JPH11342740A - Nipped-ion control method of vehicular automatic sliding door - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent a misjudgment of nipped-in by sudden speed reduction by increasing a judging value by a prescribed quantity according to the target speed reducing signal in a section changed to a low speed from a high speed. SOLUTION: A target value is constant in a constant speed control state at a high speed or a low speed, but when discriminating that the target value reduces (ST1), a value of a factor K is increased by multiplying the factor K by a correction factor α larger than 1 (K=α.K) (ST4), and a judging value Tj is determined by an expression (Tj=(1+K)T) using this factor K (ST3). Thus, the judging value Tj at target value reducing time becomes larger than when controlled at a constant speed so as to prevent a misjudgment on an increase in an actual period in a speed changing section for controlling target value reduction.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for controlling the pinching of an automatic sliding door for a vehicle.

[0002]

2. Description of the Related Art Conventionally, there is a slide door provided in a vehicle, for example, an automobile, which is slid by a motor to enable automatic opening and closing of the door. In such slide control of the automatic slide door, it is conceivable to open and close the slide door while keeping the slide speed constant. Further, the door may be closed at a constant speed from the fully open position to the fully closed position, but it is possible to close the door at a relatively low speed near the fully closed position where the possibility of entrapment is large. preferable.

[0003]

However, when the sliding speed is switched from high speed to low speed during the closing operation as described above, the speed decrease during the switching is erroneously determined to be jamming. There is a fear. For this reason, it is conceivable that the section is set as a pinch determination prohibition section, but pinch may actually occur in the section, which is not preferable. In order to prevent erroneous determination of entrapment, it is conceivable to lengthen the speed switching section and perform gradual switching, but there is a disadvantage that the door closing time becomes longer.

[0004]

SUMMARY OF THE INVENTION In order to solve the above-mentioned problem, an erroneous judgment of pinching in an automatic sliding door in which the sliding speed is switched from a high speed to a low speed to perform the closing operation occurs. In the present invention, when at least the closing operation of the slide door slidably provided in the vehicle is automatically driven by a motor, a predetermined In the pinching control method of an automatic sliding door for a vehicle, in which the sliding is performed at a high speed and then at a predetermined low speed, a determination value obtained from a sliding speed at a previous pinching determination and a determination value at a current pinching determination are performed. The slide speed is compared with the slide speed, and the jamming determination is performed based on a large decrease in the slide speed. In the cutting switched interval was the determination value in accordance with the target speed reduction signal shall increase the predetermined amount.

In this manner, when switching from the high-speed slide control to the low-speed slide control, even if the slide speed sharply decreases in the switching section, the entrapment determination value is not changed in the switching section during the constant-speed control. Since it is set to be larger than this, an erroneous determination of pinching due to a sudden decrease in speed in the switching section does not occur.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to specific examples shown in the accompanying drawings.

FIG. 1 is an overall view showing a schematic configuration of a slide control device for a vehicle slide door to which the present invention is applied. In FIG. 1, a slide door 1 slidable in the vehicle front-rear direction is provided for getting on and off a rear seat (not shown) of a vehicle. The sliding door 1 has a part of its upper and lower ends guided and supported by rails provided on a door sash (not shown), and is slidably supported by a guide rail 2 provided to extend in the vehicle front-rear direction. A part on the vehicle rear side is supported via the slider 3 thus formed. The slider 3 is connected to a wire 5 wound between two pulleys 4 disposed near both ends of the guide rail 2.

Both ends of the wire 5 are wound in opposite directions around a drive drum 6a provided in a casing of the drive unit 6, and the drive drum 6a is rotated by a motor 7 also provided in the casing of the drive unit 6. The drive drum 6a also rotates forward and backward in response to the forward and reverse rotation of the motor 7, so that the wire 5 reciprocates. Thereby, the slider 3 reciprocates in the vehicle front-rear direction (left and right in the drawing) while being guided by the guide rail 2, and the slide door 1 can perform an opening and closing operation by sliding.

A motor control device 8 for controlling the driving of the motor 7 is provided. The motor control device 8 receives a rotation pulse signal P of the motor 7, and the motor control device 8 , A forward / reverse drive signal D is output. Then, in the motor control device 8,
The motor 7 is driven at a constant speed by the duty control.

FIG. 1 shows a fully opened state of the slide door 1. When the door is to be closed from this state, the slide door 1 is moved in the direction shown by the arrow A in the figure. The control according to the present invention at the time is shown below.

First, in the slide control of a vehicle slide door to which the present invention is applied, as shown in FIG. 2, a relatively high speed VH (for example, 240 mm / se
The movement is performed in c), and the movement is performed at a relatively low speed VL (for example, 100 mm / sec) from a predetermined position before the fully closed state, and the respective constant speed controls are performed by PWM control. In addition,
The switching position from the high-speed VH control to the low-speed VL control can be determined by the count number of the rotation pulse signal P. In a real vehicle, the switching position is about 100 mm before the fully closed position. Different from the ones.

In FIG. 2, the change in the control speed of the slide door 1 by the drive signal D of the motor 7 is indicated by a solid line, and the change in the actual slide speed by the control value is indicated by a dashed line. As shown by the dashed line in the figure, the actual sliding speed changes to some extent due to the frictional resistance of the sliding contact portion of the sliding door 1 and the like.

Next, the pinch determination in the slide control will be described with reference to FIG. The timing of the entrapment determination in this control is at the time of detecting a rotation pulse signal of the motor 7 (for example, at the time of a pulse falling). For example, a cycle required for one rotation (for example, 20 pulses) of the motor 7 is calculated for each input of one pulse, and a change in the cycle is monitored. In the present embodiment, the cycle required for one rotation of the motor 7 is calculated by using the cycle of two pulses before the determination as a reference cycle Td, and multiplying the reference cycle Td by 10 to obtain one cycle of the motor 7 The corresponding 20 pulses are calculated and set as a converted one rotation cycle T which is a reference for determination.

The allowable deviation ΔT is added to the converted one rotation period T obtained as described above at the time of the previous entrapment determination to obtain a judgment value Tj (= T + ΔT), and one rotation (20 pulses) obtained at the present entrapment determination Minute) and the actual cycle Tr, and if Tr> Tj, the entrapment determination is made.
If the entrapment determination is repeated three times, it is determined that the entrapment state has actually been reached. Note that the allowable deviation ΔT is not determined in advance, but is calculated at each time of the determination calculation based on the converted one rotation cycle T.

Next, a method of controlling pinching when the door is closed according to the present invention will be described below with reference to the flowchart of FIG.
In the first step ST1, a target value (slide speed setting value)
It is determined whether or not is reduced. In the present control, the high-speed VH control is switched to the low-speed VL control as described above during the transition from the fully open position to the fully closed position, and the target value at the time of the switching is reduced (for example, a constant decrease from the high speed VH The target speed is decreased at a rate to make the low speed VL), and the decrease in the target value is determined.

In the constant speed control state at high speed or low speed, the target value is constant, and in that case, the process proceeds from the first step ST1 to the second step ST2. As described above, the entrapment determination value Tj is obtained by adding the allowable deviation ΔT to the converted one rotation cycle T, and calculating the allowable deviation ΔT by multiplying the conversion one rotation cycle T as a reference by a coefficient K. (ΔT = K · T). In the second step ST2, in order to determine the value of the coefficient K, a predetermined value A stored in advance (for example, may be changed between high speed and low speed) is substituted for the coefficient K, and the process proceeds to the third step ST3.

In a third step ST3, a judgment value Tj is obtained by the equation (Tj = (1 + K) T) using the coefficient K. The predetermined value A is a positive number less than 1.

If it is determined in the first step ST1 that the target value has decreased, the operation proceeds to a fourth step ST4. In the fourth step ST4, the coefficient K is multiplied by a correction coefficient α larger than 1 to increase the value of the coefficient K (K = α · K), and the process proceeds to the third step ST3. As a result, the determination value Tj when the target value decreases is larger than when the control is performed at a constant speed, so that an erroneous determination is made with respect to the increase in the actual cycle Tr in the speed switching section in which the target value reduction control is performed. Can be prevented.

That is, as shown in the upper part of FIG.
In the constant speed control, a determination value Tj obtained by adding the allowable deviation ΔT (= K · T) to the cycle T at the time of detecting the previous pulse signal is compared with the actual cycle Tr at the time of detecting the current pulse signal. The entrapment determination is performed as described above (in the figure, the actual cycle Tr falls within the determination value Tj). In the target value lowering control, as shown in the lower part of FIG. 5, when the determination value Tj is also used at the time of the target value lowering, the actual period Tj increases with the target value lowering control, and thus the actual period Tj
Always exceeds the determination value Tj, and an erroneous determination of entrapment is performed.

On the other hand, according to the present control, the allowable deviation ΔT is further multiplied by the correction coefficient α (> 1) as described above, and the judgment value Tj at the time when the target value decreases is made larger than that at the time of the constant speed control. You have set. Therefore, as shown in the lower part of FIG. 5, even if the actual cycle Tr increases due to the target value lowering control, the entrapment is determined using the determination value Tj at the time of the target value lowering larger than that. In addition, it is possible to prevent the erroneous determination of the entrapment due to the increase of the actual cycle Tr accompanying the standard value lowering control.

[0021]

As described above, according to the present invention, in the automatic closing control of the sliding door, when switching from the high speed sliding control to the low speed sliding control at an arbitrary position before reaching the fully closed position, Even if the slide speed suddenly decreases in the switching section, the pinching determination value is set larger in the switching section than at the time of the constant speed control. Absent.

[Brief description of the drawings]

FIG. 1 is an overall view showing a schematic configuration of a slide control device for a vehicle slide door to which the present invention is applied.

FIG. 2 is a speed diagram showing a point of speed control of a sliding door to which the present invention is applied.

FIG. 3 is a time chart showing a procedure of pinching determination to which the present invention is applied.

FIG. 4 is a control flowchart according to the present invention.

FIG. 5 is a time chart showing control based on the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Slide door 2 Guide rail 3 Slider 4 Pulley 5 Wire 6 Drive unit, 6a Drive drum 7 Motor 8 Motor control device

Continued on the front page (72) Inventor Toru Hagi 1-4-1, Chuo, Wako-shi, Saitama Prefecture Inside Honda R & D Co., Ltd. (72) Tatsumi Sakazume 1-4-1, Chuo, Wako-shi, Saitama Stock Company (72) Inventor Hiroshi Ono 1-2681, Hirosawa-cho, Kiryu-shi, Gunma Co., Ltd. Inside Mitsuba Co., Ltd. (72) Masami Sayama 1-2681-1, Hirosawa-cho, Kiryu-shi, Gunma Co., Ltd.

Claims (1)

[Claims] When a sliding door slidably provided on a vehicle is automatically driven by a motor by at least a closing operation, the sliding door is slid at a predetermined high speed on the fully open side and then slid at a predetermined low speed. In the pinching control method for an automatic sliding door for a vehicle, the sliding speed is significantly reduced by comparing a determination value obtained from the sliding speed at the previous pinching determination with the sliding speed at the current pinching determination. The automatic sliding door for a vehicle, characterized in that, in the section where the high speed is switched to the low speed, the determination value is increased by a predetermined amount in accordance with the target speed reduction signal. Pinch control method.