Opening and closing control device for vehicle opening and closing body

Abstract

The vehicle opening and closing control device of the present invention smoothly controls the opening and closing of the vehicle opening and closing body, comprising: an opening and closing drive unit for driving the vehicle opening and closing body; and a control unit for performing opening and closing processing by providing feedback control to the opening and closing drive unit, thereby changing the rotation speed of the vehicle opening and closing body at a preset target speed. When the vehicle opening and closing body rotates between a fully closed position and a fully open position, the opening and closing processing is performed in an acceleration region where the vehicle opening and closing body is accelerated while rotating, a constant speed region where the vehicle opening and closing body rotates at a constant speed, and a deceleration region where the vehicle opening and closing body is decelerated while rotating. After the closing processing is interrupted, when a re-drive processing of the vehicle opening and closing body is performed, the control unit provides feedback control to the opening and closing drive unit, thereby changing the rotation speed of the vehicle opening and closing body at a re-drive speed that reaches the target speed of the constant speed region within a preset re-drive time.

Description

Technical Field

[0001] The invention relates to an opening and closing control device for an opening and closing body of a vehicle. Background Art

[0002] In the opening and closing control of the vehicle opening and closing body, the vehicle opening and closing body is sometimes stopped in the middle of the opening and closing action, and the rotation action is restarted from the stop position. In this case, depending on the opening degree of the vehicle opening and closing body, sometimes the torque is large and the vehicle opening and closing body does not rotate, and sometimes the torque is small and the vehicle opening and closing body rotates faster than necessary. In addition, the torque varies depending on the slope of the road surface, the ambient temperature, and the opening degree of the door, and is not stable.

[0003] Conventionally, a method has been proposed for reducing the rotation speed of a rear door, which is an opening and closing body of a vehicle, by changing the duty ratio of a PWM signal at a certain ratio (see Patent Document 1).

[0004] However, in the conventional opening and closing control, the driving speed of the motor is changed only by changing the duty cycle of the PWM signal. In practice, it is difficult to stably open and close the vehicle opening and closing body at a predetermined speed. In addition, the situation of accelerating the rotation of the vehicle opening and closing body is not considered. Therefore, the opening and closing control of the vehicle opening and closing body cannot be properly performed.

[0005] Prior art literature

[0006] Patent Literature

[0007] Patent Document 1: Japanese Patent Application Publication No. 2017-166252 Summary of the invention

[0008] Problems to be solved by the invention

[0009] An object of the present invention is to provide an opening and closing control device for a vehicle opening and closing body capable of smoothly performing opening and closing control of the vehicle opening and closing body.

[0010] Means for solving problems

[0011] As a means for solving the above-mentioned problems, the present invention provides an opening and closing control device for a vehicle opening and closing body, the opening and closing control device for the vehicle opening and closing body includes an opening and closing drive unit and a control unit, the opening and closing drive unit drives the vehicle opening and closing body to open and close, the control unit performs an opening and closing process of feedback controlling the opening and closing drive unit, so that the rotation speed of the vehicle opening and closing body changes at a preset target speed, when the vehicle opening and closing body rotates between a fully closed position and a fully open position, the opening and closing process is performed in an acceleration area in which the vehicle opening and closing body is accelerated while rotating, a constant speed area in which the vehicle opening and closing body is rotated at a constant speed, and a deceleration area in which the vehicle opening and closing body is decelerated while rotating, and after interrupting the opening and closing process, the control unit performs feedback control on the opening and closing drive unit when performing a re-drive process to re-drive the vehicle opening and closing body, so that the rotation speed of the vehicle opening and closing body changes at a re-drive speed that reaches the target speed of the constant speed area within a preset re-drive time.

[0012] According to this configuration, the re-driving speed of the vehicle opening and closing body can be restored to the target speed in the constant speed region within the re-driving time. Therefore, the influence of the torque received during the opening and closing operation of the vehicle opening and closing body can be eliminated, and the opening and closing control can be smoothly performed.

[0013] The control unit preferably switches to the opening and closing process by causing the re-driving speed in the re-driving process to reach a target speed in the acceleration region.

[0014] The control unit preferably switches to the opening and closing process when the re-driving speed in the re-driving process reaches a target speed in the deceleration area.

[0015] According to these structures, an appropriate rotation speed can be set so as to restore to the original opening and closing control as soon as possible.

[0016] As a means for solving the above-mentioned problem, the present invention provides an opening and closing control device for a vehicle opening and closing body, the opening and closing control device for a vehicle opening and closing body comprising an opening and closing drive unit and a control unit, wherein the opening and closing drive unit drives the vehicle opening and closing body to open and close, and the control unit performs an opening and closing process of feedback controlling the opening and closing drive unit so that the rotation speed of the vehicle opening and closing body changes at a preset target speed, and when the vehicle opening and closing body rotates between a fully closed position and a fully open position, the opening and closing process is performed in an acceleration region in which the vehicle opening and closing body is accelerated while rotating, a constant speed region in which the vehicle opening and closing body is rotated at a constant speed, and a deceleration region in which the vehicle opening and closing body is decelerated while rotating, and when the control unit performs a stop process in which the opening and closing action of the vehicle opening and closing body is stopped based on a stop signal, the opening and closing drive unit is feedback controlled so that the stop speed of the vehicle opening and closing body changes so that the vehicle opening and closing body stops within a preset stop time.

[0017] According to this configuration, the opening and closing movement of the vehicle opening and closing body can be stopped at an early stage at a preset stop time, thereby eliminating the influence of torque and smoothly performing the opening and closing control.

[0018] Preferably, when the stop process is executed in the acceleration region, the control unit performs feedback control on the opening and closing drive unit from the start of the stop process so that the rotation speed of the vehicle opening and closing body changes at the stop speed.

[0019] According to this configuration, even in the acceleration region, the rotation of the vehicle opening and closing body can be stopped as early as possible.

[0020] Preferably, when the stop process is executed in the deceleration area, the control unit performs feedback control on the opening and closing drive unit from the start of the stop process so that the rotation speed of the vehicle opening and closing body changes at the stop speed.

[0021] According to this configuration, the rotation of the vehicle opening and closing body can be stopped early beyond the degree of deceleration in the deceleration area.

[0022] Effects of the Invention

[0023] According to the present invention, since the rotation speed of the vehicle opening and closing body is feedback-controlled by the re-driving process so that it changes at the re-driving speed, the influence of torque can be eliminated and the opening and closing control of the vehicle opening and closing body can be smoothly performed. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a perspective view showing the rear portion of the vehicle according to the present embodiment.

[0025] Figure 2 Yes means Figure 1 A cross-sectional view of the spindle drive mechanism.

[0026] Figure 3 It is a block diagram showing the opening and closing control device according to the present embodiment.

[0027] Figure 4 It means Figure 2 Flow chart of the automatic opening process performed by the opening and closing control device.

[0028] Figure 5 Yes means Figure 4 Flowchart of the authentication process.

[0029] Figure 6 Yes means Figure 4 Flowchart of the unlocking process.

[0030] Figure 7 Yes means Figure 4 Flowchart of the opening and closing processing.

[0031] Figure 8 Yes means Figure 1 FIG. 1 is a diagram showing the relationship between the opening and closing position and the rotation speed in the opening and closing process of the rear door.

[0032] Fig. 9 It means Figure 2 Flowchart of the stop processing performed by the opening and closing control device.

[0033] Fig.10 It means in Figure 8 A diagram showing changes when the stop process is executed during the opening and closing process of .

[0034] Fig.11 It means Figure 2 Flow chart of the re-driving process performed by the opening and closing control device.

[0035] Fig.12 It means in Figure 8 A diagram showing changes when re-driving processing is performed during the opening and closing processing of . DETAILED DESCRIPTION

[0036] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Note that the following description is merely illustrative in nature and is not intended to limit the present invention, its applications, or its uses.

[0037] like Figure 1As shown, an opening portion 2 is formed at the rear portion of the vehicle body 1. A rear door 3 as an example of a vehicle opening and closing body is provided at the opening portion 2. The rear door 3 is rotatably mounted on the vehicle body 1 around a support shaft (not shown) provided at the upper portion. The rear door 3 is rotated by a spindle drive mechanism 4 as an example of an opening and closing drive unit. That is, the spindle drive mechanism 4 is respectively arranged on both sides of the rear door 3, and is driven to rotate the rear door 3 between a fully open position of the opening portion 2 being opened and a fully closed position of the opening portion 2 being locked around the support shaft.

[0038] like Figure 2 As shown, each spindle drive mechanism 4 includes a first housing 5 that accommodates the motor 9 and the like, and a second housing 6 that accommodates the spindle 12 and the like.

[0039] A door side connecting member 7 is fixed to one end of the first housing 5. The door side connecting member 7 is rotatably connected to a joint ball 8 provided on the rear door 3. A motor 9 is accommodated in the first housing 5. The number of revolutions of the motor 9 is detected by a rotation sensor 10. For the rotation sensor 10, a magnetic sensor using a Hall element, an optical sensor using an LED (light emitting diode) and a PD (photodiode), etc. can be used. The rotating shaft 9a of the motor 9 is connected to the main shaft 12 in the second housing 6 via a reduction gear mechanism 11. The other end of the first housing 5 is connected to the second housing 6.

[0040] The second housing 6 accommodates a main shaft 12 and a main shaft nut 13. The main shaft nut 13 is screwed onto the main shaft 12. The main shaft nut 13 reciprocates in the axial direction in the second housing 6 by the forward and reverse rotation of the main shaft 12. The rear end of a cylindrical push rod 14 is fixed to the front end of the main shaft nut 13. The front end of an outer cylinder 15 is fixed to the front end of the push rod 14. The push rod 14 and the outer cylinder 15 are arranged coaxially. Between the push rod 14 and the outer cylinder 15, a coil spring 16 is arranged on the outer diameter side, and an inner cylinder 17 is arranged on the inner diameter side. In addition, a vehicle body side connecting structure 18 is fixed to the front end of the push rod 14. The vehicle body side connecting structure 18 is rotatably connected to a coupling ball 19 provided on the vehicle body 1.

[0041] In the spindle drive mechanism 4, when the motor 9 is driven to rotate the rotating shaft 9a in the forward direction, the spindle 12 rotates in the forward direction, and the spindle nut 13 moves toward the other end of the second housing 6. As a result, the protrusion amount of the outer cylinder 15 and the push rod 14 relative to the second housing 6 increases, and the rear door 3 rotates in the opening direction. In addition, when the motor 9 is driven to rotate the rotating shaft 9a in the reverse direction, the spindle nut 13 also rotates in the reverse direction, and the spindle nut 13 moves toward one end of the second housing 6. As a result, the protrusion amount of the outer cylinder 15 and the push rod 14 relative to the second housing 6 decreases, and the rear door 3 rotates in the closing direction.

[0042] like Figure 3 As shown, the rear door 3 is provided with a door latch device 20, a rear door opening and closing device 21, a door opening switch 22, a door closing switch 23, etc. Here, the functions are divided by the door opening switch 22 and the door closing switch 23, but it can also be set as a door opening and closing switch having both functions. In addition, the door opening switch 22 and the door closing switch 23 can also be replaced by a handle switch provided on the outside of the rear door 3 or a door switch provided inside. Furthermore, the positions where these switches are provided are not particularly limited.

[0043] The door latch device 20 includes a latch motor 25 that rotates the latch 24 forward and reversely. The rotational position of the latch 24 is detected by a full latch switch 26, a half latch switch 27, and a release switch 28. The full latch switch 26 detects a full latch position in which the latch 24 is completely engaged with a striker exposed in the opening 2 of the vehicle body 1. The release switch 28 detects a release position in which the latch 24 is transferred to a state in which it can be disengaged from the striker. The half latch switch 27 detects a half latch position between the full latch position and the release position.

[0044] The door opening switch 22 and the door closing switch 23 are arranged on the outer surface of the rear door 3 (see Figure 1 ). When the door opening switch 22 or the door closing switch 23 is operated, the door opening operation signal or the door closing operation signal is output to the control device 29. In the control device 29, a PWM (Pulse Width Modulation) signal is output to the spindle drive mechanism 4 based on the door opening operation signal or the door closing operation signal. The spindle drive mechanism 4 receives the PWM signal in the motor drive circuit 30, and drives and controls the motor 9 based on the PWM signal, so that the rear door 3 rotates from the fully closed position to the fully open position or in the opposite direction.

[0045] The rear door opening and closing device 21 includes a control device 29 composed of a microcomputer, input and output circuits, etc. The control device 29 is connected to the spindle drive mechanism 4, the door latch device 20, the door closing switch 23, the door opening switch 22, and the BCM 31 (Body Control Module).

[0046] Next, the automatic opening process of the rear door 3 will be described.

[0047] like Figure 4 As shown, the automatic opening process of the rear door 3 is performed through an authentication process (step S100), an unlocking process (step S200), and an opening and closing process (step S300).

[0048] like Figure 5As shown, in the authentication process, the control device 29 determines whether a door opening operation signal is received from the door opening switch 22 (step S110). If the door opening operation signal is received, the BCM 30 is requested to authenticate the electronic key (step S111).

[0049] In the BCM 30, when receiving the authentication request from the control device 29 (step S120), a request for sending the authentication code is made to the electronic key (step S121). In the BCM 30, if the authentication code sent from the electronic key is received (step S122), the received authentication code is compared with the pre-registered authorization code (step S123), and the comparison result is sent to the control device 29 (step S124).

[0050] In the control device 29, based on the comparison result, if the authentication code matches the authorization code (step S112: Yes), the unlocking process is executed (step S113), and if they do not match (step S112: No), the automatic opening process is terminated.

[0051] like Figure 6 As shown, in the unlocking process (step S200), a release signal is output to the door latch device 20 (step S201). In the door latch device 20, the latch motor 25 is driven based on the input release signal. Here, the release switch 28 determines whether the latch 24 is rotating to the release position (step S202). If the latch 24 rotates to the release position and the ON signal is input from the release switch 28, the opening and closing process is performed (step S300). If the ON signal is not input from the release switch 28 within a predetermined time, it is considered that a fault has occurred in the door latch device 20 and an error is reported (step S203), and the automatic opening process is terminated.

[0052] like Figure 7 As shown, in the opening and closing process (step S300), the PWM signal is output to the spindle drive mechanism 4 (step S301), so that the opening action of the rear door 3 starts. Meanwhile, the rotation position calculation process is performed. In the rotation position calculation process, the rotation sensor 10 is used to detect the number of revolutions of the motor 9 (step S302). Then, the rotation position of the rear door 3 is calculated based on the number of revolutions of the motor 9 from the fully closed position of the rear door 3 (step S303).

[0053] In the present embodiment, the rotation sensor 10 is provided in one spindle drive mechanism 4, and the other spindle drive mechanism 4 performs feedback control on the duty ratio of the PWM signal output to the motor drive circuit 30 based on the rotation speed detected by the rotation sensor 10. However, the rotation sensor 10 may be provided in two spindle drive mechanisms 4, the average value of the detected rotation speeds may be calculated, and the two spindle drive mechanisms 4 may be feedback controlled based on the calculated average value.

[0054] The opening action of the rear door 3 is performed in three stages, namely, the acceleration area, the constant speed area, and the deceleration area, from the fully closed position to the fully open position. Figure 8 In the figure, the horizontal axis represents the opening and closing position of the rear door 3 (the number of revolutions of the motor 9), and the vertical axis represents the rotation speed of the rear door 3 (the rotation speed of the motor 9). The origin O is the fully closed position, the right end X is the fully open position, the right triangle on the left is the acceleration area, the central rectangle is the constant speed area, and the right triangle on the right is the deceleration area. The trapezoidal figure represents the change of the target speed TS.

[0055] In the acceleration region, the target speed TS is set to an acceleration target speed ATS in which the rotation speed gradually increases relative to the number of revolutions of the motor 9. Then, the duty ratio of the PWM signal output to the motor drive circuit 30 is feedback-controlled to obtain the acceleration target speed ATS. As a result, the rear door 3 rotates while accelerating from a stopped state.

[0056] In the constant speed region, the target speed TS is set to a constant speed target speed CTS for maintaining the rotation speed of the motor 9 at a constant value. Then, the duty ratio of the PWM signal output to the motor drive circuit 30 is feedback-controlled to obtain the constant speed target speed CTS. As a result, the rear door 3 rotates at a constant speed.

[0057] In the deceleration area, the target speed TS is set to a deceleration target speed DTS in which the rotation speed of the motor 9 gradually decreases. Then, the duty ratio of the PWM signal output to the motor drive circuit 30 is feedback-controlled to obtain the deceleration target speed DTS. As a result, the rotation speed of the rear door 3 gradually decreases and stops at the fully open position.

[0058] As described above, if it is determined that the rear door 3 is rotated to the fully open position (step S304), the PWM signal output to the motor 9 of the spindle drive mechanism 4 is stopped (step S305), and the automatic door opening process is terminated. In addition, whether the rear door 3 is rotated to the fully open position can be determined based on, for example, the rotation position of the rear door 3 calculated in step S303 or the elapsed time from the start of the drive of the motor 9.

[0059] When the rotation of the rear door 3 is forcibly stopped during the execution of the automatic opening process, the stop process of the rear door 3 is executed as follows.

[0060] like Fig. 9 As shown, the stop process (step S400) of the rear door 3 stops the drive of the motor 9 based on the input signal from the door closing switch 23 or the like, and starts the opening and closing request (step S401). The situation where the rotation of the rear door 3 is forcibly stopped during the execution of the automatic opening process can be judged as the situation where the user wants to stop the rotation action earlier than usual. Therefore, in the above-mentioned speed ranges, the time until the rotation action of the rear door 3 is stopped is shortened as follows.

[0061] When the rear door 3 is stopped in the constant speed area, it is stopped for a preset stop time that is sufficiently shorter than when the rear door 3 is stopped in the deceleration area of ​​the normal opening operation. Fig.10 As shown by the double-dotted line, the deceleration target speed DTS is set so that the rear door 3 can stop within the above-mentioned stop time (step S402). Then, the PWM signal output to the motor drive circuit 30 is feedback-controlled to reduce the duty ratio so that the rotation speed of the motor 9 changes at the deceleration target speed DTS (step S403). As a result, the rear door 3 can be stopped in a shorter time than usual from the start of the stop process.

[0062] When the rear door 3 is stopped in the acceleration region or the deceleration region, the rotation speed of the motor 9 does not reach the rotation speed in the constant speed region (in the Fig.10 in the constant speed region, represented by point P1) or is decreasing its rotation speed from the constant speed region ( Fig.10 In this case, the rotation speed of the motor 9 is changed according to the deceleration target speed RS from the time point P1 or P2, as in the case of stopping the motor in the constant speed region. That is, the degree of change of the rotation speed of the motor 9 in the acceleration region or the deceleration region is changed to the same degree of change as in the case of performing the above-mentioned stop processing in the above-mentioned constant speed region. Thus, in either the acceleration region or the deceleration region, the time until the rotation of the rear door 3 is stopped can be shortened.

[0063] As described above, when the rear door 3 is stopped in the middle of rotation, it is necessary to restart the rotation according to the operation of the user. In this embodiment, the re-driving process of the rear door 3 is performed as follows.

[0064] like Fig.11As shown, the re-driving process (step S500) of the rear door 3 starts the opening and closing request (step S501) based on the input signal from the door opening switch 22 to re-drive the motor 9. That is, the voltage applied to the motor 9 is feedback-controlled as described below so that the target speed for constant speed in the above-mentioned opening and closing process is reached in a short time.

[0065] The re-driving target speed is set so that the normal target speed is reached in a preset re-driving time from the start of re-driving (step S502), and the PWM signal output to the motor drive circuit 30 is feedback-controlled to increase the duty ratio of the PWM signal so as to obtain the re-driving target speed (step S503). The re-driving time is set to be shorter than the time when the rear door 3 is opened in the acceleration range of the normal opening action.

[0066] In the state where the rear door 3 is stopped in the middle of the acceleration area (in Fig.12 In the case where the motor 9 is re-driven from the point P3, the target speed (re-drive target speed RDTS) of the re-driven motor 9 reaches the target speed in the acceleration area (acceleration area target speed ATS) before reaching the target speed in the constant speed area (constant speed area target speed CTS) in the above-mentioned opening and closing process (indicated by point P4). Fig.12 Therefore, during the re-driving process, if the rotation speed reaches the acceleration target speed (step S504), feedback control is then performed according to the acceleration area target speed ATS (step S505). The re-driving process can restore the rear door 3 to the same state as when the automatic opening process is performed in a short time.

[0067] In the state where the rear door 3 is stopped in the constant speed area (in Fig.12 In the case where the motor 9 is re-driven, feedback control is performed according to the re-drive target speed RDTS, and the constant speed area target speed CTS (indicated by point P5) is reached. Fig.12 After that, it returns to its normal open position.

[0068] In the state where the rear door 3 is stopped in the deceleration area ( Fig.12When the motor 9 is restarted (indicated by point P7 in the figure), feedback control is performed so that the motor 9 can be rotated to the fully open position in a sufficiently shorter time than when the rear door 3 is opened by the normal opening action. Here, as described above, the re-driving target speed RDTS is set so that the normal target speed is reached in a preset re-driving time from the start of the re-driving, and the voltage applied to the motor 9 is feedback controlled so as to obtain the re-driving target speed RDTS. During the re-driving process, if the deceleration target speed DTS (indicated by point P7) is reached, Fig.12 In the embodiment of the present invention, the voltage applied to the motor 9 is feedback-controlled so as to obtain the deceleration target speed DTS. In addition, during the re-driving process, if the rear door 3 reaches the fully opened position, the driving of the motor 9 can be forcibly stopped.

[0069] In addition, the automatic locking process of the rear door 3 is similar to the automatic opening process described above, and is performed in three stages, namely, the acceleration area, the constant speed area, and the deceleration area, from the fully closed position to the fully open position. In each speed area, the motor 9 is driven and controlled in the same manner as described above. Therefore, the description of the automatic locking process of the rear door 3 is omitted.

[0070] According to the opening and closing control device of the vehicle opening and closing body of the above-mentioned embodiment, the following effects can be obtained.

[0071] (1) By executing the stop process of the rear door 3, the opening and closing operation can be stopped in a shorter time than usual.

[0072] (2) By executing the re-driving process of the rear door 3, it is possible to restore the rear door 3 to the normal opening and closing process in a short time.

[0073] (3) Regardless of the magnitude of the torque required to rotate the rear door 3, the rotation can be reliably stopped or re-driven within a preset time. For example, when the rear door 3 is opened or closed from a parking or stopped state on a slope, and is stopped during the opening or closing process or is re-driven after stopping, the torque required to rotate the rear door 3 is different from that on a flat ground. In this case, the target speed is set and feedback control is performed so that the rear door 3 rotates at the target speed, thereby reliably stopping the rotation or re-driving it within a preset time.

[0074] The present invention is not limited to the configuration described in the above-mentioned embodiment, and various modifications can be made.

[0075] In the above embodiment, the case where the rear door 3 is opened and closed is described as an example of a vehicle opening and closing body, but other types of doors such as sliding doors and gull-wing doors can also be opened and closed in the same manner.

[0076] In the above embodiment, the case where two spindle drive mechanisms 4 are provided is described, but one may be the spindle mechanism of the present invention and the other may be a vibration reduction mechanism such as a gas spring that does not include the motor 5, and the opening and closing control may be performed in the same manner.

[0077] In the above-described embodiment, each of the above-described processes is executed by software, but it is also possible to configure the processes by hardware.

[0078] Description of Reference Numerals

[0079] 1…Car body

[0080] 2…Opening

[0081] 3…Rear door (vehicle opening and closing body)

[0082] 4…Spindle drive mechanism (opening and closing drive unit)

[0083] 5…1st housing

[0084] 6…Second housing

[0085] 7…Door side connecting structure

[0086] 8…Joint ball

[0087] 9…Electric motor

[0088] 10…Rotation sensor

[0089] 11…Reduction gear mechanism

[0090] 12…Spindle

[0091] 13…Spindle nut

[0092] 14…Putter

[0093] 15…outer cylinder

[0094] 16…Coil spring

[0095] 17…Inner cylinder

[0096] 18…Side structural parts of the vehicle body

[0097] 19…Joint ball

[0098] 20…Door latch device

[0099] 21…Rear door opening and closing device

[0100] 22…Door opening switch

[0101] 23…Door closing switch

[0102] 24…Latch

[0103] 25…Latch motor

[0104] 26…Fully latching switch

[0105] 27… Semi-latching switch

[0106] 28…Release switch

[0107] 29…Control device (control unit)

[0108] 30…Motor drive circuit

[0109] 31…BCM

Claims

1. An opening and closing control device for a vehicle opening and closing body, comprising: an opening and closing driving unit that drives the vehicle opening and closing body to open and close, and A control unit that performs an opening and closing process that performs feedback control on the opening and closing drive unit so that the rotation speed of the vehicle opening and closing body changes at a preset target speed; When the vehicle opening and closing body rotates between the fully closed position and the fully open position, the opening and closing process is performed in an acceleration region in which the vehicle opening and closing body is accelerated while rotating, a constant speed region in which the vehicle opening and closing body is rotated at a constant speed, and a deceleration region in which the vehicle opening and closing body is decelerated while rotating; After interrupting the opening and closing process, the control unit performs feedback control on the opening and closing drive unit when executing the re-driving process of re-driving the vehicle opening and closing body, so that the rotation speed of the vehicle opening and closing body changes at a re-driving speed that reaches the constant speed within a preset re-driving time, The re-driving time is shorter than a time from the start of the acceleration region to the time when the vehicle opening and closing body reaches the constant speed in the opening and closing process.

2. The opening and closing control device for a vehicle opening and closing body according to claim 1, wherein: The control unit switches to the opening and closing process by causing the re-driving speed in the re-driving process to reach a target speed in the acceleration region.

3. The opening and closing control device for a vehicle opening and closing body according to claim 1, wherein: The control unit switches to the opening and closing process by causing the re-driving speed in the re-driving process to reach a target speed in the deceleration region.

4. An opening and closing control device for a vehicle opening and closing body, comprising: an opening and closing driving unit that drives the vehicle opening and closing body to open and close, and a control unit that performs an opening and closing process that performs feedback control on the opening and closing drive unit so that the rotation speed of the vehicle opening and closing body changes at a preset target speed; When the vehicle opening and closing body rotates between the fully closed position and the fully open position, the opening and closing process is performed in an acceleration region in which the vehicle opening and closing body is accelerated while rotating, a constant speed region in which the vehicle opening and closing body is rotated at a constant speed, and a deceleration region in which the vehicle opening and closing body is decelerated while rotating; When the control unit performs a stop process to stop the opening and closing action of the vehicle opening and closing body based on a stop signal, the control unit performs feedback control on the opening and closing drive unit so that the vehicle opening and closing body at a constant speed changes to a stop speed that stops within a preset stop time. The stop time is shorter than a time from the start of the deceleration area to the stop of the vehicle opening and closing body in the opening and closing process.

5. The opening and closing control device for a vehicle opening and closing body according to claim 4, wherein: When the stop process is executed in the acceleration region, the control unit performs feedback control on the opening and closing drive unit from the start of the stop process so that the rotation speed of the vehicle opening and closing body changes at the stop speed.

6. The opening and closing control device for a vehicle opening and closing body according to claim 4, wherein: When the stop process is executed in the deceleration area, the control unit performs feedback control on the opening and closing drive unit from the start of the stop process so that the rotation speed of the vehicle opening and closing body changes at the stop speed.

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