JPH09125823A - Catching detector of door in automatic open-close control of sliding door for car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect catching quickly by reading beforehand a known motor load data and predicting the fluctuation thereof by storing motor load data regarding the driving of a sliding door in response to the place of the door. SOLUTION: A sliding door automatic controller 23 repeatedly conducts control at approximately constant time intervals by a main control section 55 containing a control mode conversion section 54 selecting a proper control mode in response to the conditions of input-output peripheral equipments. A standard load resistance components regarding the opening and closing of a door 2 is extracted on the basis of a current value flowing through a door open-close motor 14, the conditions of the opening and closing of the door and a sampling region peculiar to the place of the door are determined and stored in a memory, and the standard load resistance component stored in the same sampling region at the time of the normal opening and closing of the door and a current load resistance component are compared and the presence of catching is detected. The load resistance component stored at every opening and closing of the door is corrected and learnt and updated in the stored load resistance component.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a door trapping detection device in a vehicle slide door automatic opening / closing control device capable of automatically opening and closing a slide door of a vehicle or the like by driving a motor.

[0002]

2. Description of the Related Art Conventionally, an opening / closing control device for a vehicle slide door in which a slide door slidably supported on a vehicle body is opened and closed by an automatic drive source is opened and closed by using an automatic driving force. At this time, the slide door can be powered by conscious operation of the door opening / closing operation means that operates a drive source provided in a driver's seat, a door handle, or the like when the automatic driving force is exerted.

Further, as a trigger means for exerting an automatic driving force in place of the door opening / closing operation means, it is detected that the slide door has moved a predetermined distance by a manual force,
Instead of the manual driving force that moved the sliding door,
Some have switched to automatic drive.

[0004]

In the conventional opening / closing control device for a sliding door for a vehicle, since the weight of the sliding door is heavy, the load related to driving the sliding door is easily influenced by the opening / closing direction and the opening / closing position. In particular, depending on the front and rear inclination of the car, which is related to the moving direction of the sliding door, an excessive load such as lifting the dead weight of the door may cause a negative load for braking to the same weight. It is difficult to control the automatic opening and closing of.

That is, if the load on the sliding door is large and the load fluctuation range is large, the output power of the automatic drive means must be increased with a sufficient margin so that the load fluctuation can be dealt with quickly. On the contrary, since the stress is reduced for a small load fluctuation, it is difficult to control the power of the motor in consideration of safety so that an accident due to being caught in the door does not occur.

In particular, when the start timing of the power drive of the slide door is automatically controlled, the power drive of the door is performed without being recognized by an operator or the like around the door, so that the door is driven in the closing direction. Must take all possible situations in the use of the vehicle, such as the posture of the vehicle, to promptly determine the presence or absence of a pinch and take safety measures.

In view of the above-mentioned problems of the prior art, the present invention provides automatic control of a slide door in which flexibility and safety are trade-offs in consideration of all situations required for automatic drive of the slide door. It is an object of the present invention to provide a trapping detection device for a door.

[0008]

According to the present invention, the above-mentioned problem is solved as follows. (1) In a vehicle slide door opening / closing device in which a slide door that is openably / closably supported along a guide track provided on a vehicle body is opened / closed by a motor drive, a door drive unit having a forward / reverse rotation motor. The motor load detection means for detecting the motor load correspondence data of the door drive section, and the position of the door guided by the guide track,
The door position detecting means for detecting the door from the full open to the fully closed, and the required sampling area addressed by the detection position of the door position detecting means are associated with the motor load corresponding data detected by the motor load detecting means. , A storage means for storing the motor load correspondence data relating to the position of the door, and every time the stored motor load correspondence data is read at the address of the latest sampling area, it is read by the latest detected motor load correspondence data. The motor load correspondence data learning means for appropriately correcting the outputted motor load correspondence data and learning as the motor load correspondence data to be newly stored, and the sampling direction in which the door actually exists are more suitable for the moving direction of the door. The motor load correspondence data stored in the sampling area advanced by several areas is read and Calculate the motor load corresponding data of the sampling area to obtain the predicted value of the motor load corresponding data predicted in the moving direction of the door, and from the deviation between the predicted value and the motor load corresponding data of the existing sampling area, By providing an entrapment determination means for determining the presence or absence of entrapment.

(2) In the above item (1), the motor load correspondence data is the motor current value detected intermittently.

(3) In the above item (1), the motor load correspondence data is an average current value of a plurality of motor currents intermittently detected in a sampling area having an address corresponding to a door position.

(4) In any one of the above items (1) to (3), the stored motor load correspondence data is based on the average current value of the motor detected in each sampling area arranged in the door moving direction, It is the rate of increase between the average current value of the sampling area of the immediately preceding detection and the average current value of the sampling area of the current detection.

(5) In the above item (4), the entrapment determination means sets the stored motor load correspondence data as the rate of increase of the motor average current between adjacent sampling areas, and the rate of increase changes gently. If the detected current of the detection means for detecting the motor load corresponding data has a higher rising tendency than the stored current increase rate within the existing sampling area, it is determined that there is entrapment.

[0013]

BEST MODE FOR CARRYING OUT THE INVENTION An entrapment detection device showing an embodiment of the present invention in a vehicle slide door automatic opening / closing control device to which the present invention is applied will be described below with reference to the drawings. 1 to 6 show an example of a vehicle equipped with a sliding door to which the present invention is applied.

(1) is a vehicle body, (2) is a slide door (hereinafter, simply referred to as a door) mounted on the vehicle body (1) so as to be openable and closable, and the door (2) is the vehicle body (1). An upper track (4) provided on the upper edge of the door opening (3) of the door, a lower track (5) provided on the lower edge of the door opening (3), and sliding couplings (6) fixed to the upper and lower ends of the door (2). Coordinated, suspended in the front-back direction,
Further, the rear end of the door (2) is guided by a guide track (7) which is appropriately fixed near the waist of the rear body (1), and from the fully closed position where the door opening (3) is sealed, ) While protruding slightly outward from the outer surface of the outer panel,
The door can be opened and closed between a fully opened position where the door opening (3) is fully opened, which is moved rearward in parallel with the side surface of the exterior panel of the vehicle body (1).

When the door (2) is in the fully closed position, the door lock (8) provided at the open end of the door (2) shown in FIG.
By engaging with the striker (9) fixed to the vehicle body (1), it is held in the fully closed position with a reliable closed state.

(10) is mounted on the vehicle body (1) behind the door opening (3), and as shown in FIG. 4, the motor drive section (11), the guide track (7), and the door drive cable member (12). ) And
It is a door drive device for automatically opening and closing the door (2) by driving a motor.

The motor drive section (11) is arranged between an outer panel which covers the vehicle body (1) and an inner panel on the indoor side. As shown in FIG. 5, the door drive cable member (1
2) is unreeled from the motor drive unit (11), discharged through the mounting hole formed on the rear side of the vehicle body (1) to the outside of the vehicle, and reciprocated along the guide track (5). , A door closing cable (12a) and a door opening cable (12b) connected to the door (2) side from respective directions.

As shown in FIG. 5, the door drive section (11) includes a base plate (13) fixed to the interior of the vehicle body (1) with bolts and the like, a motor (14) capable of forward and reverse rotation, and a motor ( 14)
Of the drive pulley (15), which is transmitted by increasing the output torque by decreasing the number of rotations of the motor and the motor (14), is separately excited in a timely manner to separate the motor (14) and the drive pulley (15). The space between the two is fixed to an electromagnetic clutch (16) mechanically connected (illustrated by an electric circuit in FIG. 7) and a speed reducer (17).

The rotary shaft of the drive pulley (15) has a rotary encoder (1
8) are linked so that the amount of movement of the door drive cable member (12) wound around the drive pulley (15) (the amount of movement of the door described later) can be measured.

The door drive cable member (12) wound around the drive pulley (15) is a pair of guide pulleys provided behind the guide track (7) and rotating independently of each other.
Through the (19), the opening (7a) of the guide track (7) opening outward in a U-shape and the lower guide part (7b) are hung parallel to each other, and It is wound around a reversing pulley (20) provided at the front end of (7) to form an endless cord.

In the door drive cable member (12), the proper place of the portion running through the opening (7a) of the guide track (7) is
The moving member (21) traveling without resistance through the opening (7a) is immovably connected, and the front of the moving member (21) forms the door closing cable (12a) and the rear of the moving member (21). Form a door opening cable (12b).

The moving member (21) is connected to the inside of the rear end portion of the door (2) through a hinge arm (22), and a door opening cable (rotating a motor (14) of the door driving unit (11) ( 12a) or the door closing cable (12b) pulling force
Move the inside (7a) of the opening (7) forward or backward to open the door.
Move (2) in the door closing direction or door opening direction.

The rotary encoder (18) interlocks with the drive pulley (15) and converts the rotation angle of the drive pulley (15) into a large number of pulses per one rotation and outputs the same. The number of output pulses of this rotary encoder (18) Is continuously counted from the fully closed position of the door (2) to the fully opened position, the count value is the position of the moving member (21), that is, the door.
The position of (2) can be measured.

FIG. 7 is a block diagram showing the outline of the relationship between the door (2) mounted on the vehicle body (1) as described above and the slide door automatic control device (23) described later. In the drawings, the same members as those described above are designated by the same reference numerals, and detailed description thereof will be omitted.

The automatic control device (23) for the sliding door includes a voltage signal (BV) of the battery (24) and an ignition switch.
(Hereinafter, the electric switch member is abbreviated as SW.) (25) open / close signal (IG), parking SW (26) open / close signal (P)
K), main SW (27) open / close signal (MA), door open (ON when opening the door) SW (28) open / close signal (D)
O), door closed (turn on when closing door) SW (2
The open / close signal (DC) of 9) is input, and the open / close signal (RO) of the remote control door opening (turn on when the door is opened) of the keyless system (31) using the wireless remote controller (30) , Remote control door closed (O when closing the door
An open / close signal (RC) of "N" is input.

As an output, the buzzer (32) for warning that the door (2) is automatically opened and closed is controlled, and
It controls the motor drive unit (11). Also, the car body (1)
Through the vehicle body side connector (33) and the door side connector (34) provided in the door opening (3) between the door (2) and the door (2)
From the state where the door (2) is slightly opened from the fully closed state, the door (2)
It connects with the built-in electric circuit and controls the built-in electric circuit of the door (2).

The electric circuit built in the door (2) includes a closure motor (CM) for tightening the door (2) from the state immediately before the half-latch to the fully latched state, and the door lock.
An actuator for electrically driving (8) (hereinafter abbreviated as ACTR) (35), a circuit for sending an opening / closing signal (HR) of a half latch SW (36) for detecting a half latch, and a door lock (8) are connected. Opening / closing signal (DH) of the door handle SW (37a) for detecting the operation of the operating door handle (37)
There is a circuit to send.

A motor (14) is provided between the door driving device (10).
By the wiring that supplies electric power to, the wiring that sends the electric power that operates the clutch (16), and the rotary encoder (15),
In order to detect the moving speed and moving direction of the door (2), wiring is connected to the pulse signal generator (38) that generates two two-phase pulse signals (φ1) (φ2) whose phases are different by 90 degrees. Has been done.

FIG. 8 is a block diagram specifically showing the slide door automatic control device (23). The slide door automatic control device (23) controls the door drive device (10) in order to solve the above problems by program control by a microcomputer. In addition, the same reference numerals are given to those already described, and detailed description thereof will be omitted.

Reference numeral (39) denotes an input / output port in the microcomputer control system for inputting / outputting an ON / OFF signal of SW and an operation / non-operation signal of a relay, a clutch and the like, and each port (39 ) Is assigned 1 bit.

(40) is a battery (2
A generator for charging 4), and (41) is a stabilized power supply of the microcomputer system in the slide door automatic control device (23).

The two-phase pulse signals (φ1) (φ2) output from the pulse generation circuit (38) of the rotary encoder (18) are supplied to the speed selection unit (42) and the position detection unit (43) at the speed signal (T). And a position signal (N) are generated. Each of the signal processing parts and control parts, which will be shown below as parts, is substantially a digital data processing part by program processing of a microcomputer, and may also be referred to as means.

Since the motor (14) for driving the door (2) and the closure motor (CM) are both motors for driving the door (2) and are not simultaneously driven, the motor switching SW ( By 44), drive power is selectively supplied.

The closure motor (CM) does not need to be subtly controlled in output, but the motor (14) for driving the door (2) is controlled in precise driving force, so that its power supply circuit is controlled. Has a polarity inversion SW circuit (45) for freely changing the driving direction.

Further, the power supply circuit of the motor (14) is provided with a semiconductor power SW for supplying a DC current discontinuously.
The element (46) is interposed in series so that the duty cycle of this discontinuous waveform (sometimes indicated as DUTY in the flow chart described later) can be freely controlled.

The electric power supply circuit for the motor (14) is provided with a voltage detecting section (47) for digitally detecting the terminal voltage (BV = Vx) of the battery (24) and an A / D converting section (48). Has been. In addition, the power supply circuit has a shunt resistor (4
A current detector (50) for digitally detecting the current value (I = IN) and an A / D converter (51) are provided via 9).

A clutch drive circuit (52) and an actuator drive circuit (53) are provided in the electric power supply circuits of the clutch (16) and the actuator (35), respectively.

The slide door automatic control device (23) uses a main control unit (55) including a control mode conversion unit (54) for selecting an appropriate control mode according to the status of each of the input / output peripheral devices. , The control is repeatedly performed at roughly fixed time intervals.

The control mode conversion unit (54) selects the optimum dedicated control mode required for control according to the latest situation of each input / output peripheral device. In the specialized control mode, there is the pinching control section (58) according to the present invention. Control mode is door (2)
An automatic slide control unit (56) that mainly controls the opening and closing of
A speed controller (5 that mainly controls the moving speed of the door (2)
7) and the entrapment control section (58) of the present invention, which mainly controls the detection of whether something is caught in the moving direction so as to suppress the movement of the door (2) while the door (2) is being driven.
It has.

Further, the automatic slide control unit (56) has a slope determining unit (59) for detecting the posture of the vehicle body (1) in order to control the opening and closing of the door (2) according to the posture of the vehicle body (1). ) Is provided.

FIG. 9 is a main flowchart of the slide door automatic control device (23) to which the present invention is applied. The first step (101) of the steps (100) that make up the main routine
Is an initial setting routine for initializing main parameters etc. at the initial stage of operation. This main routine normally performs loop control from step (102) SW determination to step (110).

The SW determination in step (102) is performed by opening / closing each of the SWs (25) (26) (27) connected to the input / output port (39) such as the door opening / closing SWs (28) (29) shown in FIG. The state is determined and a flag or the like indicating the open / closed state of the SW is set.

The A / D input in step (103) is A in FIG.
The voltage value (Vx) and the current value (IN) are fetched from the D / D converters (48) (51), and the current correction of step (111) and the voltage address conversion routine of step (112) are provided at the lower level. There is. The mode determination in step (103) is performed in step (11
The automatic slide mode of 3) and the closure mode of step (114) are selectively controlled according to the surrounding conditions such as the open / closed state of each SW.

ACTR (actuator) relay control in step (105), clutch relay control in step (106),
Since the automatic slide relay control in step (107) and the closure relay control in step (108) are the direct control parts that apply the power to the clutch and the motor by reflecting the control results of the control parts, the details are particularly detailed. The detailed description will be omitted.

The sleep mode of step (109) is a control unit that reduces power consumption when there is no change for a long time. The program adjustment unit of step (110) is the step (1) in the interrupt program provided outside the loop.
With the program adjustment timer of 15), the interval of the main loop is controlled to be constant, for example, 10 mm seconds.

In this step (110), by receiving the interruption of the program adjustment timer, the control point in each step may enter a deeper level of the nest, may be completed in a shallow hierarchy, etc. depending on the surrounding conditions. The fluctuation of the interval of returning to the entrance of the main loop is constantly adjusted.

FIG. 10 is a flow chart showing in detail the mode determination routine of the step (104). In the automatic slide mode determination in step (116), the start mode of step (117) that divides the start of movement of the door (2) according to various situations at that time, the door (2) that has started moving,
Appropriate control according to the situation at that time is performed by the entrapment determination of step (118) according to the present invention, the slope mode of step (119), the speed control of step (120), and the like.

Similarly, in the switch statement portion of step (121), an automatic opening operation of step (122), an automatic closing operation of step (123), and a step (124) are branched by an identifier according to the surrounding situation. Manual closing operation of step (12
5) Reverse rotation open operation, step (126) reverse rotation close operation, either control is performed.The lower level of those controls is the routine of target position calculation of step (133) and full open detection of step (134). There is.

Further, there is a stop mode routine of step (122) at the same level as the start mode of step (117). The start mode of step (117) is
To the lower level of it, the normal start mode of step (128), which is multi-branched by the step (127) switch statement,
There is a routine for the ACTR start mode of step (129) and the manual start mode of step (130). In the slope mode of step (119), there are routines such as flat data input of step (131) and slope judgment of step (132) at a lower level.

The above-mentioned steps (121) and (12)
The multi-branch flow, which is shown as a switch statement in 7), uses an open / closed state of each SW and usually a 1-bit flag that indicates the continuation or termination of the required control as an identifier indicating the surrounding situation. There is. In the flow of the automatic slide mode determination in step (116), the control point is moved according to the main routine.

In FIG. 10, the step (13
Both the pulse count timer of 5) and the pulse interrupt routine of step (136) constitute an interrupt program at a different control point from the main routine of FIG.

FIG. 11 shows the pulse count timer of step (135) shown in FIG. 15 and the step (13) shown in FIG.
Required in each routine of 6) pulse interruption,
It shows an acquisition time chart of the cycle count value (N).

The velocity signal (Vφ1) (Vφ2) is an output signal output from the rotary encoder (18), the output waveform of which is a rectangular wave, and the velocity signal (Vφ2) is the velocity signal (V
There is a phase difference of 90 degrees with respect to φ1), and the rotation direction of the rotary encoder 18, that is, the opening / closing movement direction of the door 2 is detected from the phase difference of both signals.

The velocity signal (Vφ1) generates an interrupt pulse (g1) at the rising edge of the rectangular wave, and the interrupt pulse (g1) has a pulse period of a sufficient number of repetitions than the interrupt pulse (g1). high,
For example, the cycle count value (T) is obtained by counting the number of clock pulses (C1) that generate a pulse every 400 μs.

The cycle count value (T) is obtained by converting the cycle of the speed signal (Vφ1) output from the rotary encoder (18) into a digital number.
If the output pulse of (18) is 1 pulse per mm (1 cycle), when the cycle count value (T) is 250,
The moving speed of (2) is 1 mm / (400 μs × 250) = 1
When the cycle count value (T) is 100, the moving speed of the door (2) is 25 mm / sec.

FIG. 15 shows a routine of the pulse count timer of step (135) for counting the above-mentioned cycle count value (T). In step (159), the number of clock pulses (C1) is counted by a required pulse counter separately from the main routine in step (110).

In step (160), it is checked whether the cycle count value (T) of the pulse counter is full (T = FF), and if it is full, in step (161) the cycle count value (T) is checked. Is cleared to zero (T = 0), and in step (162), the count value of the required counter for counting the period in which the motor (14) is stopped is incremented.

The cycle count value (TN) shown in FIG.
Is the output signal (φ
Door (2) to be described later in which N position counting pulses (substantially interrupt pulses (g1)) obtained by 1) are counted.
Has a position count value (N) indicating position information as a subscript, and the cycle count value (TN) indicates the cycle count value (T) corresponding to the Nth position of interest at that time,
(TN-1) (TN-2) or (TN + 1) (TN + 2) is the position count value (N), and the cycle count value (T) related to the first or second position is calculated. It is shown.

The cycle count value (TN) will be described later,
In the four period registers consisting of shift registers or memory locations corresponding to them, the position N is set as the point of interest, and it is set so that it becomes the head output value of the register.
It is supposed to be held on a batch basis.

FIG. 12 shows that the output signal (φ1) output from the rotary encoder (18) is used as a position counting pulse and the door (2)
The time chart which acquires the data concerning the position of is shown.

As the data on the position of the door (2), as shown in FIG. 13, the area where the door is located in the closing direction of the door (2) is divided into areas 1 to 4, and
The location area of the door in the opening direction of (2) is divided into area 5 to area 7. In addition, FIG. 13 is a lower track.
The plan view of (5) is shown, and the opening / closing position of the door (2) is a moving member.
It is represented by the position of (21).

Each area has the step (136) shown in FIG.
According to the position interruption value (N) and the moving direction (Z) of the door, the pulse interruption routine is performed as shown in FIGS. 13 and 16.

FIG. 16 shows the control areas (E1) to the areas 1 to 7 divided by the characteristics of the control required.
(E6) and its control areas (E1) to (E6), which are determined in correspondence with the control areas (E1) to (E6), and the moving speed of the door (2) and the control area (E1). ) ~
The resolution (B) of the sampling area, which is used in (E6), is shown. The sampling area will be described later.

In the pulse interruption routine of step (136) shown in FIG. 14, each control area (E1) to (E6) distinguished by the determination of each area and the control suitable for each area.
Is determined.

In step (137), the stop of the motor (14) is checked to determine that the door (2) is not moving,
If the motor (14) is stopped and the door (2) is stopped, the cycle count value (T) is full (T = F) in step (138).
F), otherwise, in step (139), the cycle count value (T) counted up to that point is set as shown in FIG.
Store in the period register shown in 1, then step (140)
At, release the stopped state of the motor (14).

In step (141), the moving direction (Z) of the door (2) is checked, and if the door (2) is moving in the opening direction, the process proceeds to step (142), otherwise it is closed. If so, proceed to step (150). door
If (2) has moved to the open side, the position count value (N) is incremented in step (142).

That is, as shown in FIG. 13, the position count value (N) is set so that the fully closed position of the door (2) is N = 0 and the fully opened position is 850. When the door is incremented when it is closed, decremented when it is closed.
Measure the current position in (2). Step (143) ~ Step
In (149), each area 5 to 7 in the opening direction is discriminated, and a control area corresponding to the area, that is, a link control area (E5), a normal control area (E1), and a check control area (E6) are determined. .

Further, in steps (151) to (158), the areas 1 to 4 in the closing direction are discriminated and the normal control area (E1), the deceleration control area (E2), The link deceleration control area (E3) and the tightening control area (E4) are defined. Area 6 in the opening direction
The normal control area (E1) and the normal control area (E1) of the area 1 in the closing direction have the same control specifications as shown in FIG.

As described above, the pulse count timer of step (135) and the pulse interrupt of step (136) in FIG. 10 have the cycle count value (T) at each timing separately from the main routine. It is acquired as a position count value (N).

FIG. 17 shows the step (116) in FIG.
The details of the automatic slide mode determination routine are shown. The purpose of this routine is to change the control contents in step (165) depending on whether the automatic slide is operating or stopped.

While the automatic slide is stopped after step (167), the start determination is made in step (168) and step (169). When the start determination is made there, the automatic slide operation is determined in step (170). Then, set the start mode in step (172) and process during the automatic slide operation,
In addition, in step (174), the start processing is notified.

When the automatic slide operation is started in step (165), the start mode of step (176), step
The normal mode after (177) and the stop mode of step (164) are divided into three processes. During the automatic slide operation in the normal mode after step (177), the automatic slide operation counting is performed at step (187). Increment (G).

When the end of the start mode is detected in step (166), the normal mode is entered, and step (1
77) Entrapment determination, step (178) speed control, step (179) slope determination.

When it is determined in step (186) that the automatic slide operation has ended (it does not enter during the reverse operation described later), the stop mode is set in step (189),
When this state is determined to be the stop mode in step (163), the process moves to the stop mode in step (164), the automatic slide stop process is performed in this stop mode, and the stop mode is changed in step (190). When it is determined that the operation has ended, the stop mode is ended in step (193), and the automatic slide operation is ended in step (194).

FIG. 18 shows the step (168) in FIG.
It is a detail of the manual determination routine of. The purpose of this manual judgment routine is to allow the person who opens and closes the door (2) to open the door.
(2) It is determined whether or not the manual operation for opening and closing is surely performed.

At step (195), the current moving speed (1 / cycle count value (T)) of the door (2) is faster than a predetermined constant manual recognition speed, and at step (196), the door is detected.
When the moving speed in (2) is less than the rapid closing speed, step
At (197), based on the determination of the opening / closing direction of the door (2), the door opening manual state at step (198) or the step (199)
Set it to one of the door closing manual states. However, after the clutch (16) is turned off, the movement due to the tension of the wire is ignored, and therefore, during the required time lag period, the transition to either the door opening or closing state is not accepted.

Incidentally, when the door (2) is close to the fully closed state, the half manual switch is turned off, or when the operation signal of the door handle SW is detected, the opening manual detection signal is set separately.

When the door (2) is being closed rapidly, the door (2) does not come out of the quick-close mode until it is stopped. At the time of this manual determination, if the door speed is equal to or higher than the rapid closing speed or equal to or lower than the manual recognition speed, nothing is set and the process exits the manual determination routine.

In the manual judgment routine of this step (168), the door (2) is driven by the power by the door speed measured separately from the main routine of step (110) for controlling the door (2). Hereinafter, it will be referred to as an automatic opening operation and an automatic closing operation).

The manual recognition speed in step (195) is a value that creates a trigger for powering the door, and can be set to an arbitrary value in a relatively wide range.

The moving speed of the door (2), that is, the cycle count value (T), is 1 of the rotary encoder (18) as described above.
Since the period can be measured with the minimum resolution,
A movement of the door (2) of about 1 mm can also create a trigger for driving the door (2) by power. As a result, the response of the automatic opening / closing operation (power drive) becomes highly sensitive, and the change in the movement of the door can be detected with high resolution and high sensitivity in order to correspond to the process for obtaining safety.

In the starting mode of step (169) after step (168) in FIG. 17, the following judgment is made in accordance with the open / closed state of each SW. The start of step is determined, and step (181) ~
Steps to branch to each actuation of step (185)
The identifier of the switch statement in (180) is set to determine the operating mode.

The automatic opening / closing operation is not started when the closing speed is equal to or higher than the rapid closing speed and the rapid closing operation is in progress or when the SW cannot be accepted. When all the SWs are turned off when not in the SW acceptable state, the SW acceptable state is set. Operate the remote control SW to open the door, open SW in the car
When is ON or when the manual open state is confirmed, the identifier of the automatic open operation mode is set to the set.

When the remote control SW is operated to close the door and the vehicle interior close SW is turned on or the manual closed state is confirmed outside the dangerous area, the identifier of the automatic close operation mode is set to the set.

When it is confirmed that the in-vehicle close SW is turned on in the dangerous area, the identifier of the manual close operation mode is set in the set. When starting the operation, the SW acceptable state is reset.

FIG. 19 shows the step (122) in FIG.
17 shows the details of the automatic opening operation routine shown at step (181) in FIG. The purpose of this automatic opening operation routine is to control the door drive stop during automatic opening operation or the reversal operation in order to safely drive the door (2) in the opening direction safely. To do.

When the main ON / OFF of step (212) is OFF, and when the door open SW input of step (213) and step (214) is made, the process goes to step (223) to cancel the automatic opening operation. , Stop the power drive of the door (2).

When the SW cannot be received in step (208), when the remote control or the door closing SW in the vehicle is input in step (210) and step (211), the step (2
Control is passed to the door reversal side from 04) to the reverse rotation closing operation permission of step (216). However, when the both door close SW is pressed and held for a little longer, only the door stop is controlled in step (220) or step (222).

When the entrapment is detected in step (201), the target position is obtained in step (202) and the control is shifted to the reverse side.
However, due to the step (204), only the stop is made in the dangerous area shown in FIG. If the door (2) is detected to be fully open in step (205) or if the abnormality is detected in step (207),
Move to step (223) and stop. In the reverse operation, the door opening operation is released in step (217), and the door closing operation is permitted in step (218).

FIG. 20 shows the step (123) in FIG.
17 shows the details of the automatic closing operation routine shown at step (182) in FIG. The purpose of this automatic closing operation routine is to stop the door drive during the automatic closing operation or to control the reversing operation in order to safely power the door (2) in the closing direction. To do.

When the main ON / OFF of step (233) is OFF, and when the door close SW input of step (234) and step (235) is made, the operation goes to step (246) to cancel the automatic closing operation. , Stop the power drive of the door (2).

When the SW cannot be received in step (230), when the remote control or the door open SW in the vehicle is input in step (231) and step (232), the step (2
Proceed to the automatic operation release of 38), and pass control to the door reversal side that reaches the reverse rotation opening operation permission of step (236). However, when the both door open SW is kept pressed for a little longer, the door is stopped only at step (243) or step (244).

When the entrapment is detected in step (225), the target position is obtained in step (226), and the control is shifted to the reverse side.
If the half-latch area of the door (2) is detected in step (224), or if an abnormality is detected in step (229), step
Move to (246) and stop. When reversing, step (237)
The door closing operation is released with, and the door opening operation is permitted in step (238). Further, at step (239), the door (2) is ACT.
If it is in the R range, the ACTR operation is permitted in step (240).

FIG. 21 shows the step (124) in FIG.
17 shows the details of the manual closing operation routine of step (183) in FIG. The purpose of this manual closing operation routine is to turn on / off the door opening / closing operation switch.
The operation is triggered by power drive, and the door opening / closing switch is turned ON /
Automatic control can safely follow the OFF operation.
The following functions are achieved by stopping the door drive during the manual closing operation or controlling the reversing operation.

If any of the door closing SWs opens the door in step (249), the automatic closing operation is released in step (255) to stop the driving of the door. If entrapment is detected in step (247), step (248) to step (25
Control is transferred to 4) and the door (2) is driven in reverse.

FIG. 22 shows the step (125) in FIG.
17 shows the details of the reverse rotation operation routine of step (184) in FIG. The purpose of this reverse rotation opening operation routine is to safely stop the reverse rotation opening operation or to control the reverse rotation operation to function as follows.

Before reaching the reverse opening operation, the judgment of the entrapment in step (225) in the automatic closing operation routine of step (182) in FIG. 20 is obtained, and the target value obtained in step (226), Compare the current position count value (N) in step (257) and stop at the designated target reversal position during this pinching operation.

At step (268), all operation switches are turned off.
Then, when you press either of the both door close SW, step
At step (267) and step (269), the process reaches step (258), the permission for the door reverse rotation opening operation is released, and the reverse rotation opening movement of the door is stopped.

When the main SW in step (259) is OFF,
When the abnormality is detected in step (264) and when the jamming is present in step (262), the control moves to step (258), and the reverse rotation of the door is stopped.

FIG. 23 shows the step (126) in FIG.
17 shows the details of the reverse rotation closing operation routine of step (185) in FIG. The purpose of this reverse rotation close operation routine is to safely control the stop or reverse operation during the reverse rotation close operation, and function as follows.

Before the reverse rotation closing operation is reached, the step (201) of the automatic opening operation routine of the step (181) in FIG. 19 is performed.
When it is determined that there is a pinch between the target position value and the current position count value (N) acquired in step (202), step (27)
Compare with 1), during this pinching operation, stop at the designated reverse position of the target.

At step (281), all operation switches are turned off.
Then, when you press either of the both door close SW, step
At (280) and step (283), the process reaches step (272), the permission for the door reverse rotation closing operation is released, and the reverse rotation closing movement of the door is stopped. When the main SW of the step (274) is OFF, when the abnormality is detected in the step (277), and when the trap is present in the step (275), the control shifts to the step (272), and the reverse rotation closing movement of the door is stopped.

FIG. 24 shows a target position calculation step (202) in the automatic opening operation routine of FIG. 19, step (226) in the automatic closing operation routine of FIG. 20, and step (254) in the manual operation routine of step 21. It shows the details of the routine. This target position calculation routine reverses the door (2) with respect to the moving direction up to then when the trapping is detected, and moves the door to a safe position.
The moving target position is calculated. In step (284), the moving direction of the door is determined.

Entrapment is detected and the door (2) is stepped.
If it is determined in (284) that the valve is operating in the closing direction, step (28
In 6), for the current position value of the position count value (N),
The amount of movement (movement amount) designated in advance is added to obtain the target position. In steps (287) and (288), the fully open position is the upper limit of addition.

Similarly, pinching is detected and the door is
When (2) is determined to be operating in the opening direction in step (284), the amount of movement specified in advance with respect to the current position value of the position count value (T) in step (285) ( The movement amount) is subtracted to obtain the target value. Steps (289) and (290) are the lower limit boundary value of the dangerous area when the target position is the dangerous area of the area 3.

FIG. 25 shows a step (256) in FIG.
The fully open position detection routine of No. 1 functions as follows. Determine the fully open position of the door (2). During the initial operation of initialization, the door does not move (stops) when the motor (14) is turned on, and the current value when the load of the motor (14) is restrained is recognized to detect that it is in the fully open position. , Set the door fully open.

At step (296), the full-open margin is subtracted from the position count value (N) at that time, and at step (297) it is stored as a full-open recognition position in the required memory section. The full-open margin causes a slight movement even if the door is stopped while recognizing the full-open position during the movement of the opening operation of the door (2). After the fully opened position is recognized, the position is set to the fully opened state when the position data is equal to or higher than the recognized position.

FIG. 26 shows the step (176) in FIG.
The details of the start mode routine of FIG. The purpose of this start mode is to identify the mode in which the automatic slide operation for driving the door (2) is driven according to the ON / OFF state of each SW and the surrounding conditions, and control as follows. Start by SW operation when not fully closed ………… ＞ Normal start mode Start by SW operation when fully closed ………… ＞ ACTR start mode Start manually when not fully closed ………… ＞ Manual normal start mode When fully closed Start by manual operation ………………> Manual fully closed start mode When the control by start is completed, the start mode is released and the operation count is cleared (G = 0).

In step (299), after waiting for the identifier for each start to be given in each step after step (301), in step (300), the normal start mode of step (309), step (310) The control is passed to the ACTR start mode of) and the manual start mode of step (312).

The normal start mode comprising step (309) functions as follows. Control at the start outside the door fully closed area (O of clutch (16) and motor (14)
N). First, turn on the clutch (16) and connect the motor (14) and drive pulley (15). After the ON time lag of the clutch (16), set the motor so that automatic slide operation is possible
Turn on (14). When the motor (14) is turned on, the operation-specific start identifier is reset to notify other routines of the completion of the operation-specific start control.

The ACTR start mode of step (310) functions as follows. In this start mode, control is performed in the start mode in which the door (2) is automatically driven after the engagement of the door lock latch (8) and the striker (9) is released via the ACTR (35). Half latch S
After confirming that W (36) is off for a certain period of time, the clutch
Turn on (16). After the ON time lag of the clutch (16) has passed, the automatic slide is activated. Then the motor (14)
When ON, the operation-specific start identifier is reset to notify other routines of the end of the operation-specific start control.

FIG. 27 shows a manual start mode routine which constitutes step (312), and this manual start mode functions as follows. Controls the manual start operation. First, the auto slide operation is enabled and the motor (14) is allowed to idle. Manual judgment and manual recognition OF
If either F or quick closing recognition operation is determined, set to detect abnormality on the spot. When the time lag until the motor (14) stabilizes, the clutch (16) is turned on and the process ends. When the clutch (16) is turned on, the start-specific mode identifier is reset to notify other routines of the end of the start-specific control.

In the manual full-closed start mode, the manual start is controlled from the door fully closed state. First, the automatic slide opening operation is enabled, and the motor (14) is idled. Confirm that the half latch SW (36) keeps turning off,
And after the time for the motor (14) to stabilize has passed, the clutch
Turn on (16).

Step (122) in FIG. 10 and FIG.
The stop mode, which is the step (164) of (1), functions as follows. This stop mode is intended for safety control when the power drive of the door (2) is stopped during the opening / closing and reverse rotation control of the door in each of the automatic slides. (The timings of turning off the clutch (16) and turning off the motor (14) are controlled).

When the door (2) is stopped at the intermediate position between the fully open position and the fully closed position, the motor (14) is stopped first, and after the stop, the clutch (16) is turned off after a required waiting time. door
When (2) is fully closed (half ON), the motor (1
4), the clutch (16) is turned off at the same time. When the stop mode ends, the status of the stop mode is released and other routines are notified of the end of the stop mode.

The check control in step (175) functions as follows. Control is distributed according to the position of the door and the control status of the check car. Only in area 6, the check car mechanism should work. If the automatic slide operation is in progress, the check car control is started after the stop mode (stop processing) ends. However, after stopping the opening operation,
Since there is backlash, a time lag occurs and check car control is started. When not in electric operation (during manual operation), check that the door has stopped and perform check car control. When the check car is maintained, the check car maintenance control is performed. When the check car is operated, the check car operation control is performed.

FIG. 28 shows a step (120) in FIG.
3 is a flowchart showing a speed control routine of FIG. The speed control routine of step (120) includes the determination of the target value of step (332), the calculation of conformity of step (333), and the feedback adjustment of step (334) in the PWM control routine of step (331). , The matching calculation of step (333) includes the difference calculation of step (335), and the feedback adjustment of step (334) includes the calculation of the adjustment amount of step (336). A detailed flowchart of the PWM control in this step (331) is shown in FIG.

FIG. 29 is a block diagram showing the function of each part such as the determination of the target value in step (332), the matching calculation in step (333), the difference calculation in step (335), and the adjustment amount calculation in step (336). It is shown in.

In the speed control, an appropriate control target value is set according to each control area (E1) to (E6) relating to the position of the door (2) shown in FIG. 16, and the speed of the door (2) is controlled. It is controlled.

The door position detecting section (60) counts the position counting pulse (g1) shown in FIG. 12 to obtain the position counting value (N).
Further, the control area discriminating unit (61a) discriminates the areas 1 to 7 in which the door (2) exists at that time from the value (N) and the signal (Z) in the moving direction of the door (2).

The control area discriminating portion (61a) includes the area 1 to
7, the control areas (E1) to (E6) are discriminated from the table of FIG. 16 and the control areas (E1) to (E6) are determined.
In 6), the required appropriate moving speed of the door (2), in the embodiment, the values of the cycle count values (T1) to (T6) corresponding to the appropriate moving speed are obtained.

In the control speed selection section (61b), the control area (E
Based on 1) to (E6), its control area (E1) to (E6)
One cycle count value (T0) corresponding to the appropriate moving speed is obtained, and it is in the control area (E1) to (E6).
The maximum cycle count value of the moving speed at (Tmi
n) and the cycle count value (Tmax) corresponding to the lowest speed are simultaneously obtained.

The moving speed of the door (2) is easily obtained as the reciprocal (1 / T) of the cycle count value (T), and even if the cycle count value (T) itself is a numerical value, Although the magnitude relationship is reversed, the speed corresponding value does not change, so in the following description, the cycle count value (T) is used as the door count value.
It is used as a value representing the moving speed of (2).

For example, the cycle count value (T0) corresponding to the appropriate moving speed corresponding to the control areas (E1) to (E6) is changed to the appropriate moving speed value (T0) in the control areas (E1) to (E6). The cycle count value (Tmin) corresponding to the maximum speed is the maximum speed value (Tmin), and the cycle count value (Tmax) corresponding to the minimum speed is the minimum speed value (Tmax). In addition, it is an appropriate moving speed value (T0), and each control area (E1) to (E1)
The values corresponding to 6) are the appropriate moving speed values (T1) to (T6) of the respective areas (E1) to (E6).

The control area discrimination section (61a) and the control speed selection section (61b) achieve the functions of step (332) in FIG. 28 and step (339) in FIG.

The appropriate movement speed value (T0 = T1 to T6) of each area obtained by the control speed selection unit (61b) is calculated by the adjustment amount calculation unit.
Sent to (62). The hood bag adjustment amount (R) obtained by the adjustment amount calculation unit (62) is sent to a maximum adjustment amount limiting unit (63) that sets an upper limit value of the adjustment amount.

The adjustment amount calculation unit (62) and the maximum adjustment amount limiting unit
Reference numeral (63) is a portion having a function of calculating the adjustment amount in step (336) of FIG. 28 and a function of calculating the adjustment amount in steps (357) and (368) of FIG.

(64) is a door moving speed detecting unit, which is shown in FIG.
Corresponding to the pulse count timer of step (135) in 0, counting the clock pulse (C1) based on the interrupt pulse (g1), the cycle count value (T
x). When the periodic coefficient value (Tx) related to the moving speed of the door (2) is expressed, it is used as the moving speed value (Tx).
And

This moving speed value (Tx) is determined by the too fast detection unit (65) and the slow speed corresponding to the fitness calculation routine of step (333) of FIG. 28 and the fitness calculation routine of step (341) of FIG. It is input to the excess detection unit (66).

For the too fast detection unit (65) and too slow detection unit (66), the door (2) obtained by the control speed selection unit (61b) is selected.
The maximum speed value (Tmin) and the minimum speed value (Tmax) corresponding to the appropriate speed value (T0) in a certain control area are input. The maximum speed value (Tmin) is detected in the too fast detection section (65).
The minimum speed value (Tmax) is input to the too late detection unit (66).

The excessive speed detecting unit (65) subtracts the maximum speed value (Tmin) from the current moving speed value (Tx) by the difference calculating unit (65a) to obtain the excessive speed amount (TH), Is sent to the temporary holding units (65b) and (65c) using a two-stage shift register or the like.

In the former stage of the temporary holding sections (65b) (65c), the extraction speed is the previous too fast amount (TH2), and in the latter stage, it is 1 time consecutively at the present time or the previous extraction stage.
Too fast after (TH1) is reserved,
H1) and (TH2) are added by the correction amount calculation unit (65d) and the too fast adaptation difference (JNH) is output.

Similarly, the too slow detection unit (66) calculates the minimum speed value (Tmax) from the current movement speed value (Tx) by the difference calculation unit (6
6a) subtracts to obtain the too late amount (TL), which is 2
The data is sent to the temporary holding units (66b) (66c) by the shift registers of the stages. The difference calculation units (65a) and (66b) correspond to the difference calculation routine of step (335) in FIG.

In the former stage of the temporary holding sections (66b) (66c), the extraction amount is too late (TL2), which is one before, and in the latter stage, the extraction amount is continuous at the present time or at the previous extraction stage.
After that, hold the amount too late (TL1) and
L1) and (TL2) are added by the correction amount calculation unit (66d) and the too late adaptation difference (JNL) is output.

Too fast and too slow temporary holding section (65b) (65c)
And (66b) (66c), whether the current moving speed value (Tx) is too fast with respect to the maximum speed value (Tmin) or the minimum speed (Tmax) in the difference calculation unit (65a) (66a), or If it is not too fast or too slow by the speed determination unit (65e) (66e) that determines whether it is too late, this temporary holding unit (65b) (65c) and (66b) (66c) hold contents Reset to zero.

As a result, the correction amount calculation units (65d) and (66d) are provided with too fast (TH1) (TH2) or too late (TL1) (T).
In order for two L2) to be delivered together, either too fast or too late must occur twice in succession.

The too fast matching difference (JNH) output from the too fast detecting section (66) and the too slow matching difference (JNL) output from the too fast detecting section (66) are sent to the feedback adjusting section (67). While being sent, it is also sent to the adjustment amount calculation unit (62), and in the adjustment amount calculation unit (62), both the matching difference (J
NH) (JNL) are collectively treated as a conformance difference (JN).

The adjustment amount calculation section (62) includes a control speed selection section (61
Using the proper moving speed value (T0) obtained in b) as an identifier,
A formula for calculating the adjustment amount (R) is selected. For example, if the appropriate moving speed (T0) is (Ta), the adjustment amount (R) is set to a triple matching difference (JN) (if T0 = Ta, R = 3JN). Similarly, if T0 = Tb, R = 2JN or (R = aJN) If T0 = Tc, R = JN or (R = bJN) T0 ≠ Ta, Tb, Tc, if R = 3JN or (R =
cJN) However, Ta, Tb, Tc may be values of arbitrary size,
Substantially, it is preferable that the appropriate moving speed is set in the high attention area or the dangerous area shown in FIG. Further, the magnification coefficient (a,
In b and c), a required value suitable for feedback control is set according to a curved portion, a straight portion, or the like of the movement locus of the door.

The adjustment amount (R) is limited to the upper limit value of the adjustment amount (R) in the maximum adjustment amount limiting section (63), and the adjustment amount (R) is converted into a duty value (D) described later. The duty value (D) is calculated by the feedback adjustment unit.
Input to (67).

The motor (14) for driving the door (2) employs a control means called PWM control for adjusting the output torque. In the PWM control, the voltage waveform applied to the motor is a rectangular wave, and the duty cycle of the rectangular wave is changed to adjust the output torque of the motor.
However, since the output torque also changes depending on the voltage of the rectangular wave applied to the motor, in order to precisely control the output torque of the motor, it is necessary to control the rectangular wave voltage fluctuation in consideration of the duty cycle. .

FIG. 30 shows a voltage variation and duty cycle when the current flowing through the motor is constant (in the following description, it is abbreviated as duty and abbreviated as DUTE in the flow chart) (D). It is a graph which shows the relationship of.

The vehicle battery (24) has a maximum voltage (V
The maximum voltage is 16 V and the minimum voltage (Vmin) is 9 V, and the voltage between them can be freely changed. The power supply voltage detector (68) detects the voltage (V) of the battery (24).
x) is being measured. At this voltage (Vx), the duty calculating section (69) obtains the duty (D0) corresponding to the required voltage (V0).

Duty (D0) equivalent to required voltage (V0)
Is a duty 100% (Dmax) voltage waveform, that is, the output torque when a required DC voltage (V0) is applied and an arbitrary voltage (Vx) higher than the DC voltage are applied to obtain the same output torque. The duty (D0) for this purpose is represented by the following equation (see FIG. 30). D0 = (V0 / Vx) .Dmax However, the current value flowing through the motor is constant.

The duty calculation section (69) is provided with a battery (24).
The power supply voltage detector (68) measures the voltage fluctuation of the measured voltage (Vx)
Then, the duty (D0) corresponding to the required voltage (V0) is obtained from the voltage (Vx) and the required voltage (V0) based on the above calculation formula.

Further, the duty calculating section (69) obtains the change amount of the duty when the voltage changes by 1 V (volt) above or below the required voltage (V0), and sets it to 1
It is calculated as V equivalent duty (D1). The duty (D0) corresponding to the required voltage (V0) and the duty (D1) corresponding to 1V are input to the feedback adjusting section (67).

The duty calculating section (69) calculates the duty (D) for the power supply voltage fluctuation including the current variation and the motor load characteristics, although it is calculated by the first-order calculation formula that does not include the current variation. It is also possible to make a correction value (D ′) of) in advance as a memory map and address it with the power supply voltage (Vx) to obtain it.

FIG. 31 shows the details of the PWM control in step (331) shown in FIG. The PWM control routine adjusts the duty (D) of the voltage by PWM control so as to match the target speed set for each area. When the target speed is not found, the speed control is cleared and the target speed and DUTY set in the area are found.

When the area changes, the target speed set in the changed area is obtained. The adjustment interval (feedback) of DUTY with respect to the speed should not be shorter than the interval defined for each area because there is a delay in the mechanical section.

FIG. 32 shows the details of the feedback adjustment routine at step (349) shown in FIG.
This feedback adjustment routine is performed so that the target speed is reached when the speed is too slow or too fast for two or more times in succession.
Perform DUTY adjustment of WM. Low speed, high speed buffer 2
It is checked whether or not there is data in the first buffer (it is checked whether two or more data are consecutively too slow or too fast), and if there is, the buffer data is added to obtain the unmatched amount.

33 to 43 show an embodiment of the present invention. FIG. 33 shows the step (118) shown in FIG.
7 is a flowchart showing the main part of the entrapment determination routine of FIG. FIG. 34 shows the details of the entrapment determination routine of step (373) shown in FIG.

FIG. 35 is a block diagram showing the function of the entrapment determination routine of FIG. 33. The configuration will be described based on this block diagram.

As described above, the position detecting section (60) of the door (2) uses the position counting pulse (φ1) (same as the interrupt pulse (g1)) shown in FIG. 12 with the fully closed position of the door as a reference position. Based on the data (Z) of the moving direction of the door, the position count value (N) is obtained by sequentially increasing the count in the opening direction and sequentially decreasing the count in the closing direction.

As shown in FIG. 16, the sampling area computing section (70) thins and counts the position counting pulse (φ1) according to the resolution (B) defined in area 1 to area 7, and counts the total. The address of the sampling area (Q) is determined based on the numerical values (n) and (m).

The sampling area (Q) is addressed by the count value (n) decimated in the closing direction and the count value (m) decimated in the opening direction according to the resolution (B). A sampling area having an address is represented by (Qn) (Qm). When the count value (n) (m) is used alone, the address number is (n) (m).

The relationship among the address numbers (n) and (m), the resolution (B), and the position count value (N) is expressed as follows. N / B = n + b or N / B = m + b n, m is an integer part of the quotient, b is the remainder of the quotient. The resolution (B) is a normal control area (E
Area 1 and area 6), link deceleration control area (E5)
Area 5 is set to a resolution (B = 8) with a wide thinning width.

Area 2 of the deceleration control area (E2) is an area in which trapping is likely to occur and the degree of attention is a dangerous area, but since the area where the door opening is still sufficient, the resolution is (B =
It is set to 4). The area 3 of the link deceleration control area (E3) and the tightening control area (E4) have the finest resolution (B = It is set to 2).

FIG. 12 shows that the sampling areas (Qn) and (Qm) are addressed for each of the control areas (E1) to (E6) based on the resolution (B).

Reference numeral (71) is a load sample data memory, which is an address number (n) sent from the sampling calculation unit (70).
A read / write address is designated by (m).

(72) is a sampling area (Qn) (Qm)
In the load data calculation unit of the door (2) corresponding to, the quotient of the position count value and the resolution (N
The remainder (b) of / B) is entered.

In the load data calculation unit (72), the average current value measured at regular intervals by the current measurement unit (73) in step (103) of the main routine obtains the position count value (N). Motor measured for each (14)
The current value (IN) is sequentially fetched into the shift register (74) having the same number of stages as the resolution (B), and as shown in FIG. 36, the position count value (N) corresponds to each sampling area (Qn). The average value (IAN) of the current value (IN) is calculated.

The load data calculation unit (74) sends the average current value (IAN) to the storage learning data calculation unit (75).

The load sample data memory (71) receives the write data (DL) from the storage learning data calculation unit (75) and the read data (DR) as the predicted comparison value calculation unit.
I passed it to (76). The address for reading and writing this data is the address number (n) (m) of the sampling area (Qn) (Qm).

The predictive comparison value calculation unit (76), as shown in detail in the block diagram of FIG. 37, predictive value register (77), threshold value calculation unit (78), comparison value calculation unit (79) and prediction comparison unit. A value delay register (80) is provided.

Further, the learning data calculation unit for storage (75)
38, as shown in detail in the block diagram of FIG. 38, a current increase rate calculation unit (81), a previous value data holding register (82), a learning data delay shift register (83), and a learning value weighting update calculation unit ( 84).

Current value (IN) measured by the current measuring unit (73)
Is sent to the entrapment determination unit (85), and also to the previous current value memory unit (86), change amount calculation unit (87), and current increase number counting unit (88).

The entrapment determination section (85) includes a change amount detection section (8
The current increase value (ΔI) output by 7) and the increase number value (K) output by the current increase number counting unit (88) are sent, and the step (123) in FIG. 10 and FIG. The slope determination data (θ) of the slope detection unit (89) by the slope determination routine has been sent.

The block diagrams shown in FIGS. 35 to 38 are as follows.
The entrapment determination routine shown in FIGS. 33 and 34 corresponds to the processing function. Note that the step (38
The average value calculation routine of (0) is performed by the load data calculation unit of FIG.
The processing function corresponds to (72) and the current storage register (74).

Similarly, the comparison value generation routine of step (381) and the comparison value calculation routine of step (384) are as shown in FIG.
The processing function corresponds to the prediction value calculation unit (76) of No. 7.

Similarly, the learning process routine of step (382) and the learning delay process routine of step (383) are
A processing function corresponds to the learning data calculation unit (75) for storage in FIG.

Similarly, the continuation & change amount routine of step (375) is shown as a detailed flow chart in FIG. 42. In FIG. 35, the previous value memory unit (86) and the change amount calculation unit (87) are shown. The processing function corresponds to the current increase counter (88).

In the jamming determination of the above structure, the door is
The standard load resistance component (including its change rate) related to opening and closing of (2) is extracted based on the current value (IN) flowing through the door drive motor (14), and the load resistance component is referred to as the door opening / closing status. Sampling area (Qn) (Qm) unique to the door position
Is determined and stored in the memory in association with the sampling area (Qn) (Qm), and when the normal door (2) is opened and closed, the same standard sampling area (Qn) (Qm) is stored. The load resistance component and the current load resistance component are compared to detect the presence or absence of entrapment.

The load resistance component stored according to the sampling areas (Qn) (Qm) is the load resistance component stored in advance based on the new load resistance component each time the door (2) is opened and closed. Learning is updated with corrections.

FIG. 36 shows the sampling area (Qn).
This is an example of how to extract the load resistance component stored according to (Qm), in the embodiment, the rate of change of the load resistance component. In the following description, the open / close state of the door (2) is set to the resolution (B = 4) in the deceleration control area (E2) of the area 2 and the sampling area (Q
n) and the current value (IN) (corresponding to N) for each position counting pulse (φ1) in the sampling area (Qn-1) after that.

The load resistance component stored for one sampling area (Qn) is
n) is the average value (IAN) of the current values (IN) included by the number of resolutions (B = 4), and the current increase rate (ΔIAN =) between the sampling areas (Qn) (Qn + 1) before and after IAn /
It is supported by IAn + 1).

The sample area calculation unit (70) generates the address number (n) and the remainder of the quotient (b) by generating the integer part of the quotient obtained by dividing the position count value (N) by the resolution (B) and The number (n) addresses the load sample data memory (71), and the remainder (b) stores the current value with the same number of registers as the number of resolutions (B) in the load data calculation unit (72). It controls the data shift of the register (74).

The load data calculation unit (72) sequentially adds and averages the current values (IN) to (IN-3) sequentially sent from the storage value register (74) in the order of the remainder (b), The average current (IAN) is obtained and sent to the learning data calculation unit (75) for storage.

FIG. 36 shows the previously stored average current (I'An) (I'An-1) in the same sampling area (Qn) (Qn-1) and this time, which is obtained without considering the learning effect described later. The present average current (IAN) (IAN-1) is shown.

In the initial state, the stored contents of the load sample data memory (71) are such that the vehicle body (1) is placed in a flat position without tilting in the front, rear, left and right, and in a normal position, and the door is opened in this normal position. (2) is opened and closed, and the average current value (IAN) (IA) of the sample area (Qn) (Qm) for each area
m) is obtained in the same manner as in the previous operation state of FIG.

In this initial state, the memory learning data operation unit (75) is set to the current average current value (IAN) or (IA).
m) is larger than the immediately preceding average current value (IAN + 1) or (IAm-1) (IAN> IAn + 1) or (IAm> IAm-1),
Current increase rate (ΔIAN = IAn / IAN + 1) or (ΔIAm =), which is the ratio of the current average current value (IAN) or (IAm) to the immediately preceding average current value (IAN + 1) or (IAm-1) IAm / IAm
-1) is calculated, and this current increase rate (ΔIAN) or (ΔIAm)
Is passed directly from the learning data delay shift register (83) through the learning value weighting update calculation unit (84) and sent as write data (DL) to the load sample data memory (71), and the address at which the data is recorded. Is the average current value (I
An) or (IAm) sample area data (Qn)
Alternatively, it is designated by the address number (n) or (m) of (Qm).

The load sample data memory (71) is an average current forming the storage data of the sample area (Qn) or (Qm) designated by the address number (n) or (m) from the sampling area operation unit (70). The values (IAN, IAm) are sent to the predictive comparison value calculator (76) and also to the storage learning data calculator (75).

In the following description, in order to represent the read data from the load sample data memory (71), that is, the stored data, the average current value (I'An) originally stored is not used. Rather, it is expressed by the addressed sampling area (Qn), and the calculation etc. is performed by using the average current value (I'An) stored in the location specified by the address number (n) of the sampling area (Qn). Data shall be used. The output data of the learning data calculation unit for storage is also shown in the form of the sampling area (Qn).

The load data calculation unit (72) uses the position count value (N) as a target point, and the current value (IN) at that point is at the beginning of the current value storage register (74) and the position count value (N N) is the address number (n) +1 and the remainder (b = 1)
36, the position count values (N) to (N-3) of the current operation are held in the register (74) in FIG. 36, and all the data in the register (74) at that time are sampled. The average current value (IAn) corresponds to the area (Qn) and is obtained by adding and averaging them (total / addition number). The remainder (b) serves to shift the head value of the register (74). The same applies if the remainder (b) is used to shift the attention point.

The load data calculation unit (72) sends the average current value (IAN) to the current increase rate calculation unit (81) and the immediately preceding data holding register (82) shown in FIG. The previous value data holding register (82) is an average of the sampling area (Qn + 1) immediately before the sampling area (Qn) of interest at present in the sampling areas (n gradually decreases) that sequentially appear in the closing movement direction of the door (2). The current value (IAN + 1) is sent to the current increase rate calculation unit (81).

When the current average current value (IAN) is larger than the previous average current value (IAN + 1) (IAN> IAn + 1), the current increase rate calculation unit (81) calculates the current average current value (IAN). IAn) and the immediately preceding average current value (IAN + 1), the current increase rate (Δ
Ian = IAN / IAN + 1) is calculated, and this current increase rate (ΔIA
n) is sent to the learning data delay shift register (83).

However, when the current average current value (IAN) is smaller than or equal to the immediately preceding average current value (IAN + 1) (IAN ≦ IAn + 1), the current increase rate (ΔIAN) is set to 1. The learning data delay shift register (83) slightly delays the update timing of the learning result.
The number of stages of 3) is arbitrary, and in the embodiment, the number of stages is set to 7, and the learning value weighting update calculation unit (84) is set to the sampling region (Q
The current increase rate (ΔIAN + 7) for n + 7) is sent.

In the above description, the address number (n)
Is a number attached to the side where the door (2) is closed. Therefore, since the number is decremented when the door (2) is closed, the previous address number during the movement of the door (2) is (n + 1). Also,
Since the address number (m) is attached to the opening side, it is (m-1) immediately before the address number (m) during the movement of the door.

The learning value weighting update calculation section (84) supplies the current increase rate (ΔIAN +) for the current sampling area (Qn + 7).
7) and the read data (Qn + 7) of the load sample data memory (71) addressed by the same address (n + 7) as the input address (in the following description, the general Address (n).

The learning value weighted update calculation unit (84) stores, in the same sampling area (Qn), a current increase rate (Q'n) = (ΔI'An) previously stored at the time of the previous door drive.
In addition, considering the latest current increase rate (ΔIAN) obtained this time,
The stored data is learned and updated based on the following equation. Q'n = {(3 × Q'n) + ΔIAN} / 4

The above equation is for 25% learning, and the ratio of old and new data can be changed appropriately. The newly obtained storage data (current increase rate) (Q'n) in the above equation is sent to the write data (DL) of the load sample data memory (71), and the storage data is learned and updated.

The predictive comparison value computing unit (76) in FIG. 37 is closer to the moving direction of the door (2) than the learning value (Q'n) corresponding to the address number (n) of the current sampling area (Qn). A comparison value required to determine whether the four sampling areas (Qn-4) ahead are sandwiched is obtained.

The predicted value register (77) stores the first current value (I) in the sampling area (Qn) where the door (2) is present.
N) from the time of measurement, at the loop interval of the main routine, each measured current value up to the present
The latest average current value (IAN) in the sample area, which is averaged in 3), is reserved.

In the threshold value calculation unit (78) and the comparison value calculation unit (79),
Sampling area (Q that obtains the latest current value (IN))
The storage data (current increase rate (I'An-4)) in the sampling area (Qn-4) four (n-4) after the address number (n) in (n) is stored in the load sample data memory (71 ) Read and given.

In the threshold value calculation unit (78), the following equation is calculated from the latest average current value (IAN) in the control area and the sampling area (Q'n-4) storage data four (n-4) after. The threshold value (Fn-4) that determines the allowable width of discrimination is calculated by. Fn-4 = (IAN-4 × Q'n-4) × α When expressed by a general formula, Fn = (IAN × Q′n) × α (where α is a corrected count).

In the comparison value calculation unit (79), the average current value (IAN-
The comparison value (Cn-4) to be compared with 4) is calculated by the following formula. Cn-4 = (IAN-4 * Q'n-4) + Fn-4 When expressed by the general formula, Cn = (IAN * Q'n) + Fn The comparison value (Cn calculated by the comparison value calculation unit (79) -Four)
Passes through the 4-stage predictive comparison value delay register (80), thereby matching with the address number (n) of the currently required sampling area (Qn).

In the initial speed comparison value calculation unit (76), when the first comparison value is generated, the comparison value is put in the preceding stage of the prediction comparison value delay register (80), and it is repeated four times, and four comparisons ahead. Calculate up to the value. If the data stored in the sampling area (Q'n-4) four times after (n-4) is less than the increase recognition minimum value, the comparison value (four ahead) is reset to 0.

FIG. 39 shows steps (37) in FIG.
4) and the learning determination routine of step (388) of FIG. 34 are shown in detail. The objective function of this learning determination routine is to integrate the current value for each control area of each area, and to perform the entrapment detection every time. Also, the learning process is performed when the control area changes.

In the first process, the addresses (n) and (m) of the sampling area and the resolution (B) count are calculated. After that, when the division of the control area becomes better, the learning state becomes possible. After the learning enabled state, the current value is added every time, the number of times of addition is incremented, and preparation for calculating the average value for each control region is performed. The learning entrapment determination process is performed every time. Since the number of pulses from the previous time is input to the cycle buffer count, it is added to the decomposition buffer up to the previous time, and when the resolution value is greater than or equal to each area (meaning that the area has changed), the learning processing and comparison value Calculate

FIG. 40 shows steps (37) in FIG.
8) and the error judgment routine of step (397) of FIG. 39 are shown in detail. In step (424), the current value (IN) is compared with the comparison value (Cn) to obtain the current value (IN).
Is counted as the number of errors in step (425). In step (424), the current value (IN) is compared value (Cn)
If it is less than or equal to, the error count is cleared. That is, the number of times the current value (IN) becomes large and the number of errors are continuously counted.

FIG. 41 shows the step (379) in FIG.
The learning weighting routine is described in detail. The objective function of this learning determination weighting routine is to determine whether or not the abnormality is really abnormal by weighting the count indicating an abnormality because the resolution is different for each area when the current control area is increasing. When it is determined that there is an abnormality and when the current control area does not tend to increase, the entrapment detection is enabled.

When the current control area is not increasing, the entrapment detection is permitted. When the current control area is increasing, there is a count value indicating an abnormality, and when the count value is greater than or equal to the value set for each area (for each resolution), it is determined to be abnormal, and trapping detection is permitted. When the current control area is increasing and the count indicating an abnormality is smaller than the set value, the entrapment detection is disabled and the entrapment detection is disabled.

FIG. 42 shows steps (37) in FIG.
5) and the continuation & change amount routine of step (389) in FIG. 34 are shown in detail. This change & rising tendency routine measures the amount of change in the current value (IN) and the rising duration time. When the previous current value (IN-1) ≧ current current value (IN) is not satisfied, the current value before change and the number of continuations are initialized. When the previous current value (IN-1) <current current value (IN),
Increment the number of ascents. When the previous current value (IN-1) <current current value (IN), if there is no current value before change, the previous current value is stored as the current value before change, and if there is a current value before change, this current value − Obtain the amount of change from the current value before change.

FIG. 43 shows the step (376) in FIG.
And the details of the comprehensive judgment routine in step (390) of FIG. 34. The purpose of this comprehensive determination routine is to make a determination of entrapment after considering all the results of the determination in learning, the change amount, and the rising duration time. The learning judgment has determined that entrapment can be detected. When the duration is equal to or greater than the set value and the amount of change is equal to or greater than the set value.
When the duration is equal to or greater than the set maximum value. When the amount of change is greater than or equal to the set maximum value.

FIG. 44 shows details of the slope judging routine of step (132) in the slope mode routine of step (119) shown in FIG. This slope determination routine prepares conditions for making slope determination. If the slope has already been determined, the determination is not performed for the second time unless the door (2) is fully closed. Perform in Area 1. Perform after the time when operation becomes stable. The operation is stable. Initially, enter a flat value.

FIG. 45 shows a step (131) shown in FIG.
And details of the flat data input routine of step (457) of FIG. 44. This flat value data input routine is for inputting a reference value (flat reference value) used for slope determination. Input when controlled to the target speed. Store the current value as a flat current value. Store the drive voltage as a flat drive voltage.

FIG. 46 shows the step (132) shown in FIG.
And the details of the slope inspection routine of step (456) in FIG. 44. This slope inspection routine distinguishes the current situation of the vehicle body (1) into the following five. A steep climb = when the drive voltage is very low during opening operation Climb = a drive voltage when opening is low Flat = When the drive voltage is not low and the current value is not large during opening operation. downhill. = When the current value is large during opening operation. A steep downhill = When the current value is very large during opening operation.

The drive voltage calculation of step (463) functions as follows. DUTY is 100 by PWM control
If it is not%, the drive voltage at that time is calculated. The drive voltage is represented by setting 0.5 V to 1 (9 V = 18). Extraction of voltage address +18 (9V) = battery voltage DUTY ≠ 100% DUTY value ÷ 250 (100%) = drive ratio Battery voltage * drive ratio = drive voltage DUTY = 100% battery voltage = drive voltage

[0207]

According to the present invention, the following effects can be obtained. (a) The motor load data for driving the sliding door is
Since it is stored according to the position of the door, the motor load data of the door position when the pinch occurs is known, and pre-reading the known motor load data in advance,
Since the variation of the known data is predicted and determined, even if the object is soft and elastic, it is possible to quickly detect the entrapment with a small moving distance of the door and safely operate the sliding door (claim 1 ).

(B) According to the second aspect of the invention, the current value of the motor sensitive to the opening / closing load resistance of the door is intermittently detected, so that the trapping phenomenon is reduced and the moving distance of the door is reduced. It is safe because it can be detected quickly and the door can be stopped or inverted in a short time.

(C) According to the invention described in claim 3, in the sampling area for detecting the load data of the motor, the average current value obtained by intermittently measuring the motor current value a plurality of times is used as the motor in the sampling area. Since the load data is used, the increase / decrease of the motor load is accurately reflected in the average current value, so that the correct entrapment status is reflected even in the result of passing through a small sampling area, and it is possible to quickly determine entrapment and it is safe.

(D) According to the invention described in claim 4, since the motor load correspondence data is stored at the rate of increase of the average current between the sampling areas adjacent in the traveling direction, the load data relating to the movement of the door is stored. Is read as an increase tendency or a decrease tendency of the load, and by predicting it in advance, it is possible to quickly and accurately determine the jamming, so the jamming can be performed with the minimum door movement after the jamming occurs. Measures such as stopping or reversing the door to avoid the above can be promptly taken, and the sliding door can be safely operated.

(E) According to the invention described in claim 5, in the sampling area in which it is stored that the rate of increase of the average current between the sampling areas adjacent to each other in the traveling direction changes, it is detected when the door is moved. When the motor current of the motor load correspondence data shows an excessive increase tendency than the stored one, it is possible to quickly determine the presence of entrapment, so that the entrapment can be performed in a shorter moving distance and a shorter time after entrapment occurs. It is safe to move to the avoidance action.

[Brief description of the drawings]

FIG. 1 is an external perspective view of an automobile to which the present invention is applied.

FIG. 2 is an enlarged view of FIG. 1 with a slide door removed.

FIG. 3 is a perspective view showing only a sliding door.

FIG. 4 is a perspective view of a main part of the sliding door as viewed from the inside of the vehicle.

FIG. 5 is a perspective view showing a door drive device by cutting away a part thereof.

FIG. 6 is a perspective view of a door driving device.

FIG. 7 is a block diagram schematically showing a mechanism of a slide door automatic control device.

FIG. 8 is a block diagram specifically showing a slide door automatic control device (23).

FIG. 9 is a main flowchart of the slide door automatic control device according to the present invention.

FIG. 10 is a flowchart showing details of mode determination and automatic slide mode.

FIG. 11 is a time chart relating to counting the moving speed of a door, which is executed by a pulse interruption routine.

FIG. 12 is a time chart of sampling points sampled according to resolution in each area of the position counting pulse.

FIG. 13 is a time chart showing the relationship between the open / closed position of the door and the position count value, and each area with the door according to the opening degree of the door.

FIG. 14 is a flowchart showing details of a pulse dividing routine.

FIG. 15 is a flowchart showing details of a pulse count timer routine.

FIG. 16 is a control area divided by the characteristics of control required in areas 1 to 7, and the moving speed determined corresponding to the control area and the resolution of the sampling area used for the control area. It is a memory table which shows etc.

FIG. 17 is a flowchart showing details of an automatic slide mode determination routine.

FIG. 18 is a flowchart showing details of a manual determination routine in FIG.

FIG. 19 shows the details of the automatic opening operation routine in FIG.

20 shows the details of the automatic closing operation routine in FIG.

FIG. 21 shows the details of the manual closing operation routine in FIG.

22 shows details of the reverse rotation opening operation routine in FIG.

FIG. 23 shows the details of the reverse rotation close operation routine in FIG.

FIG. 24 shows the details of the target position calculation routine in FIG.

FIG. 25 shows the details of the full-open control routine in FIG.

FIG. 26 shows the details of the start mode routine in FIG.

27 shows details of the manual start mode routine in FIG.

28 is a flowchart showing a main part of the speed control unit in FIG.

FIG. 29 is a block diagram showing functions relating to speed control.

FIG. 30 is a graph showing a formula for calculating battery voltage and duty.

FIG. 31 shows details of the PWM control shown in FIG. 28.

FIG. 32 shows the details of the feedback adjustment routine shown in FIG. 28.

FIG. 33 shows a main flow of the entrapment determination shown in FIG.

34 shows details of the entrapment determination shown in FIG. 33.

FIG. 35 is a block diagram showing a function of jamming determination.

FIG. 36 is a graph showing each data in a sampling area of interest.

37 is a detailed block diagram of the prediction discriminant value calculation unit in FIG. 35.

FIG. 38 is a detailed block diagram of the memory learning calculation unit in FIG. 35.

FIG. 39 shows the learning determination routine shown in FIG. 33 in detail.

FIG. 40 shows the error determination routine shown in FIG. 33 in detail.

FIG. 41 shows the learning weighting routine shown in FIG. 33 in detail.

FIG. 42 shows the continuation & change amount routine shown in FIG. 33 in detail.

FIG. 43 shows the comprehensive determination routine shown in FIG. 33 in detail.

FIG. 44 shows the slope determination routine in FIG. 10 in detail.

FIG. 45 shows the flat data input routine shown in FIG. 44 in detail.

FIG. 46 shows the slope inspection routine shown in FIG. 44 in detail.

[Explanation of symbols]

 (1) Vehicle body (2) Door (3) Door opening (4) Upper track (5) Lower track (6) Sliding connector (7) Guide track (8) Door lock (9) Striker (10) Door drive device (11) Motor drive part (12) Door drive cable member (12a) Door closing cable (12b) Door opening cable (13) Base plate (14) Motor (15) Drive pulley (16) Electromagnetic clutch (17) Reduction part ( 18) Rotary encoder (19) Guide pulley (7a) Opening (7b) Guide (20) Inverting pulley (21) Moving member (22) Hinge arm (23) Sliding door automatic control device (24) Battery (25) Ignition SW (26) Parking SW (27) Main SW (28) Door open / close SW (29) Remote control Door open / close SW (30) Wireless remote control (31) Keyless system (32) Buzzer (33) Body side connector (34 ) Door side connector (35) Actuator (36) Half latch SW (37) Door handle (37a) Door handle W (38) Pulse signal generator (39) Output port (40) Generator (41) Stabilized power supply (42) Speed selector (43) Position detector (44) Motor switching SW (45) Polarity reversing SW circuit ( 46) Power SW element (47) Voltage detector (48) A / D converter (49) Shunt resistor (50) Current detector (51) A / D converter (52) Clutch drive circuit (53) Actuator drive circuit (54) Control mode conversion unit (55) Main control unit (56) Auto slide control unit (57) Speed control unit (58) Entrapment control unit (59) Slope determination unit (60) Door position detection unit (61) Control area Discriminator (62) Appropriate correction amount selector (63) Maximum correction amount limiter (64) Door movement speed detector (65) Too fast detector (66) Too late detector (65a) (66a) Difference calculator ( 65b) (65c) (66b) (66c) Temporary holding section (65d) (66d) Correction amount calculation section (67) Feedback adjustment section (68) Power supply voltage detection section (69) Duty calculation section (70) Sampling area calculation section (71) Sample data memory (72) Load data Calculation unit (73) Current measurement unit (74) Shift register (75) Learning data calculation unit for storage (76) Prediction comparison value calculation unit (77) Prediction value register (78) Threshold calculation unit (79) Comparison value calculation unit (80) Predicted comparison value delay register (81) Current increase rate calculation unit (82) Previous value data hold register (83) Learning data delay shift register (84) Update calculation unit (85) Judgment unit (86) Previous current value memory Section (87) change amount calculation section (88) current increase number counting section (89) slope detection section

Claims (5)

[Claims] 1. An opening / closing apparatus for a sliding door for a vehicle, wherein a sliding door supported so as to be openable / closable along a guide track provided on a vehicle body is opened / closed by a motor drive, the door having a forward / reverse rotatable motor. A drive unit, a motor load detection unit that detects motor load correspondence data of the door drive unit, and a door position detection unit that detects the position of the door guided by the guide track in the range from the door fully open to the door fully closed; Storage means for associating the motor load correspondence data detected by the motor load detection means with a required sampling area addressed by the detection position of the door position detection means, and storing the motor load correspondence data for the door position; Every time the stored motor load correspondence data is read at the latest sampling area address, it is detected latest. Motor load correspondence data learning means for appropriately correcting the read motor load correspondence data with the motor load correspondence data and learning as motor load correspondence data to be newly stored, and a sampling area where the door actually exists. , The motor load correspondence data stored in the sampling area that has advanced a suitable number of areas in the door movement direction is read, and the motor load correspondence data in the sampling area where the door actually exists is calculated as necessary to predict the door movement direction. And a pinching determination unit that determines whether or not pinching has occurred, based on a deviation between the predicted value of the motor load corresponding data and the predicted value and the motor load corresponding data of the existing sampling region. Door pinch detection device for automatic door opening / closing control. 2. The door pinch detection device in the automatic opening / closing control of a vehicle slide door according to claim 1, wherein the motor load correspondence data is an intermittently detected motor current value. 3. The automatic vehicle door for automatic sliding door according to claim 1, wherein the motor load correspondence data is an average current value of motor currents intermittently detected in a plurality of sampling areas having addresses corresponding to door positions. Door entrapment detection device for opening and closing control. 4. The stored motor load corresponding data is the average current value of the sampling region of the immediately preceding detection and the sampling region of the present detection, which is based on the average current value of the motor detected in each sampling region arranged in the door moving direction. The trapping detection device for the door in the automatic opening / closing control of the vehicle slide door according to any one of claims 1 to 3, which is a rate of increase with respect to the average current value. 5. The entrapment determination means uses the stored motor load correspondence data as an increase rate of a motor average current between adjacent sampling areas, and the increase rate is in a sampling area in which the increase rate changes gently. The automatic opening / closing control of the vehicle slide door according to claim 4, wherein when the detected current of the detection means for detecting the motor load corresponding data has a larger tendency to increase than the stored current increase rate, it is determined that there is a pinch. Detection device for doors.