WO2015098882A1

WO2015098882A1 - Drive control device for opening/closing body of vehicle

Info

Publication number: WO2015098882A1
Application number: PCT/JP2014/083989
Authority: WO
Inventors: 伸康別所; 廣田　功一; 新一郎野田; 善基石川
Original assignee: アイシン精機株式会社
Priority date: 2013-12-25
Filing date: 2014-12-22
Publication date: 2015-07-02
Also published as: JP6169965B2; JP2015124489A

Abstract

　A DC motor drives the backdoor so as to close after an idle running period has elapsed. A door ECU calculates an absolute value (DN) of the difference in rotational speed, which is a deviation between the rotational speed of the DC motor detected during the idle running period, and the current rotational speed of the DC motor detected thereafter. The door ECU compares the absolute value (DN) of the rotational speed difference to a detection threshold (Ta) and detects whether or not a foreign object is stuck in between. The door ECU estimates the temperature of the DC motor on the basis of the rotational speed of the DC motor detected during the idle running period. Also, the door ECU estimates the environmental temperature on the basis of the temperature of the DC motor and the number of times the DC motor has been run during a given period. The door ECU corrects the detection threshold (Ta) such that the detection sensitivity to stuck foreign objects is greater when the estimated temperature of the DC motor or environmental temperature is lower, than when the estimated temperature or the environmental temperature is higher.

Description

Opening / closing member drive control device for vehicle

The present invention relates to a vehicle opening / closing body drive control device capable of detecting the inclusion of a foreign object during driving of the opening / closing body.

Patent Documents 1 and 2 propose this type of vehicle opening / closing body drive control device. The apparatus disclosed in Patent Document 1 performs a pinching avoidance process for stopping or reversing the driving of the motor when detecting the pinching of a foreign object during the raising / lowering of the door glass by the driving force of the DC motor. This apparatus has a rotation speed detection means, a rotation torque difference calculation means, a determination means, and an instruction means. The rotation speed detection means detects the rotation speed of the motor. The rotational torque difference calculating means calculates the rotational torque difference of the DC motor from the rotational speed difference of the DC motor in the unloaded state and the loaded state detected by the rotational speed detecting means. The discriminating unit discriminates whether or not a predetermined rotational torque difference has occurred based on the calculation result of the rotational torque difference calculating unit. When it is determined by the determination means that a predetermined rotational torque difference has occurred, the instruction means instructs execution of the pinching avoidance process. In this case, in order to determine the degree of decrease in the rotational speed of the DC motor in order to determine whether or not foreign matter is caught, the rotational speed is not compared with an empirically or experimentally determined threshold value, but the foreign matter is actually The rotational torque difference of the DC motor when sandwiched is calculated. In this way, since the rotational torque difference of the DC motor is directly acquired, it is possible to determine whether a foreign object is caught regardless of the assembled state.

The apparatus disclosed in Patent Document 2 compares the difference in rotational speed of the motor with a threshold value to detect foreign object pinching. The rotational speed difference is a deviation between the rotational speed in the idle running section of the motor when the back door is driven to be closed from the half door state to the fully closed state and the current rotational speed detected thereafter. In particular, Patent Document 2 proposes that the detection sensitivity for pinching is changed by correcting the threshold value based on the motor temperature estimated from the rotational speed of the motor in the idle running section. Thereby, the influence of the temperature characteristic of the motor can be suppressed, and the foreign object can be detected. It has also been proposed to correct a preset sliding resistance (load) when the back door is closed and to correct a threshold value correlated with the sliding resistance based on the estimated temperature. Thereby, the influence of the temperature characteristic of each member relating to the sliding resistance can be suppressed, and foreign object pinching can be detected.

As described above, in Patent Document 2, the preset sliding resistance is corrected by the temperature estimated as the motor temperature. On the other hand, the temperature characteristic of each member relating to sliding resistance is determined by the ambient temperature. Therefore, when the difference between the motor temperature and the ambient temperature becomes significant, the pinching detection accuracy decreases.

Japanese Patent No. 3411383 JP 2010-24884 A

An object of the present invention is to provide a vehicle opening / closing body drive control device in which pinching detection accuracy is further improved.

In order to solve the above-mentioned problem, according to the first aspect of the present invention, the motor that drives the opening / closing body after the idle running period or the idle running section, and the moving speed of the opening / closing body in a predetermined zone or a preset value are set. Movement that is one of a movement speed difference that is a deviation between a reference movement speed determined by the movement speed and a current movement speed that is detected thereafter, an integrated value of the movement speed difference, and a movement speed change amount within a predetermined time. A calculation unit that calculates a speed change, a pinch detection unit that detects a pinch of a foreign object by comparing the calculated movement speed change and a threshold value that correlates to a preset sliding resistance when driving the opening / closing body, A motor temperature estimation unit that estimates the motor temperature based on the rotation speed of the motor detected during the running period or the idle running period, an energization time detection unit that detects the energization time of the motor within a certain time, and a motor temperature estimation Estimated by The ambient temperature estimation unit for estimating the ambient temperature based on the motor temperature and the energization time detected by the energization time detection unit, and the motor temperature estimated by the motor temperature estimation unit or the atmosphere estimated by the ambient temperature estimation unit An opening / closing body drive control device for a vehicle is provided that includes a correction unit that corrects a threshold value so that the detection sensitivity of foreign object pinching becomes higher when the temperature of the door is lower than when the temperature is higher.

According to this configuration, the motor temperature estimation unit estimates the motor temperature based on the rotational speed of the motor detected during the idling period or idling section. This is because in the idle running period or idle running section in which there is no load, there is a characteristic that the rotational speed of the motor becomes smaller when the motor temperature is lower than when the motor temperature is high. Further, the ambient temperature estimation unit estimates the ambient temperature based on the estimated motor temperature and the detected energization time. This is because the motor has a characteristic that the temperature of the motor becomes higher than the temperature of the atmosphere when the energization time of the motor within a certain time is longer than when the energization time is short. And, when the estimated temperature of the motor is lower than when the estimated temperature is high, or when the estimated temperature of the atmosphere is lower than when the estimated temperature is high, the detection sensitivity of foreign object pinching is higher. Thus, the threshold value is corrected.

In general, when the motor temperature is relatively high, the output torque change amount (increase amount) relative to the motor rotation speed change amount (decrease amount) becomes relatively small. If it is low, the change amount of the output torque with respect to the predetermined change amount of the rotation speed of the motor becomes relatively large. In other words, the change in the moving speed correlated with the amount of change in the rotational speed of the motor is such that the higher the motor temperature, the higher the detection sensitivity of foreign objects, and the lower the motor temperature, the lower the detection sensitivity of foreign objects. Is calculated to be low. On the other hand, the threshold value is corrected by the correction unit so that the detection sensitivity of foreign object pinching is higher when the estimated motor temperature is lower than when the estimated motor temperature is high. Thereby, the detection accuracy of foreign object pinching is further improved.

Also, the preset sliding resistance is larger than the original sliding resistance if the ambient temperature is relatively high, and conversely if the ambient temperature is relatively low, it is greater than the original sliding resistance. Becomes smaller. That is, the threshold value correlating with the preset sliding resistance increases the detection sensitivity of the foreign object as the temperature of the atmosphere is higher, and conversely decreases the detection sensitivity of the foreign object as the temperature of the atmosphere is lower. On the other hand, the threshold value is corrected by the correction unit so that the detection sensitivity of foreign object pinching is higher when the estimated temperature of the atmosphere is lower than when the temperature of the estimated atmosphere is high. Thereby, the detection accuracy of foreign object pinching is further improved.

Especially, the estimated motor temperature and the estimated atmosphere temperature are used for correction of the threshold value related to the temperature characteristic of the motor and correction of the threshold value related to the temperature characteristic of the sliding resistance, respectively. Thereby, even if the difference between the temperature of the motor and the temperature of the atmosphere is significant, it is possible to suppress a decrease in detection accuracy of foreign object pinching.

In the above vehicle opening / closing body drive control device, it is preferable that the energization time detection unit detects the number of operation times of the motor within a certain time as the energization time.
According to this configuration, the energization time detection unit may detect the number of times the motor is operated within a certain time. For this reason, it is possible to reduce the calculation load as compared with the case where the energization time is detected and integrated.

In the vehicle opening / closing body drive control device described above, the correction amount that the correction unit corrects the threshold value is preferably increased as the temperature of the atmosphere increases.
In the vehicle opening / closing body drive control device described above, the correction amount that the correction unit corrects the threshold value preferably increases as the motor temperature increases.

In order to solve the above problems, according to the second aspect of the present invention, a full latch state in which the vehicle door is held in a fully closed state, a half latch state in which the vehicle door is held in a half door state, and an unlatching that does not hold the vehicle door. A latch mechanism that can be switched to a state; a closed-side transmission member that is linked to the latch mechanism; and a latch mechanism that is in a half-latch state by transmitting driving force to the latch mechanism via the closed-side transmission member after passing through the idle running section. A motor that is switched to be switched to the full latch state, a rotational speed detection unit that detects the rotational speed of the motor, the rotational speed of the motor detected in the idle running section, and the current rotational speed detected thereafter The calculation unit that calculates the rotational speed difference, which is a deviation, and the calculated rotational speed difference are compared with a preset threshold value that correlates with the sliding resistance when the motor is switched, and foreign matter is caught. Pinching detection unit for detecting motor, motor temperature estimation unit for estimating motor temperature based on motor rotation speed detected in idle running section, and energization time detection unit for detecting motor energization time within a certain time An atmosphere temperature estimation unit that estimates the temperature of the atmosphere based on the motor temperature estimated by the motor temperature estimation unit and the energization time detected by the energization time detection unit, and the motor temperature estimated by the motor temperature estimation unit or A vehicle door lock device including a correction unit that corrects a threshold value so that the detection sensitivity of foreign object pinching by the pinch detection unit is higher when the temperature of the atmosphere estimated by the atmosphere temperature estimation unit is lower than when the temperature of the atmosphere is high Is provided.

The perspective view which shows the rear part of the vehicle to which the opening / closing body drive control device for vehicles of this invention is applied. The side view which shows the rear part of a vehicle. (A) is a side view of the device in an unlatched state, and (b) is a front view of the device in an unlatched state. (A) is a side view of the device in the fully latched state, and (b) is a front view of the device in the fully latched state. The front view which shows operation | movement of an apparatus. The front view which shows operation | movement of an apparatus. The block diagram which shows the electric constitution of an apparatus. The graph which shows the relationship between output torque and rotational speed. The graph which shows the relationship between motor temperature and atmospheric temperature. The graph which shows transition of various sliding resistance with respect to the stroke of DC motor. The graph which shows transition of the reference | standard rotation speed difference with respect to the stroke of a DC motor in various temperature of atmospheric temperature. The graph which shows transition of the reference | standard rotation speed difference with respect to the stroke of a DC motor in various temperatures of motor temperature. The graph which shows transition of the detection threshold with respect to the stroke of DC motor in various temperatures. The flowchart which shows the control aspect of a door lock drive unit. The flowchart which shows the control aspect of a door lock drive unit.

FIG. 1 shows an embodiment of a vehicle opening / closing body drive control device according to the present invention.
Description will be made with reference to FIG.
As shown in FIGS. 1 and 2, an opening 2 a is formed in the rear part of the body 2 of the vehicle 1. A weather strip 4 for sealing is mounted on the entire periphery of the opening 2a. A back door 3 as an opening / closing body is attached to an upper portion of the opening 2a of the body 2 via a door hinge 2b. The back door 3 is pushed upward about the door hinge 2b, whereby the opening 2a of the body 2 is opened. The pushing up of the back door 3 is assisted by the gas reaction force of the gas damper 6.

A door drive unit 7 is installed at the rear of the body 2. The door drive unit 7 includes a DC motor 71. A long arm 8 is connected to the output shaft 7 a of the door drive unit 7. The tip of the arm 8 is rotatably connected to the lower end of the rod-shaped rod 9. The upper end of the rod 9 is rotatably connected to the back door 3. Therefore, when the DC motor 71 of the door drive unit 7 is driven, the arm 8 rotates together with the output shaft 7a, and the rod 9 is pushed or pulled. As a result, the back door 3 is opened and closed while being supported by the body 2. A door lock device 10 is installed at the inner end of the back door 3. The door lock device 10 includes a DC motor 11 as a motor.

3 (a) and 3 (b), the door lock device 10 includes a latch mechanism 12. The latch mechanism 12 is supported by the back door 3 via a base plate (not shown). The latch mechanism 12 includes a latch 13 and a pole 14. The latch 13 is connected to the base plate so as to be rotatable around the rotation shaft 12a. The pole 14 is connected to the base plate so as to be rotatable around the rotation shaft 12b. A U-shaped striker 5 is fixed to the lower part of the opening 2 a of the body 2. The latch 13 is disposed so as to face the striker 5 and be detachable from the striker 5.

The latch 13 is formed in a U shape and has an engagement recess 13a. The latch 13 has a first claw portion 13b on one side of the engaging recess 13a and a second claw portion 13c on the other side. A first engagement portion 13d is formed on the opposite side of the engagement recess 13a at the tip of the first claw portion 13b. A second engagement portion 13e is formed in the vicinity of the engagement recess 13a at the tip of the second claw portion 13c. The latch 13 has a driven convex portion 13f opposite to the engaging concave portion 13a. One end of the latch biasing spring is held by the base plate, and the other end of the latch biasing spring is locked to the latch 13. As a result, the latch 13 is biased in the clockwise direction of FIG. Further, when the opposed surface 13g of the first claw portion 13b comes into contact with a latch stopper (not shown) installed on the base plate, the clockwise rotation of the latch 13 is restricted, and the latch 13 is shown in FIG. ) Is held at a predetermined rotation position.

The pole 14 is connected to the lift lever 16 via the rotating shaft 12b. The pole 14 rotates together with the lift lever 16 about the rotation shaft 12b. The pole 14 has an engagement end portion 14a and an extension end portion 14b. The engagement end portion 14a extends from the rotation shaft 12b to the right side in FIG. 3A, and the extension end portion 14b extends from the rotation shaft 12b to the left side in FIG. 3A. One end of the pole biasing spring is held by the base plate, and the other end of the pole biasing spring is locked to the pole 14. Thereby, the pole 14 is urged in the counterclockwise direction of FIG. 3A, that is, the direction in which the engagement end portion 14a is raised. Further, when the stopper abutting portion 16a of the lift lever 16 abuts against the stopper 39 provided on the base plate, the rotation of the pole 14 in the counterclockwise rotation direction is restricted, and the pole 14 is shown in FIG. Is held at a predetermined rotational position.

Next, the operation of the latch mechanism 12 will be described with reference to FIGS.
FIG. 3A shows a state where the back door 3 is opened. As shown in FIG. 3A, the latch 13 is held at a predetermined rotational position by the contact surface 13g of the first claw portion 13b coming into contact with the latch stopper. The engaging recess 13a is arranged facing the approach path of the striker 5 when the back door 3 is closed. Further, when the lift lever 16 abuts against the stopper 39, the pole 14 is held at a predetermined rotation position. The engagement end portion 14a is disposed below the second claw portion 13c. At this time, the latch mechanism 12 is in an unlatched state and in a released state.

In accordance with the closing operation of the back door 3, the striker 5 enters the engagement recess 13a. Then, the inner wall surface of the engaging recess 13a is pressed by the striker 5. As a result, the latch 13 rotates counterclockwise against the latch biasing spring. Then, when the engagement end portion 14a is locked to the second engagement portion 13e, the rotation of the latch 13 is restricted. At this time, the striker 5 is engaged with the engagement recess 13a of the back door 3, and the striker 5 is held so as not to come off. This state is a half-door state, and the latch mechanism 12 is a half-latch state.

As the back door 3 is further closed, the striker 5 further enters the engagement recess 13a. Then, the inner wall surface of the engaging recess 13a is further pressed by the striker 5. As a result, as shown in FIG. 4A, the latch 13 further rotates counterclockwise against the latch biasing spring. Then, when the engagement end portion 14a is locked to the first engagement portion 13d, the rotation of the latch 13 is restricted. At this time, the engagement recess 13a of the back door 3 and the striker 5 are engaged with each other, and the striker 5 is held so as not to come off. This state is a fully closed state. At this time, the latch mechanism 12 is in a fully latched state and is in an engaged state.

When the pole 14 rotates in the clockwise direction against the pole biasing spring in the half latched state or the full latched state, the first engaging portion 13d or the second engaging portion 13e is locked by the engaging end portion 14a. Canceled. At this time, the back door 3 starts to open due to the repulsive force of the weather strip 4, and the striker 5 is retracted from the engagement recess 13 a of the latch 13. Thereby, the inner wall surface of the engagement recessed part 13a is pressed by the striker 5, and the latch 13 rotates in the clockwise direction. Then, the engagement between the engagement recess 13a of the back door 3 and the striker 5 is released, and the back door 3 can be opened.

As shown in FIG. 3 (b), the door lock device 10 includes a bracket 21 made of a metal plate that is fixed to the back door 3. A pinion 22 that is rotatably connected to the output shaft of the DC motor 11 is disposed on the bracket 21. A fan-shaped active lever 24 made of a metal plate is connected to the bracket 21. The active lever 24 is rotatable around the rotation shaft 23. The rotating shaft 23 has an axis extending in a direction different from the axes of the

rotating shafts

12 a and 12 b of the latch 13 and the pole 14 and extending along the rotating shaft of the pinion 22. The active lever 24 has an arcuate gear portion 24 a that meshes with the pinion 22. Therefore, the rotation position of the active lever 24 is held by meshing with the pinion 22. Normally, as shown in FIG. 3B, the active lever 24 is held at a predetermined rotational position (hereinafter referred to as “initial position”) that meshes with the pinion 22 at an intermediate portion in the circumferential direction of the gear portion 24a. Yes. The DC motor 11 is disposed at a predetermined initial rotation position corresponding to the initial position of the active lever 24. The active lever 24 is provided with an active lever pin 25. The active lever pin 25 is disposed in the vicinity of the rotation shaft 23 and protrudes in the thickness direction of the active lever 24 along the rotation shaft 23.

The passive lever 26 which consists of a metal plate as a closing side transmission member is connected to the bracket 21. The passive lever 26 is rotatable around the rotation shaft 23. The passive lever 26 has a lever portion 26a extending in the radial direction from the rotating shaft 23, and a pressing piece 26b formed by bending the tip of the lever portion 26a. The pressing piece 26b rotates about the rotation shaft 23 in the counterclockwise rotation direction of FIG. A driven convex portion 13f of the latch 13 is disposed on the rotation locus of the pressing piece 26b. Therefore, when the passive lever 26 is rotated in the counterclockwise direction of FIG. 3B, the driven convex portion 13f is pressed by the pressing piece 26b, so that the latch 13 is counterclockwise in FIG. 3A. To turn. Then, the rotation of the latch 13 is regulated by the pole 14 in the manner described above. In this way, the latch mechanism 12 in the half latch state is switched to the full latch state shown in FIGS.

An engagement piece 26 c is formed at the base end of the passive lever 26. The engagement piece 26c is disposed on the rotation locus of the active lever pin 25 that rotates in the counterclockwise rotation direction of FIG. One end of a return spring (not shown) is held by the bracket 21, and the other end of the return spring is locked to the passive lever 26. As a result, the passive lever 26 is biased in the clockwise direction of FIG. When the opposing surface of the pressing piece 26b comes into contact with the passive lever stopper 21a formed on the bracket 21, the rotation of the passive lever 26 in the clockwise direction is restricted. That is, the passive lever 26 is held at a predetermined rotation position (hereinafter referred to as “closed operation initial position”) in FIG. When the passive lever 26 is disposed at the initial position of the closing operation, the active lever pin 25 of the active lever 24 and the engagement piece 26c of the passive lever 26 held at the initial position are at a predetermined angle around the rotation shaft 23. They are separated by θ1. Therefore, when the active lever 24 is rotated counterclockwise from the initial position, the active lever 24 is idled by a predetermined angle θ1 until the active lever pin 25 comes into contact with the engagement piece 26c as shown in FIG. To do. Further, when the active lever 24 further rotates after the active lever pin 25 comes into contact with the engagement piece 26 c, the engagement piece 26 c is pressed by the active lever pin 25. As a result, the passive lever 26 rotates counterclockwise and switches the latch mechanism 12 to the fully latched state.

Thereafter, when the active lever 24 rotates clockwise and returns to the initial position, the passive lever 26 is released from being pressed by the active lever pin 25.
And the passive lever 26 is urged | biased by the return spring, and returns to the close operation | movement initial position. Then, as shown in FIGS. 4A and 4B, the latch 13 is released from being pressed by the passive lever 26.

As shown in FIG. 3B, the bracket 21 is connected to a bell crank 32 made of a metal plate as an open-side transmission member. The bell crank 32 is rotatable around a rotation shaft 31 parallel to the rotation shaft 23. The bell crank 32 has a first lever portion 32a and a second lever portion 32b. The first lever portion 32a extends from the rotation shaft 31 to the upper left side in FIG. 3B along the radial direction, and the second lever portion 32b extends from the rotation shaft 31 to the lower left side in FIG. 3B along the radial direction. Extends to the side. The rotation of the bell crank 32 in the clockwise direction is restricted to a predetermined rotation position where the second lever portion 32b contacts the lever stopper 21d of the bracket 21 (hereinafter referred to as “release operation initial position”). . When the bell crank 32 is in the release operation initial position, the first lever portion 32 a is disposed on the rotation locus of the active lever pin 25. The bell crank 32 has a pressing piece 32d formed by bending the tip of the second lever portion 32b.

The bracket 21 is connected to an open lever 34 made of a metal plate. The open lever 34 is rotatable around a rotation axis 33 parallel to the rotation axes 23 and 31. The open lever 34 has a pair of

lever portions

34a and 34b. The lever portion 34a extends from the rotary shaft 33 in the radial direction to the upper side in FIG. 3B, and the lever portion 34b extends from the rotary shaft 33 in the radial direction to the lower left side in FIG. 3B. . The lever portion 34a is disposed on the rotation locus of the pressing piece 32d that rotates in the counterclockwise rotation direction of FIG. When the bell crank 32 rotates in the counterclockwise direction of FIG. 3B, the lever portion 34a is pressed by the pressing piece 32d, so that the open lever 34 rotates in the clockwise direction.

The open lever 34 has a pressing piece 34c formed by bending the tip of the lever portion 34b. Further, the lift lever 16 is disposed on the rotation locus of the pressing piece 34c that rotates in the clockwise direction in FIG. Therefore, when the latch mechanism 12 is in the fully latched state, when the open lever 34 rotates in the clockwise direction of FIG. 4B, the lift lever 16 is pressed by the pressing piece 34c. As a result, the lift lever 16 rotates together with the pole 14 in the clockwise direction of FIG. 4A, and the detent of the latch 13 by the pole 14 is released in the manner described above. Then, the latch mechanism 12 switches to the unlatched state.

One end of the return spring 35 is held by the locking piece 21 c of the bracket 21, and the other end of the return spring 35 is locked by the lever portion 34 a of the open lever 34. Thereby, the open lever 34 is urged | biased by the counterclockwise rotation direction of FIG.4 (b). The lever portion 34a abuts against the pressing piece 32d of the bell crank 32 whose rotation is restricted at the initial position of the release operation, whereby the rotation of the open lever 34 in the counterclockwise direction is restricted and the open lever 34 is shown in FIG. 4 (b) is held at a predetermined rotation position.

That is, the bell crank 32 is held at the release operation initial position by being urged by the return spring 35 via the open lever 34. When the bell crank 32 is in the initial release operation position, the active lever pin 25 of the active lever 24 held in the initial position and the first lever portion 32a of the bell crank 32 are separated from each other by a predetermined angle θ2 around the rotation shaft 23. is doing. Accordingly, when the active lever 24 rotates from the initial position in the clockwise direction of FIG. 4B, the active lever 24 brings the active lever pin 25 into contact with the first lever portion 32a as shown in FIG. It runs idly by a predetermined angle θ2. When the active lever 24 is further rotated after the active lever pin 25 comes into contact with the first lever portion 32 a, the first lever portion 32 a is pressed by the active lever pin 25. As a result, the bell crank 32 rotates counterclockwise, and the lever portion 34a of the open lever 34 is pressed by the pressing piece 32d. As a result, the open lever 34 rotates clockwise and switches the latch mechanism 12 to the unlatched state in the manner described above.

Thereafter, when the active lever 24 rotates counterclockwise and returns to the initial position, the bell crank 32 and the open lever 34 are released from being pressed by the active lever pin 25. The bell crank 32 and the open lever 34 are urged by the return spring 35 to return to their initial positions. Thus, the lift lever 16 and the pole 14 are released from being pressed by the open lever 34. A state where the active lever 24 is not engaged with both the passive lever 26 and the bell crank 32 is referred to as a no-load state of the DC motor 11.

Next, an electrical configuration of the vehicle opening / closing body drive control device will be described with reference to FIG.
As shown in FIG. 7, a door ECU (Electronic Control Unit) 40 installed in the vehicle 1 includes a micro controller (MCU). The door ECU 40 is electrically connected to the door drive unit 7. The door drive unit 7 includes a DC motor 71, an electromagnetic clutch 72, and a pair of pulse sensors 73. The door ECU 40 drives the DC motor 71 to perform opening / closing control of the back door 3. The door ECU 40 drives the electromagnetic clutch 72 to execute switching control for connecting or disconnecting power transmission between the DC motor 71 and the arm 8 (back door 3). Only when the back door 3 is electrically opened and closed, the power transmission between the DC motor 71 and the arm 8 is connected. When the back door 3 is manually opened and closed, the power transmission between the DC motor 71 and the arm 8 is disconnected. Further, the door ECU 40, based on a pair of pulse signals with different phases output from both pulse sensors 73, the rotation direction, rotation amount and rotation speed of the DC motor 71, that is, the opening / closing position and opening / closing speed of the back door 3. Is detected. Based on the pulse signal from each pulse sensor 73, the door ECU 40 drives the DC motor 71 so that the opening / closing speed of the back door 3 matches the target opening / closing speed.

The door ECU 40 is also connected to a door lock drive unit 50 that electrically drives the door lock device 10. The door lock drive unit 50 includes a DC motor 11, a pair of pulse sensors 51, a position switch 52, a half latch switch 53, and a full latch switch 54. The door ECU 40 drives the DC motor 11 to rotate the pinion 22 and rotate the active lever 24. Thus, the door ECU 40 performs the switching control of the latch mechanism 12 in the above-described manner. Further, the door ECU 40 determines the rotation direction, rotation amount (stroke) and rotation speed N of the DC motor 11, that is, rotation of the active lever 24, based on a pair of pulse signals with different phases output from both pulse sensors 51. Detect position and rotation speed. The door ECU 40 detects that the active lever 24 is disposed at the initial position (neutral position) based on the detection signal output from the position switch 52. Based on the detection signal output from the half latch switch 53, the door ECU 40 detects that the latch mechanism 12 is in the half latch state, that is, that the latch 13 is disposed at the rotation position corresponding to the half latch state. To do. Based on the detection signal output from the full latch switch 54, the door ECU 40 detects that the latch mechanism 12 is in the fully latched state, that is, that the latch 13 is disposed at the rotation position corresponding to the fully latched state. . The door ECU 40 performs drive control of the DC motor 11 based on the pulse signals from the pulse sensors 51 and the detection signals from the switches 52 to 54.

The door ECU 40 is electrically connected to a close switch 41 and an open switch 42 installed on the back door 3. The door ECU 40 is electrically connected to a receiver ECU 43 mounted on the vehicle 1. When the user operates the close switch 41, an operation signal for closing the back door 3 is output from the close switch 41. The door ECU 40 drives the DC motor 71 and the electromagnetic clutch 72 of the door drive unit 7 based on the operation signal from the close switch 41. Thereby, the back door 3 is closed from the open state. Further, based on the transition of the latch mechanism 12 to the half latch state, the DC motor 11 of the door lock drive unit 50 is driven, and the latch mechanism 12 is switched to the full latch state. When the full latch state of the latch mechanism 12 is detected by the full latch switch 54, the door ECU 40 stops driving the DC motor 11 of the door lock drive unit 50.

When the user operates the open switch 42, an operation signal for opening the back door 3 is output from the open switch 42. The door ECU 40 drives the DC motor 11 of the door lock drive unit 50 based on the operation signal from the open switch 42 to switch the latch mechanism 12 in the full latch state or the half latch state to the unlatched state, and The DC motor 71 and the electromagnetic clutch 72 are driven to open the back door 3 in the openable state.

The receiver ECU 43 constitutes a wireless communication system together with a wireless remote controller 44 carried by the user. The receiver ECU 43 receives a transmission signal for closing or opening the back door 3 from the wireless remote controller 44. The receiver ECU 43 processes the transmission signal from the wireless remote controller 44 and then outputs the signal to the door ECU 40. The door ECU 40 drives the DC motor 71 and the electromagnetic clutch 72 of the door drive unit 7 or the DC motor of the door lock drive unit 50 in order to close or open the back door 3 based on the processed transmission signal. 11 is driven.

Next, the control mode of the door lock drive unit 50 of the door lock device 10 when the back door 3 is closed will be described.
FIG. 8 shows the relationship between the output torque T and the rotational speed N of a general DC motor (and AC motor). Specifically, the relationship between the output torque T and the rotational speed N at three motor temperatures when the terminal voltage of the motor is constant is shown.

As shown in FIG. 8, when the motor temperature is at a predetermined temperature RT of room temperature, the average rotational speed N in the state where the output torque T of the DC motor becomes zero, that is, in the no-load state is defined as NR. In this case, the change amount (increase amount) ΔT of the output torque T with respect to the change amount (decrease amount) ΔN of the rotation speed N starting from the rotation speed NR in the no-load state is a substantially constant ratio SR (= ΔT / ΔN ).

When the motor temperature is at a predetermined temperature HT higher than room temperature, the average rotation speed N in a state where the output torque T of the DC motor is zero is NH. In this case, the rotational speed NH in the no-load state is larger than the rotational speed NR. Further, the absolute value of the change amount (increase amount) ΔT of the output torque T with respect to the change amount (decrease amount) ΔN starting from the rotational speed NH is smaller than the ratio SR and is a substantially constant ratio SH.

When the motor temperature is at a predetermined temperature LT lower than room temperature, the average rotational speed N in a state where the output torque T of the DC motor is zero is defined as NL. In this case, the rotational speed NL in the no-load state is smaller than the rotational speed NR. Further, the change amount (increase amount) ΔT absolute value of the output torque T with respect to the change amount (decrease amount) ΔN starting from the rotational speed NL is larger than the ratio SR and is a substantially constant ratio SL.

That is, the motor temperature can be estimated based on the rotational speed N of the DC motor in a no-load state or a low-load state approximate to the no-load state. For example, if the rotational speed N of the DC motor in an unloaded state is larger than the rotational speed NR, it is estimated that the motor temperature is higher than the normal temperature. If the rotational speed N of the DC motor in the no-load state is smaller than the rotational speed NR, it is estimated that the motor temperature is lower than normal temperature.

As described above, the idle running section (corresponding to the predetermined angle θ1) is set in the stroke (rotation amount) St of the DC motor 11 correlated with the rotation position of the active lever 24. This idle running section is detected based on the detection signal from the position switch 52 and the pulse signals from both pulse sensors 51. In the idling section, the rotational speed No when the DC motor 11 is in an unloaded state is detected as the reference movement speed based on the pulse signals of both pulse sensors 51, and the motor temperature Tm is estimated based on the rotational speed No. (Motor temperature estimation unit). The motor temperature Tm may be a temperature that changes continuously according to the rotational speed No, or may be a temperature that changes stepwise.

Further, if the motor temperature is higher than the normal temperature, the absolute value of the change amount ΔT of the output torque T with respect to the predetermined change amount ΔN becomes small, and if the motor temperature is lower than the normal temperature, the output torque T with respect to the predetermined change amount ΔN. The absolute value of the change amount ΔT increases. Therefore, the absolute value of the change amount of the rotational speed with reference to the rotational speed N in the no-load state, that is, the absolute value of the rotational speed difference that is a deviation between the rotational speed N in the no-load state and the current rotational speed N. When the motor temperature is the same, the absolute value of the change amount of the output torque based on the output torque T in the no-load state is larger and the load is larger when the motor temperature is lower than when the motor temperature is high.

Here, after the stroke St of the DC motor 11 passes through the idle running section, the absolute value DN (= | No−N) of the rotational speed difference between the rotational speed No in the no-load state of the DC motor 11 and the current rotational speed N. |) Is calculated as a change in moving speed (calculation means). The absolute value DN of the rotational speed difference immediately after passing through the idling section is zero. Further, in consideration of the motor temperature characteristics, when the absolute value DN of the rotational speed difference is the same, the output torque T in the no-load state and the current output torque T are lower when the motor temperature Tm is lower than when the motor temperature Tm is high. And the rotational torque difference (corresponding to the load) is estimated to be large. Specifically, the detection threshold Ta that is compared with the absolute value DN of the rotational speed difference in the detection of foreign object pinching is corrected so as to be smaller when the motor temperature Tm is higher than when the motor temperature Tm is high. In other words, when the absolute value DN of the same rotational speed difference is detected, correction is made so that the detection sensitivity of foreign object pinching becomes higher when the motor temperature is lower than when the motor temperature is high.

FIG. 9 shows the relationship between the ambient temperature (environment temperature) and the motor temperature corresponding to the energization time of the DC motor within the latest fixed time. As shown in FIG. 9, if the energization time of the DC motor within the most recent fixed time is little or zero, the ambient temperature matches the motor temperature. As the energization time of the DC motor increases within the latest fixed time, the motor temperature becomes higher than the ambient temperature. This is because the DC motor is heated by energization. That is, the ambient temperature can be estimated by referring to the motor temperature and the energization time of the DC motor within the latest fixed time.

Here, the energization time of the DC motor 11 within the latest fixed time is always detected. Then, the ambient temperature is estimated based on the motor temperature Tm estimated based on the rotational speed No in the no-load state of the DC motor 11 and the energization time of the DC motor 11 within the latest fixed time. For example, if the energization time of the DC motor 11 within the latest fixed time is shorter, the ambient temperature on the low temperature side closer to the estimated motor temperature Tm is estimated, and conversely, if the energization time is longer, it is estimated. The ambient temperature on the low temperature side farther from the motor temperature Tm is estimated.

More strictly, the operation frequency CN of the DC motor 11 within the latest fixed time is always detected (energization time detection unit). Then, the ambient temperature Ts is estimated based on the estimated motor temperature Tm and the DC motor operation count CN within the latest fixed time (atmosphere temperature estimation unit). This is because the energization time when the DC motor 11 is operated once is substantially constant, and a substantially proportional relationship is established between the operation count CN of the DC motor 11 and the energization time. For example, if the number of operations CN of the DC motor 11 within the latest fixed time is less, the ambient temperature Ts on the low temperature side closer to the estimated motor temperature Tm is estimated, and conversely, if the number of operations CN is greater, An ambient temperature Ts on the low temperature side farther from the estimated motor temperature Tm is estimated.

The ambient temperature Ts may be a temperature that changes continuously according to the motor temperature Tm and the number of operations CN, or may be a temperature that changes stepwise. Alternatively, the ambient temperature Ts may be continuously estimated according to any one of the motor temperature Tm and the number of operations CN and stepwise according to the other. Based on the estimated ambient temperature Ts, the sliding resistance R when the back door 3 is closed is corrected.

FIG. 10 shows the stroke St of the DC motor 11 when the driving of the DC motor 11 is started with the transition of the latch mechanism 12 to the half latch state as a starting point and the latch mechanism 12 is switched to the full latch state, and the sliding resistance R at room temperature. Shows the relationship. FIG. 10 shows the sliding resistance R (positive number) on the lower side of the vertical axis. In the active lever 24, an idle running section is set in which the active lever pin 25 runs idle by a predetermined angle θ1 until the active lever pin 25 contacts the engaging piece 26c. The stroke St of the DC motor 11 at which the idle running section ends is Sto. In the no-load state, the active lever 24 is not engaged with both the passive lever 26 and the bell crank 32.

As shown in FIG. 10, the sliding resistance R is the weather strip sliding resistance Rw caused by the interference with the weather strip 4, the ASSY sliding resistance Ra caused by the operation of the door lock device 10, the operation of the gas damper 6, etc. It consists of a damper sliding resistance Rd caused by Each sliding resistance Rw, Ra, Rd is experimentally acquired for the stroke St of the DC motor 11. Each sliding resistance Rw, Ra, Rd occurs after the end of the idle running section.

The sliding resistance Rw, Ra, Rd by each member is corrected based on the ambient temperature Ts, and all the corrected sliding resistances are added to calculate the sliding resistance R that takes into account the temperature characteristics of each member. The That is, Gw represents a temperature correction gain representing the temperature characteristic of the weather strip sliding resistance Rw, Ga represents a temperature correction gain representing the temperature characteristic of the ASSY sliding resistance Ra, and Gd represents a temperature correction gain representing the temperature characteristic of the damper sliding resistance Rd. , The sliding resistance R is calculated according to the following formula (1).

Sliding resistance R = (Rw × Gw) + (Ra × Ga) + (Rd × Gd) (1)
Each temperature correction gain Gw, Ga, Gd is calculated from a map set and stored in advance based on the ambient temperature Ts estimated as described above. The temperature correction gains Gw, Ga, Gd are basically calculated so as to increase as the estimated ambient temperature Ts increases, and to decrease as the ambient temperature Ts decreases. This is because the friction coefficient of each member increases and the sliding resistance increases as the ambient temperature increases. The map relating to the calculation of each temperature correction gain Gw, Ga, Gd is a map that changes stepwise even if each temperature correction gain changes continuously according to the estimated ambient temperature Ts. May be.

The reference rotational speed difference V is calculated according to the following equation (2) using a coefficient K representing the motor rotational speed per load (sliding resistance). Thereby, the reference rotational speed difference V is calculated following the sliding resistance R in consideration of the temperature characteristics of each member.

Reference rotational speed difference V = K × R (2)
The reference rotational speed difference V represents the amount of variation from the rotational speed No that is expected to correspond to the sliding resistance R (load) taking into account the temperature characteristics of each member, that is, the absolute value DN of the rotational speed difference.

FIG. 11 shows the relationship between the stroke St of the DC motor 11 and the reference rotational speed difference V calculated in the above-described manner. FIG. 11 shows a reference rotational speed difference V in a normal temperature state, a low temperature state that is lower than the normal temperature state, and a high temperature state that is higher than the normal temperature state. FIG. 11 also shows the reference rotational speed difference V (positive number) on the lower side of the vertical axis. As is clear from FIG. 11, the reference rotational speed difference V that follows the sliding resistance R is calculated so as to be smaller in the low temperature state than in the normal temperature state, and to be large in the high temperature state.

The reference rotational speed difference Vm that takes into account the temperature characteristics of the DC motor 11 is calculated by correcting the reference rotational speed difference V based on the motor temperature Tm. That is, when the temperature correction gain representing the temperature characteristic of the DC motor 11 is represented by Gm, the reference rotational speed difference Vm is calculated according to the following equation (3).

Reference rotational speed difference Vm = V × Gm (3)
The temperature correction gain Gm is calculated from a preset map based on the estimated motor temperature Tm. The temperature correction gain Gm is basically calculated so as to increase as the estimated motor temperature Tm increases, and to decrease as the motor temperature Tm decreases. This is to absorb fluctuations in the rotational torque difference (corresponding to the load) according to the motor temperature Tm. The map relating to the calculation of the temperature correction gain Gm may be a map in which the temperature correction gain Gm changes continuously or in a stepwise change depending on the estimated motor temperature Tm.

FIG. 12 shows the relationship between the stroke St of the DC motor 11 and the reference rotational speed difference Vm calculated in the above-described manner. FIG. 12 shows the reference rotational speed difference Vm in a normal temperature state, a low temperature state that is lower than the normal temperature state, and a high temperature state that is higher than the normal temperature state. FIG. 12 also shows the reference rotational speed difference Vm (positive number) on the lower side of the vertical axis. As is apparent from FIG. 12, the reference rotational speed difference Vm is calculated so as to be smaller in the low temperature state than in the normal temperature state, and to be large in the high temperature state. The temperature correction gain Gm related to the correction of the reference rotational speed difference V is calculated based on the motor temperature Tm. Therefore, even if the reference rotational speed difference V calculated according to the equation (2) is a low temperature state, the reference rotational speed difference Vm may be calculated as a normal temperature state or a high temperature state. This is because the ambient temperature Ts is obtained by correcting the motor temperature Tm in accordance with the number of operations CN, and the motor temperature Tm can take any high temperature side higher than the ambient temperature Ts.

Then, the detection threshold value Ta related to the pinching determination is calculated according to the following expression (4) based on the corrected reference rotational speed difference Vm and the pinching determination load FL.
Detection threshold Ta = Vm + (K × FL) × Gm (4)
The pinching determination load FL correlates with the pinching determination torque, and is set to a predetermined value based on the load at the time of pinching occurrence. That is, when calculating the detection threshold Ta, the temperature characteristic of the DC motor 11 is also reflected in the load (FL) at the time of occurrence of pinching.

FIG. 13 shows the relationship between the stroke St of the DC motor 11 and the detection threshold value Ta calculated in the above-described manner. FIG. 13 shows the detection threshold value Ta in the low temperature state and the high temperature state as a whole. As apparent from FIG. 13, the detection threshold Ta in the low temperature state is calculated to be smaller than the detection threshold Ta in the high temperature state.

The thick solid line in FIG. 13 shows the transition of the absolute value DN of the rotational speed difference when the pinching occurs. As shown in FIG. 13, when the detection threshold value Ta in the low temperature state is set, pinching is detected at a stroke StL where the absolute value DN of the rotational speed difference exceeds the detection threshold value Ta. On the other hand, when the detection threshold value Ta in the high temperature state is set, pinching is detected at a stroke StH (> StL) where the absolute value DN of the rotational speed difference exceeds the detection threshold value Ta. In this way, the detection threshold Ta in the low temperature state is calculated to be smaller than the detection threshold Ta in the high temperature state, so that even if the absolute value DN of the rotational speed difference is the same, the low temperature state is more likely to trap foreign objects. The detection sensitivity of is high.

Next, the control mode of the door lock drive unit 50 of the door lock device 10 when the back door 3 is closed will be described with reference to FIGS. The series of processes shown in FIGS. 14 and 15 indicate that the latch mechanism 12 is in a half latch state based on a detection signal output from the half latch switch 53 when the back door 3 is closed manually or electrically. It is activated by detecting it.

As shown in FIG. 14, first, the door ECU 40 starts the operation of the DC motor 11 in order to place the latch mechanism 12 in a fully latched state (step S1). Next, the door ECU 40 detects the rotational speed No of the DC motor 11 during the idle running period until the stroke St of the DC motor 11 reaches the stroke Sto (step S2).

Subsequently, the door ECU 40 estimates the motor temperature Tm based on the rotational speed No when the DC motor 11 is in an unloaded state (step S3). Next, the door ECU 40 estimates the ambient temperature Ts based on the motor temperature Tm and the number of operations CN of the DC motor 11 within the latest fixed time (step S4). Next, the door ECU 40 calculates a temperature correction gain Gm based on the estimated motor temperature Tm (step S5). Next, the door ECU 40 calculates temperature correction gains Gw, Ga, Gd based on the estimated ambient temperature Ts (step S6). Then, the door ECU 40 calculates the detection threshold Ta according to the equations (1) to (4) (step S7).

The detection threshold Ta when all of the temperature correction gains Gw, Ga, Gd, and Gm are set to “1” is a sliding resistance that is set in advance when the back door 3 is closed (sliding resistance in a normal temperature state). ) Is a reference threshold value that correlates to. Therefore, in step S7, the reference and the reference are set so that the detection sensitivity of foreign object pinching is higher when the motor temperature Tm is lower than when the motor temperature Tm is high or when the motor temperature Ts is lower than when the ambient temperature Ts is high. Is corrected (correction unit).

Next, the door ECU 40 determines whether or not the idling period has ended (step S8). Next, the door ECU 40 waits for the end of the idling period and calculates the absolute value DN of the rotational speed difference (step S9: calculation unit). Next, the door ECU 40 determines whether or not the absolute value DN of the rotational speed difference exceeds the detection threshold Ta (step S10: pinching detection unit). If the absolute value DN of the rotational speed difference exceeds the detection threshold value Ta, the door ECU 40 determines that a load at the time of occurrence of pinching has been detected, and executes a well-known pinching countermeasure process, that is, stopping and reversing the DC motor 11. (Step S11). Then, the door ECU 40 ends the series of processes.

On the other hand, when the absolute value DN of the rotational speed difference is equal to or smaller than the detection threshold Ta, the door ECU 40 determines whether or not the transition to the full latch state has been completed (step S12). If the transition to the full latch state has not been completed (NO in step S12), the door ECU 40 returns to step S9 and repeats the series of processes described above. That is, the above-described process for detecting pinching is repeated until the transition to the full latch state is completed after the idle running period ends.

When the transition to the full latch state is completed (YES in step S12), the door ECU 40 stops the operation of the DC motor 11 (step S13). Then, the door ECU 40 reverses the DC motor 11 so as to return the active lever 24 to the initial position, and stops the DC motor 11 based on the return of the active lever 24 to the initial position (step S14). Then, the door ECU 40 ends the series of processes.

As described above, according to the present embodiment, the following operational effects can be achieved.
(1) The detection threshold value Ta is corrected by the door ECU 40 so that the detection sensitivity of foreign object pinching is higher when the motor temperature Tm is lower than when the motor temperature Tm is high. Thereby, the detection accuracy of foreign object pinching is further improved. Further, the detection threshold Ta is corrected by the door ECU 40 so that the detection sensitivity of foreign object pinching is higher when the ambient temperature Ts is lower than when the ambient temperature Ts is high. Thereby, the detection accuracy of foreign object pinching is further improved.

In particular, the motor temperature Tm and the ambient temperature Ts are respectively used for correcting the detection threshold Ta related to the temperature characteristics of the DC motor 11 and correcting the detection threshold Ta related to the temperature characteristics of the sliding resistance R. Thereby, even if the difference of the temperature of the DC motor 11 and the temperature of atmosphere is remarkable, the fall of the detection accuracy of pinching can be suppressed.

(2) The door ECU 40 may detect the operation frequency CN of the DC motor 11 within a predetermined time in the estimation of the ambient temperature Ts. For this reason, compared with the case where the energization time of the DC motor 11 is detected and integrated, the calculation load can be reduced.

(3) Correction of the detection threshold Ta related to the temperature characteristic of the DC motor 11 and correction of the detection threshold Ta related to the temperature characteristic of the sliding resistance R are performed. Thereby, even if the number of operations CN of the DC motor 11 within a certain time, that is, the energization time is remarkably long, it is not necessary to invalidate the pinching detection function.

The above embodiment may be modified as follows.
The energization time of the DC motor 11 within the latest fixed time may be used for the estimation of the ambient temperature Ts.

When the temperature correction gain Gm continuously changes according to the motor temperature Tm, the dead zone where the temperature correction gain Gm is constant may be set to a predetermined range of the motor temperature Tm that is intermediate.
When the temperature correction gains Gw, Ga, and Gd change continuously according to the ambient temperature Ts, the dead zone where the temperature correction gains Gw, Ga, and Gd are constant is set to the ambient temperature Ts within a predetermined range that is intermediate. May be.

· The detection time of the rotational speed No when the DC motor 11 is in a no-load state (idle running section) is arbitrary. For example, when the rotation speed N is expected to be stabilized at the end of the idle section or when the rotation speed N is sequentially detected and the deviation between the previous rotation speed and the current rotation speed falls within a certain range, The speed may be detected.

The position switch 52 for detecting the initial position (neutral position) of the active lever 24 may be substituted with the both pulse sensors 51. Specifically, based on the rotation position of the active lever 24 immediately after the transition to the unlatched state, the pulse signals output from both pulse sensors 51 are set to the number of pulses set in advance corresponding to the initial position of the active lever 24. The initial position may be detected by counting.

The idle running section set in the active lever 24 or the DC motor 11 may be until the passive lever 26 contacts the driven convex portion 13f of the latch 13. That is, the idle running section of the DC motor 11 may be set to an arbitrary rotation position (stroke) where the latch 13 does not operate. In this case, since the rotational speed N of the DC motor 11 changes in two stages, it is more preferable to detect the rotational speed No using a longer idle section.

· Instead of the absolute value DN of the rotational speed difference, the rotational speed difference (negative number) may be used for estimating the load when the back door 3 is closed. In this case, it is only necessary that the polarity of the detection threshold value related to the detection of foreign object pinching, the rotational speed difference at the time of pinching detection, and the magnitude relationship between the detection threshold values are matched.

Although the moving speed of the back door 3 is detected as the rotational speed of the DC motor 11, the moving speed of the back door 3 may be directly detected.
When the back door 3 is closed by the drive control of the door drive unit 7 by the door ECU 40, the door lock drive unit 50 is driven in order to detect the trapping of foreign matter based on the rotational speed difference (DN) of the DC motor 71. The detection temperature threshold used for detection of a foreign object may be changed by sharing the ambient temperature information estimated by the control.

In order to estimate the temperature of the DC motor 71 and the ambient temperature independently when the back door 3 is closed by the drive control of the door drive unit 7 by the door ECU 40, the idle running period in which the electromagnetic clutch 72 is in the disconnected state May be used to detect the rotational speed (No) in the no-load state and estimate the motor temperature and the ambient temperature according to the present embodiment.

In this case, the door lock drive unit 50 may be omitted as long as the DC motor 71 can generate a sufficient driving force to switch the door lock device 10 to the fully latched state.
The door release function for switching the door lock device 10 from the fully latched state to the unlatched state may be omitted.

An AC motor may be used instead of the DC motor 11.
-The opening / closing body may be a swing door, a sliding door, a trunk lid, a sunroof, a window glass, or the like. Further, a drive mechanism that mechanically links the opening / closing body and the motor is arbitrary. For this reason, a link mechanism, a cam mechanism, a gear mechanism, a cable (rope, belt) transmission mechanism, a screw mechanism, a combination thereof, or the like may be used as long as the idle period or idle period of the motor is set. .

The movement speed change used to determine whether the foreign object is caught is a movement speed that is a deviation between the movement speed of the opening / closing body in a predetermined section or a reference movement speed determined by a preset movement speed and the current movement speed detected thereafter. Any one of the difference, the integrated value of the movement speed difference, and the movement speed change amount per unit time or unit movement amount may be used.

The vehicle opening / closing body drive control device may be a device that detects the trapping of a foreign object when the opening / closing body is driven to open.

Claims

A motor that drives the opening and closing body after an idle running period or an idle running section;
A moving speed difference which is a deviation between a moving speed of the opening / closing body in a predetermined section or a reference moving speed determined by a preset moving speed and a current moving speed detected thereafter, an integrated value of the moving speed difference, and A calculation unit for calculating a movement speed change that is one of the movement speed changes within a predetermined time; and
A pinching detector that detects the pinching of a foreign object by comparing the calculated movement speed change with a threshold value that correlates with a preset sliding resistance when the opening / closing body is driven,
A motor temperature estimator for estimating the temperature of the motor based on the rotational speed of the motor detected in the idle running period or idle running section;
An energization time detector for detecting the energization time of the motor within a certain time;
An atmosphere temperature estimation unit that estimates the temperature of the atmosphere based on the temperature of the motor estimated by the motor temperature estimation unit and the energization time detected by the energization time detection unit;
When the temperature of the motor estimated by the motor temperature estimation unit or the temperature of the atmosphere estimated by the atmosphere temperature estimation unit is lower than when the temperature of the atmosphere is high, the detection detection of foreign object pinching by the pinching detection unit is higher. A vehicle opening / closing body drive control device comprising: a correction unit that corrects the threshold value.
In the vehicle opening / closing body drive control device according to claim 1,
The vehicular opening / closing body drive control device, wherein the energization time detection unit detects the number of operation times of the motor within the predetermined time as the energization time.
In the vehicle opening / closing body drive control device according to claim 1 or 2,
The vehicle opening / closing body drive control device for a vehicle, wherein the correction amount by which the correction unit corrects the threshold value increases as the temperature of the atmosphere increases.
In the vehicle opening / closing body drive control device according to claim 1 or 2,
The vehicle opening / closing body drive control device for the vehicle, wherein the correction amount by which the correction unit corrects the threshold value increases as the temperature of the motor increases.
A latch mechanism that can be switched to a full latch state that holds the vehicle door in a fully closed state, a half latch state that holds the vehicle door in a half door state, and an unlatched state that does not hold the vehicle door;
A closed-side transmission member linked to the latch mechanism;
A motor that is driven to switch to transmit the driving force to the latch mechanism via the closed-side transmission member after passing through an idle running section, and to switch the latch mechanism in a half latch state to a full latch state;
A rotation speed detector for detecting the rotation speed of the motor;
A calculation unit for calculating a rotation speed difference which is a deviation between the rotation speed of the motor detected in the idle running section and the current rotation speed detected thereafter;
A pinching detector that detects the pinching of a foreign object by comparing the calculated rotational speed difference with a preset threshold value that correlates with a sliding resistance during the switching driving of the motor;
A motor temperature estimating unit for estimating the temperature of the motor based on the rotational speed of the motor detected in the idle running section;
An energization time detector for detecting the energization time of the motor within a certain time;
An atmosphere temperature estimation unit that estimates the temperature of the atmosphere based on the temperature of the motor estimated by the motor temperature estimation unit and the energization time detected by the energization time detection unit;
When the temperature of the motor estimated by the motor temperature estimation unit or the temperature of the atmosphere estimated by the atmosphere temperature estimation unit is lower than when the temperature of the atmosphere is high, the detection detection of foreign object pinching by the pinching detection unit is higher. A vehicle door lock device comprising: a correction unit that corrects the threshold value.