 100 can store the accurate variable position Px in the storage unit 102 by performing an initialization process when the sunroof device 40 is shipped. In this case, the control device 100 can perform the correction process with high accuracy.

(4) When the movable panel 50 is operated to close, there is a risk that the load on the motor 65 may fluctuate at a position different from the actual fluctuating position Px due to a foreign object being caught. In this regard, since the control device 100 does not perform the correction process when the movable panel 50 is closed, it is possible to prevent the correction process from being performed erroneously. In other words, if there is a shift in the position information stored in the storage unit 102, the control device 100 can perform the correction process before performing the pinch determination process when the movable panel 50 is closed. Therefore, the accuracy of the pinch determination process when the movable panel 50 is closed can be improved.

(5) When the movable panel 50 opens and closes while the vehicle 10 is running, there is a risk that the load on the motor 65 will fluctuate at a position different from the actual fluctuating position Px due to vibration acting on the movable panel 50. be. In this regard, since the control device 100 does not perform the correction process while the vehicle 10 is traveling, it is possible to prevent the correction process from being performed erroneously.

(6) When starting the internal combustion engine and opening/closing the sliding door, the battery voltage EB decreases, and the opening/closing speed of the movable panel 50 may become unstable. In this regard, since the control device 100 does not perform the correction process when the battery voltage EB is decreasing, it is possible to prevent the correction process from being performed erroneously.

(7) When performing correction processing due to the drive shoe 64 coming into contact with the front block 67 or the rear block 68, for example, the position must be moved by a distance corresponding to between the origin position Porg and the fully closed position Pc. If no deviation occurs, correction processing cannot be performed. In this respect, the control device 100 can perform correction processing even if the drive shoe 64 does not come into contact with the front block 67 or the rear block 68, so that it can not only suppress the occurrence of large positional deviations but also It is also possible to suppress the occurrence of misalignment.

(Second embodiment)
The second embodiment will be described below. The second embodiment differs from the first embodiment in the manner in which the load on the motor 65 changes when the movable panel 50 is operated to open. Furthermore, the second embodiment differs from the first embodiment in the content of the correction process. In the description of the second embodiment, the description of the configurations common to the first embodiment will be omitted or simplified.

FIG. 10 shows the relationship between the position of the movable panel 50 and the rotational speed VM of the motor 65 when the movable panel 50 operates to open in the initialization process, specifically, when the movable panel 50 tilts up and slides open. This is a graph showing. As shown in FIG. 10, in the second embodiment, it is assumed that the rotational speed VM of the motor 65 temporarily decreases twice when the movable panel 50 is opened. Further, in FIG. 10, for ease of explanation and understanding, fluctuations in the rotational speed VM of the motor 65 are shown as being significant.

In the initialization process, the control unit 103 causes the storage unit 102 to store changes in the rotational speed VM of the motor 65 in a variation range Rx indicated by a thick line among the operating ranges of the movable panel 50. The control unit 103 causes the storage unit 102 to store the change in the rotational speed VM of the motor 65 in the fluctuation range Rx, and then stores in the storage unit 102 two fluctuation positions Px at which the rotational speed VM of the motor 65 begins to decrease. In the following description, these positions will be referred to as a first fluctuation start position PxB1 and a first fluctuation start position PxC1, respectively. The first fluctuation start positions PxB1 and PxC1 are examples of "first fluctuation positions." In other words, it can be said that the first fluctuation position includes a plurality of first fluctuation start positions PxB1 and PxC1.

When the movable panel 50 reaches the fully closed position Pc, the control unit 103 closes the movable panel 50 from the fully open position Po to the fully closed position Pc via the tilt up position Pt. Note that in the initialization process, if the control unit 103 determines that the initialization process cannot be completed normally, such as when the rotational speed VM of the motor 65 changes unintentionally, the control unit 103 performs the initialization process again. It is preferable.

When the initialization process is completed, the control unit 103 opens and closes the movable panel 50 by controlling the motor 65 based on the position of the movable panel 50 acquired by the acquisition unit 101 and the position information stored in the storage unit 102. It becomes possible to operate it.

Further, in a situation where the movable panel 50 is operated to open, the control unit 103 monitors the rotational speed VM of the motor 65 with respect to the position of the movable panel 50 when the movable panel 50 operates within the fluctuation range Rx. Then, the control unit 103 calculates the first position where the rotational speed VM of the motor 65 starts to decrease and the second position where the rotational speed VM of the motor 65 starts to decrease. In the following description, these positions will be referred to as a second fluctuation start position PxB2 and a second fluctuation start position PxC2, respectively. The second fluctuation start positions PxB2 and PxC2 are examples of "second fluctuation positions." In other words, it can be said that the second fluctuation position includes a plurality of second fluctuation start positions PxB2 and PxC2.

The second fluctuation start positions PxB2 and PxC2 are positions corresponding to the first fluctuation start positions PxB1 and PxC1, respectively. The first fluctuation start positions PxB1 and PxC1 are reference fluctuation positions Px that do not change unless the initialization process is performed, while the second fluctuation start positions PxB2 and PxC2 are shifted due to the reasons described in the first embodiment. This is a possible variable position Px. That is, the second fluctuation start positions PxB2 and PxC2 are the fluctuation positions Px that are compared with the first fluctuation start positions PxB1 and PxC1. The second fluctuation start positions PxB2, PxC2 are the fluctuation positions Px acquired after the initialization process is performed, and therefore, the movable panel 50 is opened after the first fluctuation start positions PxB1, PxC1 are stored in the storage unit 102. It can be said that this is the variable position Px that the acquisition unit 101 acquires during operation.

If the user continues to use the vehicle 10, a shift may occur in the variable position Px for the reason described in the first embodiment. Specifically, the second fluctuation start positions PxB2 and PxC2 may be displaced from the first fluctuation start positions PxB1 and PxC1, respectively.

Therefore, when a positional deviation occurs between the first fluctuation start positions PxB1, PxC1 and the second fluctuation start positions PxB2, PxC2, the correction unit 104 corrects the origin position Porg based on the positional deviation. Perform correction processing. Specifically, the correction unit 104 corrects the origin position Porg based on the difference average value ΔPm, which is the average value of the difference between the first fluctuation start positions PxB1 and PxC1 and the difference between the second fluctuation start positions PxB2 and PxC2. Perform processing.

For example, when the second fluctuation start positions PxB2, PxC2 are shifted from the first fluctuation start positions PxB1, PxC1 by 10 pulses in the opening direction, the correction unit 104 adjusts the origin position Porg stored in the storage unit 102. Correct to shift in the closing direction by 10 pulses. Similarly, if the second fluctuation start positions PxB2, PxC2 are shifted by 10 pulses in the closing direction of the movable panel 50 with respect to the first fluctuation start positions PxB1, PxC1, the correction unit 104 adjusts the origin position Porg by 10 pulses. Correct it so that it deviates in the opening direction by the same amount.

When the origin position Porg is corrected in this manner, the origin position Porg is shifted before and after the correction, and the fully closed position Pc, tilt-up position Pt, and fully open position Po stored in the storage unit 102 are shifted. In this way, the correction unit 104 corrects the fully closed position Pc, the fully open position Po, and the tilt-up position Pt stored in the storage unit 102 in the correction process.

Next, with reference to the flowchart shown in FIG. 11, the flow of the process executed by the control device 100 to implement the correction process will be described.
As shown in FIG. 11, the control device 100 determines whether the correction flag is on (S31). If the correction flag is off (S31: NO), that is, if it is not appropriate to perform the correction process based on the rotational speed VM of the motor 65 in the variation range Rx acquired during the most recent opening operation of the movable panel 50, the control The device 100 ends this process. In this case, the control device 100 does not perform the correction process.

On the other hand, if the correction flag is on (S31: YES), the control device 100 calculates the difference average value ΔPm indicating the amount of positional deviation between the first fluctuation start positions PxB1, PxC1 and the second fluctuation start positions PxB2, PxC2. Calculate (S32). Specifically, the control device 100 calculates a first difference ΔP1, which is the difference between the first fluctuation start position PxB1 and the second fluctuation start position PxB2, and a second difference ΔP1, which is the difference between the first fluctuation start position PxC1 and the second fluctuation start position PxC2. A difference average value ΔPm, which is the average value of the difference ΔP2, is calculated. Note that when calculating the difference average value ΔPm, appropriate weighting may be applied to the first difference ΔP1 and the second difference ΔP2. That is, the difference average value ΔPm does not have to be a simple average value of the first difference ΔP1 and the second difference ΔP2.

Subsequently, the control device 100 determines whether the absolute value |ΔPm| of the average difference value is less than or equal to the difference determination value ΔPth (S33). If the absolute value |ΔPm| of the difference average value is greater than or equal to the difference judgment value ΔPth (S33: NO), the control device 100 ends this process, and if the absolute value |ΔPm| of the difference average value is less than the difference judgment value ΔPth. If so (S33: YES), a correction process is performed according to the magnitude of the average difference value ΔPm (S34). In the correction process, the position information stored in the storage unit 102 is corrected according to the magnitude of the average difference value ΔPm and whether the average difference value ΔPm is positive or negative.

The operation of the second embodiment will be explained.
FIG. 12 shows the relationship between the position of the movable panel 50 and the rotation speed VM of the motor 65 when the movable panel 50 is opened. In FIG. 12, the rotational speed VM of the motor 65 indicated by a solid line is the one when the movable panel 50 is opened during the initialization process, and the rotational speed VM of the motor 65 indicated by a dashed line can be set arbitrarily by the user. This is when the movable panel 50 is opened at the timing shown in FIG. Moreover, in FIG. 12, the variation range Rx within the operating range of the movable panel 50 is shown by a thick line.

As shown by the dashed line in FIG. 12, when the movable panel 50 is closed when the position information of the movable panel 50 stored in the storage unit 102 is deviated from the actual position of the movable panel 50, The movable panel 50 stops at a fully closed position Pc' shifted from the original fully closed position Pc. Similarly, when the movable panel 50 is opened when the position information of the movable panel 50 stored in the storage unit 102 is deviated from the actual position of the movable panel 50, the fully open position is shifted from the fully open position Po. The movable panel 50 stops at position Po'.

In such a case, a positional deviation corresponding to the first difference ΔP1 occurs between the first fluctuation start position PxB1 and the second fluctuation start position PxB2, and a positional deviation corresponding to the first difference ΔP1 occurs between the first fluctuation start position PxC1 and the second fluctuation start position PxC2. A positional shift corresponding to the two-difference ΔP2 has occurred. Therefore, the position information stored in the storage unit 102 is corrected based on the average value of the first difference ΔP1 and the second difference ΔP2, that is, the difference average value ΔPm.

In the example shown by the dashed line in FIG. 12, the position stored in the storage unit 102 is a position further in the closing direction than the original position, so the pulse count value corresponding to the position stored in the storage unit 102 is the difference. Only the pulses corresponding to the average value ΔPm are subtracted. As a result, the discrepancy between the position stored in the storage unit 102 and the actual position is eliminated.

The effects of the second embodiment will be explained. The second embodiment can obtain the following effects in addition to the same effects as the first embodiment.
(8) Since the control device 100 performs the correction process based on the respective positional deviations between the plurality of first fluctuation start positions PxB1, PxC1 and the plurality of second fluctuation start positions PxB2, PxC2, the correction process is performed with high accuracy. can be carried out. Further, the control device 100 can easily calculate the positional deviation as an average value of the differences between the plurality of first fluctuation start positions PxB1, PxC1 and the plurality of second fluctuation start positions PxB2, PxC2.

The first embodiment and the second embodiment can be modified and implemented as follows. The first embodiment, the second embodiment, and the following modified examples can be implemented in combination with each other within a technically consistent range.

- A modification example of the first embodiment will be explained. In the initialization process, the control unit 103 stores the change in the rotational speed VM of the motor 65 in the fluctuation range Rx in the storage unit 102, and then stores the change in the rotational speed VM of the motor 65 at a fluctuation position Px where the rotational speed VM of the motor 65 starts to decrease. The variable position Px at which the rotational speed VM has finished increasing is stored in the storage unit 102. These positions are respectively referred to as a first fluctuation start position PxA1 and a first fluctuation end position PxD1. The first fluctuation start position PxA1 and the first fluctuation end position PxD1 are examples of "first fluctuation positions."

Further, in a situation where the movable panel 50 is operated to open, the control unit 103 monitors the rotational speed VM of the motor 65 with respect to the position of the movable panel 50 when the movable panel 50 operates within the fluctuation range Rx. Then, the control unit 103 calculates the position where the rotational speed VM of the motor 65 starts to decrease and the position where the rotational speed VM of the motor 65 finishes increasing. These positions are respectively referred to as a second fluctuation start position PxA2 and a second fluctuation end position PxD2. The second fluctuation start position PxA2 and the second fluctuation end position PxD2 are examples of "second fluctuation positions".

Then, when a positional deviation occurs between the first fluctuation start position PxA1 and the second fluctuation start position PxA2, and a positional deviation occurs between the first fluctuation end position PxD1 and the second fluctuation end position PxD2, the correction unit 104 corrects the Perform processing. Specifically, the correction unit 104 performs the correction process based on the average value of the difference between the first fluctuation start position PxA1 and the second fluctuation start position PxA2 and the difference between the first fluctuation end position PxD1 and the second fluctuation end position PxD2. implement.

As shown in FIG. 13, a positional shift corresponding to the first difference ΔP1 occurs between the first fluctuation start position PxA1 and the second fluctuation start position PxA2, and between the first fluctuation end position PxD1 and the second fluctuation end position PxD2. It is assumed that a positional shift corresponding to a second difference ΔP2 has occurred. In this case, the position information stored in the storage unit 102 is corrected based on the average value of the first difference ΔP1 and the second difference ΔP2, that is, the difference average value ΔPm. According to this configuration, the control device 100 can accurately correct the position information in that the correction process is performed based on the average difference value ΔPm.

- In the second embodiment, the correction unit 104 may perform correction processing based on the respective positional deviations between three or more first fluctuation start positions and three or more second fluctuation start positions. Specifically, the correction unit 104 may perform the correction process based on the average value of the differences between three or more first fluctuation start positions and three or more second fluctuation start positions.

- The sunroof device 40 may include a deflector device near the front end of the roof opening 22 that suppresses the wind from entering the interior of the vehicle 10 when the movable panel 50 is placed at the fully open position Po. The deflector device includes a deflector, a pair of deflector arms that respectively support both ends of the deflector in the width direction, and a spring that biases the pair of deflector arms. In the deflector device, when the movable panel 50 is placed near the fully open position Po, the pair of deflector arms are rotated by the elastic force of the spring, thereby deploying the deflector. On the other hand, by being pushed by the movable panel 50 disposed near the fully closed position Pc and the tilt-up position Pt, the pair of deflector arms rotate against the elastic force of the spring, thereby retracting the deflector. That is, when the movable panel 50 is operated to close, the load on the motor 65 that drives the movable panel 50 increases when the movable panel 50 contacts the deflector arm. Therefore, when the vehicle 10 includes a deflector device, the position where the movable panel 50 contacts the deflector arm within the operating range of the movable panel 50 may be set as the variable position Px.

- The control device 100 may perform the correction process based on one variable position Px, or may perform the correction process based on three or more variable positions Px. Here, the variable position Px may be any position that can be obtained based on the variation in the rotational speed VM of the motor 65. For example, the variable position Px may be the position of the movable panel 50 when the rotation speed VM of the motor 65 is less than a predetermined rotation speed determination value, or the time differential value of the motor rotation speed VM is equal to a predetermined slope determination value. The position of the movable panel 50 when In other words, the fluctuation position Px does not need to be limited to the fluctuation start position and the fluctuation end position.

- The control device 100 changes the rotational speed VM of the motor 65 within the variation range Rx stored in the storage unit 102 and the rotational speed VM of the motor 65 within the variation range Rx acquired when the movable panel 50 is opened. Correction processing may be performed by comparing the change and the change. To compare the changes in the rotational speed VM of the motor 65 within the variation range Rx, for example, an algorithm that compares the shapes of figures may be employed.

- When the load on the motor 65 during the opening operation of the movable panel 50 varies depending on the gradient of the road surface on which the vehicle 10 is stopped, the control device 100 determines that the absolute value of the gradient of the road surface on which the vehicle 10 is stopped is a predetermined gradient determination value. In the above case, it is preferable not to perform the correction process.

- If the sunroof device 40 can be manufactured with high precision, the variable position Px can be said to be a numerical value determined from the specifications of the sunroof device 40, like the fully closed position Pc and the fully open position Po. Therefore, similarly to the fully closed position Pc and the fully open position Po, after acquiring the origin position Porg, the control device 100 adjusts the pulse count value at the variable position Px according to the distance from the origin position Porg to the variable position Px. You can decide.

- The control device 100 may perform the correction process when the movable panel 50 is opened. Further, the control device 100 does not have to restrict implementation of the correction process while the vehicle 10 is traveling. Furthermore, the control device 100 does not have to restrict implementation of the correction process when the battery voltage EB is decreasing.

- The control unit 103 may obtain the load of the motor 65 from other parameters such as the magnitude of the current flowing through the motor 65.
- The rotation angle sensor SE may be of a magnetic type or an optical type. The rotation angle sensor SE may be configured integrally with the motor 65 or may be configured separately from the motor 65.

- The operation switch SW may include a switch for manually operating the movable panel 50. Here, the manual operation is an operation mode in which the movable panel 50 is opened and closed only while the switch is being operated by the user.

- The control device 100 may control a window regulator as a "vehicle opening/closing device" that opens and closes a window as an "opening/closing body". Furthermore, the control device 100 may control a door actuator as a "vehicle opening/closing device" that opens and closes a door as an "opening/closing body." In this case, the door may be a sliding door, a back door, or a swinging side door.

- The control device 100 includes one or more processors that operate according to a computer program (software), one or more dedicated hardware (application-specific integrated circuit: ASIC), etc. that executes at least part of various processes. or a combination thereof. A processor includes a CPU and memory, such as RAM and ROM, where the memory stores program codes or instructions configured to cause the CPU to perform processing. Memory, or storage media, includes any available media that can be accessed by a general purpose or special purpose computer.

10...Vehicle 20...Vehicle body 22...Roof opening (an example of a vehicle opening)
40...Sunroof device (an example of a vehicle opening/closing device)
50...Movable panel (an example of an opening/closing body)
60... Drive device 65... Motor 100... Control device (an example of a control device for a vehicle opening/closing body)
101... Acquisition unit 102... Storage unit 103... Control unit 104... Correction unit Porg... Origin position Pc... Fully closed position Pt... Tilt up position Po... Fully open position Px... Variation position PxA1, PxB1, PxC1... First variation start position ( Example of first variable position)
PxA2, PxB2, PxC2...Second fluctuation start position (an example of second fluctuation position)
PxD1...First fluctuation end position (an example of the first fluctuation position)
PxD2...Second fluctuation end position (an example of the second fluctuation position)

Claims (9)

An opening/closing body that opens and closes an opening of the vehicle, and a motor that drives the opening/closing body, a fully open position where the opening/closing body fully opens the opening, and a fully closed position where the opening/closing body fully closes the opening. applied to a vehicle switchgear including a variable position in which the load of the motor varies within an operating range between;
an acquisition unit that acquires a position of the opening/closing body based on an origin position set within an operating range of the opening/closing body;
a storage unit that stores the fully closed position, the fully open position, and the variable position with respect to the origin position;
By controlling the motor based on the position of the opening/closing body acquired by the acquisition unit and the fully closed position and the fully open position stored in the storage unit, the opening/closing body is moved to the fully closed position and the fully open position. a control unit that operates to open and close between positions;
The variable position stored in the storage unit is defined as a first variable position, and the variable position acquired by the acquisition unit during the opening/closing operation of the opening/closing body after the first variable position is stored is defined as a second variable position. When I did,
When a positional deviation occurs between the first variable position and the second variable position, a correction process is performed to correct the fully closed position and the fully open position stored in the storage unit based on the positional deviation. A control device for a vehicle opening/closing body, comprising: a correction section; The fluctuation position is a fluctuation start position at which the load of the motor starts to fluctuate when the opening/closing body is opened or closed, and the first fluctuation position is the first fluctuation start position, and the second fluctuation position is the fluctuation start position. When the second fluctuation start position is set,
When a positional shift occurs between the first fluctuation start position and the second fluctuation start position, the correction unit performs the correction process based on the difference between the first fluctuation start position and the second fluctuation start position. The control device for a vehicle opening/closing body according to claim 1. The vehicle opening/closing device includes a plurality of the variable positions within the operating range of the opening/closing body between the fully closed position and the fully open position,
The storage unit stores the plurality of first variable positions,
The correction unit performs the correction process based on the positional deviation when a positional deviation occurs between the plurality of first variable positions and the plurality of second variable positions. The control device for the vehicle opening/closing body described above. The fluctuation position includes a fluctuation start position where the load of the motor starts to fluctuate and a fluctuation end position where the load of the motor ends when the opening/closing body is opened or closed,
The first fluctuation position includes a first fluctuation start position corresponding to the fluctuation start position and a first fluctuation end position corresponding to the fluctuation end position,
The second fluctuation position includes a second fluctuation start position corresponding to the fluctuation start position and a second fluctuation end position corresponding to the fluctuation end position,
When a positional shift occurs between the first variation start position and the second variation start position and a positional shift occurs between the first variation end position and the second variation end position, the correction unit corrects the first variation. The opening/closing device for a vehicle according to claim 3, wherein the correction process is performed based on an average value of a difference between the start position and the second fluctuation start position and a difference between the first fluctuation end position and the second fluctuation end position. body control device. The fluctuation position includes a plurality of fluctuation start positions at which the load of the motor starts to fluctuate when the opening/closing body is operated to open or close,
The first fluctuation position includes a plurality of first fluctuation start positions corresponding to the plurality of fluctuation start positions,
The second fluctuation position includes a plurality of second fluctuation start positions corresponding to the plurality of fluctuation start positions,
The correction unit performs the correction process based on the positional deviation when a positional deviation occurs between the plurality of first fluctuation start positions and the plurality of second fluctuation start positions. 3. The control device for a vehicle opening/closing body according to 3. When a positional shift occurs between the plurality of first fluctuation start positions and the plurality of second fluctuation start positions, the correction unit is configured to adjust the positional deviation between the plurality of first fluctuation start positions and the plurality of second fluctuation start positions. The control device for a vehicle opening/closing body according to claim 5, wherein the correction process is performed based on an average value of each difference from a starting position. The control unit stores the first variable position in the storage unit when performing an initialization process in which the storage unit stores the fully closed position and the fully open position based on the origin position. A control device for a vehicle opening/closing body according to any one of claims 1 to 6. The control device for a vehicle opening/closing body according to any one of claims 1 to 7, wherein the correction unit does not perform the correction processing when the opening/closing body is closed. The control device for a vehicle opening/closing body according to any one of claims 1 to 8, wherein the correction unit does not perform the correction processing when the vehicle is running.