Opening and closing control device for vehicle opening and closing body

Abstract

The opening and closing control device of the vehicle opening and closing body of the present invention stops the vehicle opening and closing body in a short time. The opening and closing control device of the vehicle opening and closing body (3) includes: an opening and closing drive unit (4) which drives the vehicle opening and closing body of the opening portion (2) of the vehicle to open and close; and a control unit (29) which performs feedback control on the opening and closing drive unit so that the rotation speed of the opening and closing drive unit becomes a preset target speed. The control unit (29) drives and controls the opening and closing drive unit to perform a clamping detection process according to the situation that the rotation speed of the vehicle opening and closing body is lower than the target speed. In the clamping detection process, the target speed (TS) is changed to a stop target speed (STS) to slow down the rotation speed of the vehicle opening and closing body (3) within a set time, and the opening and closing drive unit (4) is driven and controlled according to the stop target speed (STS) to stop the rotation of the vehicle opening and closing body (3) after the set 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 past, a vehicle opening and closing body opening and closing control device is known, which performs a clamping detection process (short-circuit braking: a process of short-circuiting the positive and negative poles of the motor to stop the drive of the motor) to immediately stop the rotation of the vehicle opening and closing body when the vehicle opening and closing body needs to be stopped (for example, refer to patent document 1).

[0003] However, when the clamping detection process is executed when the moving speed of the vehicle opening and closing body is fast, the vehicle opening and closing body stops suddenly, and the vehicle opening and closing body vibrates due to its reaction. In the case where a foreign object is caught between the vehicle opening and closing body and the vehicle body, a reversal process is required to reverse the rotation direction of the vehicle opening and closing body, but the reversal process cannot be executed when the vehicle opening and closing body is vibrating. In addition, the time until the vibration converges varies depending on the inclination of the road surface, the air temperature, the door opening, etc. Therefore, it is difficult to predict and set the standby time (short-circuit brake output time) from the execution of the clamping detection process to the execution of the reversal process, and the standby time has to be set longer than the required time.

[0004] Prior Art Literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2015-74907 Summary of the invention

[0007] Problems to be solved by the invention

[0008] The present invention aims to provide an opening and closing control device for a vehicle opening and closing body capable of stopping the vehicle opening and closing body in a short time.

[0009] Technical solutions for solving technical problems

[0010] As a technical solution to the above-mentioned problem, the present invention provides an opening and closing control device for a vehicle opening and closing body, comprising: an opening and closing drive unit, which drives the vehicle opening and closing body of the opening portion of the opening and closing vehicle body to open and close; and a control unit, which performs feedback control on the opening and closing drive unit so that the rotation speed of the vehicle opening and closing body becomes a preset target speed, and the control unit performs a clamping detection process according to the situation that the rotation speed of the vehicle opening and closing body is lower than the target speed, that is, the opening and closing drive unit is driven and controlled, and the target speed is changed to a stop target speed so as to slow down the rotation speed of the vehicle opening and closing body within a set time, and the opening and closing drive unit is drive and controlled according to the stop target speed to stop the rotation movement of the vehicle opening and closing body after the set time.

[0011] According to this configuration, even if it is detected that the rotation of the vehicle opening and closing body is obstructed, the rotation of the vehicle opening and closing body is not stopped immediately, but stopped after the rotation speed of the vehicle opening and closing body is sufficiently slowed down. Therefore, it is difficult to generate vibration from the vehicle opening and closing body, and the time required from the start of the rotation of the vehicle opening and closing body to the complete stop can be shortened.

[0012] Preferably, the control unit controls the opening and closing drive unit to perform a reversal process for opening the vehicle opening and closing body after the insertion detection process is completed.

[0013] According to this configuration, since the reversing process is executed after the vehicle opening and closing body is smoothly stopped without vibration, the reversing process can be started in a short time from the pinching detection process.

[0014] The control unit may start the entrapment detection process upon detecting that a foreign object is entrapped in the vehicle opening and closing body during automatic closing.

[0015] The control unit may start the pinching detection process upon detecting that the vehicle opening and closing body has been blocked from turning due to a collision with a foreign object during automatic opening.

[0016] Preferably, the control unit performs feedback control on a duty ratio of a PWM signal sent to a drive circuit of the opening and closing drive unit so that the rotation speed of the vehicle opening and closing body reaches the target speed.

[0017] According to this configuration, the rotation speed of the vehicle opening and closing body can be smoothly reduced, and vibration can be easily prevented from occurring in a stopped state.

[0018] Preferably, if the rotation speed of the vehicle opening and closing body is equal to or lower than a preset speed, the control unit immediately stops the rotation action of the vehicle opening and closing body.

[0019] According to this configuration, if the rotation speed of the vehicle opening and closing body is sufficiently reduced, even if the rotation of the vehicle opening and closing body is immediately stopped, almost no vibration is generated on the vehicle opening and closing body. Thus, it is possible to smoothly transfer to the reversal process.

[0020] Effects of the Invention

[0021] According to the present invention, even when the vehicle opening and closing body is stopped, the rotational movement is not stopped immediately, but stopped after deceleration. Therefore, the vehicle opening and closing body is not easy to vibrate, and as a result, the stopping time can be shortened. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a perspective view showing the rear portion of the vehicle according to the present embodiment.

[0023] Figure 2 Yes means Figure 1 A cross-sectional view of the spindle drive mechanism.

[0024] Figure 3 It is a block diagram showing the opening and closing control device according to the present embodiment.

[0025] Figure 4 It means by Figure 2 Flowchart of the automatic opening process performed by the opening and closing control device.

[0026] Figure 5 Yes means Figure 4 Flowchart of the authentication process.

[0027] Figure 6 Yes means Figure 4 Flowchart of the unlocking process.

[0028] Figure 7 Yes means Figure 4 Flowchart of the opening and closing processing.

[0029] Figure 8 Yes means Figure 1 Graph showing the relationship between the opening and closing position of the tailgate and the rotation speed.

[0030] Fig. 9 It means by Figure 2 Flowchart of the pinch detection process performed by the opening and closing control device.

[0031] Fig.10 : is a graph showing changes in the target speed and the actual turning speed of the tailgate when the opening and closing control device of the present embodiment executes the pinching detection process.

[0032] Fig.11 This is a graph showing changes in the target speed of the tailgate and the actual turning speed when the tailgate is stopped by a conventional method. DETAILED DESCRIPTION

[0033] 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.

[0034] like Figure 1As shown, an opening portion 2 is formed at the rear portion of the vehicle body 1. A rear tailgate 3 as an example of a vehicle opening and closing body is provided on the opening portion 2. The rear tailgate 3 is mounted on the vehicle body 1 in a manner that allows it to rotate around a support shaft (not shown) provided at an upper portion. The rear tailgate 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 tailgate 3, and is driven to rotate the rear tailgate 3 between a fully open position in which the opening portion 2 is opened and a fully closed position in which the opening portion 2 is closed, with the support shaft as the center.

[0035] like Figure 2 As shown, each spindle drive mechanism 4 includes a first housing 5 that accommodates an electric motor and the like, and a second housing 6 that accommodates a spindle and the like.

[0036] 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 tailgate 3. An electric motor 9 is accommodated in the first housing 5. The number of revolutions of the electric motor 9 is detected by a rotation sensor 10. A magnetic sensor, an optical sensor, etc. can be used as the rotation sensor 10. The magnetic sensor uses a Hall element, and the optical sensor uses an LED (light emitting diode) and a PD (photodiode). The rotating shaft 9a of the electric 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.

[0037] The second housing 6 contains 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 axially in the second housing 6 as the main shaft 12 rotates forward and backward. 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 coaxially arranged. 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.

[0038] In the spindle drive mechanism 4, if the electric 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 side 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 tailgate 3 rotates in the opening direction. In addition, if the electric 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 side 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 tailgate 3 rotates in the closing direction.

[0039] like Figure 3 As shown, the rear tailgate 3 is provided with a door lock device 20, a rear tailgate 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 a door opening and closing switch having both functions. In addition, the door opening switch 22 and the door closing switch 23 can be replaced by a handle switch provided on the outside of the rear tailgate 3, a door switch provided inside, a switch for the driver in the driver's seat, etc. (the positions of these switches are not particularly limited), or can be replaced by an operation switch used in an electronic key.

[0040] The door lock 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 fully engaged with the bolt eye exposed to 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 detached from the bolt eye. The half latch switch 27 detects a half latch position between the full latch position and the release position.

[0041] The door opening switch 22 and the door closing switch 23 are provided on the outer surface of the rear tailgate 3. When the door opening switch 22 or the door closing switch 23 is operated, a door opening operation signal or a 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 through the motor drive circuit 30, and drives and controls the electric motor 9 based on the PWM signal so that the rear tailgate 3 rotates from the fully closed position to the fully opened position or vice versa.

[0042] Next, the automatic opening process of the rear tailgate 3 will be described.

[0043] like Figure 4 As shown, the automatic opening process of the rear tailgate 3 is performed through an authentication process (step S100 ), an unlocking process (step S200 ), and an opening and closing process (step S300 ).

[0044] like Figure 5 As 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).

[0045] In the BCM 30, if an authentication request is received from the control device 29 (step S120), a request for sending an authentication code is made to the electronic key (S121). In the BCM 30, if an authentication code is received from the electronic key (step S122), the received authentication code is compared with a pre-registered regular code (step S123), and the comparison result is sent to the control device 29 (step S124).

[0046] In the control device 29, based on the comparison result, if the authentication code and the regular code are consistent (step S112: Yes), the unlocking process is performed (step S113), and if they are inconsistent (step S112: No), the automatic opening process is terminated.

[0047] like Figure 6 As shown, in the unlocking process (step S200), a release signal is output to the door lock device 20 (step S201). In the door lock device 20, the latch motor 25 is driven based on the input release signal. Here, it is determined by the release switch 28 whether the latch 24 is rotated to the release position (step S202). If the latch 24 is rotated 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 the prescribed time, it is considered that a malfunction has occurred in the door lock device 20 and an error is notified (step S203), and the automatic opening process ends.

[0048] like Figure 7 As shown, in the opening and closing process (step S300), a PWM signal is output to the main shaft drive mechanism 4 (step S301), so that the opening action of the rear tailgate 3 starts. During this period, the rotation position calculation process is performed. In the rotation position calculation process, the number of revolutions of the electric motor 9 is detected by the rotation sensor 10 (step S302). And, based on the number of revolutions of the electric motor 9 from the fully opened position of the rear tailgate 3, the rotation position of the rear tailgate 3 is calculated (step S303).

[0049] In the present embodiment, the rotation sensor 10 is provided in one spindle drive mechanism 4, and the duty ratio of the PWM signal output to the motor drive circuit 30 is feedback-controlled for the other spindle drive mechanism 4 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, and the average value of the detected rotation speeds may be calculated to control each spindle drive mechanism 4. In addition, the two spindle drive mechanisms 4 may be feedback-controlled based on the average value calculated by the two.

[0050] The opening action of the rear tailgate 3 from the fully closed position to the fully open position is divided into three stages: the acceleration area, the constant speed area, and the deceleration area. Figure 8In the chart, the horizontal axis represents the opening and closing position of the rear tailgate 3 (the number of revolutions of the electric motor 9), and the vertical axis represents the rotation speed of the rear tailgate 3 (the rotation speed of the electric motor 9: the number of revolutions per unit time of the rotating shaft 9a). 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 chart represents the change of the target speed TS.

[0051] In the acceleration region, the target speed TS is set to an acceleration target speed ATS whose rotation speed gradually increases relative to the rotation speed of the electric motor 9. In order to obtain the acceleration target speed ATS, the duty ratio of the PWM signal output to the motor drive circuit 30 is feedback-controlled. As a result, the tailgate 3 rotates while accelerating from a stopped state.

[0052] In the constant speed region, the target speed TS is set to a constant speed target speed CTS at which the rotation speed of the electric motor 9 is maintained at a fixed value. In order to obtain the constant speed target speed CTS, the duty ratio of the PWM signal output to the motor drive circuit 30 is feedback-controlled. As a result, the rear tailgate 3 rotates at a fixed speed.

[0053] In the deceleration area, the target speed TS is set to a deceleration target speed DTS in which the rotation speed of the electric motor 9 gradually decreases. In order to obtain the deceleration target speed DTS, the duty ratio of the PWM signal output to the motor drive circuit 30 is feedback-controlled. As a result, the rotation speed of the rear tailgate 3 gradually decreases and stops at the fully open position.

[0054] As described above, if it is determined that the rear tailgate 3 is rotated to the fully open position (step S304), the output of the PWM signal to the electric 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 tailgate 3 is rotated to the fully open position can be determined based on, for example, the rotation position of the rear tailgate 3 calculated in step S303, the elapsed time from the start of the drive of the electric motor 9, and the like.

[0055] The automatic closing process of the rear tailgate 3 is the same as the automatic opening process described above except for the rotation direction of the rear tailgate 3, and is performed by the same control in the three stages of the acceleration area, the constant speed area, and the deceleration area. Therefore, the description of the automatic closing process is omitted here.

[0056] If the tailgate 3 collides with an obstacle during the automatic opening process, or if a foreign object is caught between the tailgate 3 and the vehicle body 1 during the automatic closing process, the entrapment detection process of the tailgate 3 is performed as follows, and the reversal process is performed as described later.

[0057] First, a description will be given of a pinching detection process of the rear tailgate 3 when a foreign object is pinched between the rear tailgate 3 and the vehicle body 1 during execution of the automatic closing process.

[0058] like Fig. 9 As shown, in the clamping detection process, the actual (current moment) rotation position of the rear tailgate 3 and the target speed at the actual rotation position are read (step S401). In addition, the actual rotation speed of the rear tailgate 3 at this time is read (step S402). The actual rotation position of the rear tailgate 3 is obtained based on the number of revolutions of the electric motor 9 from the fully closed position or the fully opened position of the rear tailgate 3. The actual rotation speed of the rear tailgate 3 is obtained based on the rotation speed of the electric motor 9.

[0059] The difference between the target speed and the actual rotation speed is calculated (step S403). Then, it is determined whether the speed difference exceeds a preset threshold value (step S404). The threshold value may be set to a value exceeding the range of the rotation speed S of the electric motor 9 during the normal opening and closing of the rear tailgate 3. If it is assumed that the rotation speed S of the electric motor 9 varies by (±α) relative to the target speed TS, the threshold value TL may be set to satisfy TL>|TS-S|+α.

[0060] If the speed difference exceeds the threshold, it is determined that the rotation speed of the rear tailgate 3 is slow, and the rotation of the rear tailgate 3 is hindered for some reason, and the rotation of the rear tailgate 3 is stopped as follows. As the main reason for the rotation of the rear tailgate 3 to stop on the way, for example, there is a case where a foreign object is caught between the rear tailgate 3 and the vehicle body 1 when the automatic closing process of the rear tailgate 3 is executed, and the rear tailgate cannot be further rotated in the door closing direction. In addition, there is also a case where the ceiling of the garage or the like abuts against the rear tailgate 3 when the automatic opening process of the rear tailgate 3 is executed, and the rear tailgate cannot be further rotated in the door opening direction.

[0061] When the rear tailgate 3 stops rotating, the target speed TS is changed to a preset stop target speed STS so that the rotation speed is gradually decelerated (step S405). The stop target speed STS is set to a greater degree of reduction (deceleration) of the rotation speed of the electric motor 9 relative to the number of revolutions than the deceleration target speed DTS in the deceleration area of ​​the automatic opening and closing process when the rotation speed of the rear tailgate 3 is reduced. However, the deceleration is set to be smaller than that in the case of immediate stop. Thus, the rotation speed of the rear tailgate 3 can be smoothly reduced without any effort.

[0062] If the rotation speed of the rear tailgate 3 is sufficiently decelerated and becomes within the permissible speed range (step S406), the rotation movement is completely stopped (step S407). Here, the permissible speed range includes: a state where the rotation movement of the rear tailgate 3 is completely stopped; and a state where the vibration occurring in the rear tailgate 3 is suppressed within the permissible range even if the rotation movement of the rear tailgate 3 is stopped. In addition, the permissible vibration range refers to a range where the vibration of the rear tailgate 3 is almost non-existent, or even if it is present, it will not cause adverse conditions in the reversal process described later.

[0063] If the rear tailgate 3 stops, the reverse operation of the rear tailgate 3 is then performed.

[0064] In the reversal process of the rear tailgate 3, a PWM signal is output to the motor drive circuit 30 to make the electric motor 9 rotate in the reverse direction. The rear tailgate 3 is usually rotated in the reverse direction because a foreign object is caught in the entrapment detection process, so it is necessary to rotate the rear tailgate in the reverse direction. In particular, if the caught foreign object is a person, the entrapment state must be released as soon as possible. Therefore, the target speed (reversal target speed) in the reversal process is set, and the duty cycle of the PWM signal output to the motor drive circuit 30 is increased or decreased through feedback control so that the rear tailgate 3 rotates at the reversal target speed.

[0065] Fig.10 , the target speed TS and the actual rotation speed RS are shown in the case where the tailgate 3 is rotated by the automatic opening process, the rotation is stopped by the pinch detection process, and the rotation is restarted by the reversal process. Fig.11 2 shows the change between the target speed and the actual speed when the tailgate 3 is rotated by the automatic opening process and the rotation is immediately stopped without executing the above-mentioned pinch detection process.

[0066] like Fig.11 As shown, when the rotation of the rear tailgate 3 is stopped immediately (the feedback control is not performed according to the target speed TS represented by the solid line, but the clamping detection process is directly performed), after the stop, the actual rotation speed RS of the rear tailgate 3 changes as shown by the dotted line, and the rear tailgate 3 vibrates greatly. In the re-driving, i.e., the reverse driving, of the rear tailgate 3 in the vibrating state, even if the feedback control is to be performed, it cannot be performed normally due to the large interference and unstable speed. Therefore, it is necessary to wait until the vibration converges. Therefore, in the re-driving of the electric motor 9, a sufficient time longer than the time for the vibration of the rear tailgate 3 to converge is ensured.

[0067] On the other hand, Fig.10As shown in FIG. 1 , when the rear tailgate 3 stops rotating by the above-mentioned pinch detection process, it takes time to gradually (indicated by a dashed line) reduce the rotating speed RS according to the target speed TS (indicated by a solid line), but thereafter, the rotating speed RS of the rear tailgate 3 hardly changes, that is, hardly vibrates. Therefore, the waiting time until the electric motor 9 is driven again can be set shorter, and the time required from the stopping of the rotating of the rear tailgate 3 to the restarting of the rotating can be shortened as a whole.

[0068] In addition, the present invention is not limited to the configuration described in the above-mentioned embodiment, and various modifications can be made.

[0069] In the above embodiment, the rear tailgate 3 is stopped while being decelerated, but if the rotation speed is below the preset speed, it is not necessary to decelerate, so the rotation action can be stopped immediately. Whether the rotation speed of the rear tailgate 3 is below the set speed can be determined based on the rotation speed of the rotating shaft 9a of the electric motor 9 detected by the rotation sensor 10. If the detected rotation speed is less than the preset value, it is not necessary to decelerate the rotation speed of the rear tailgate 3, and it can be stopped immediately.

[0070] In the above embodiment, the case where the tailgate 3 is opened and closed is described as an example of a vehicle opening and closing body, but other types of vehicle doors such as sliding doors and gull-wing doors can also be opened and closed in the same manner.

[0071] In the above embodiment, the case where two spindle drive mechanisms 4 are provided has been described, but even when one or three or more spindle drive mechanisms 4 are provided, the opening and closing control may be performed in the same manner.

[0072] In the above-described embodiment, the above-described processes are executed by software, but may be executed by hardware.

[0073] Description of Reference Numerals

[0074] 1…Body

[0075] 2…Opening

[0076] 3…Tailgate

[0077] 4…Spindle drive mechanism

[0078] 5…1st shell

[0079] 6…Second shell

[0080] 7…Door side connecting structure

[0081] 8…Joint ball

[0082] 9…Electric motor

[0083] 10…Rotation sensor

[0084] 11…Reduction gear mechanism

[0085] 12…Spindle

[0086] 13…Spindle nut

[0087] 14…Putter

[0088] 15…outer cylinder

[0089] 16…Coil spring

[0090] 17…Inner cylinder

[0091] 18…Body side connecting structure

[0092] 19…Joint ball

[0093] 20…Door lock device

[0094] 21…Tailgate opening and closing device

[0095] 22…Door open switch

[0096] 23…Door closing switch

[0097] 24…Latch

[0098] 25…Latch motor

[0099] 26…Fully latched switch

[0100] 27… Semi-latching switch

[0101] 28…Release switch

[0102] 29…Control device

[0103] 30…Motor drive circuit

Claims

1. An opening and closing control device for a vehicle opening and closing body, in, include: an opening and closing driving unit that drives the vehicle opening and closing body to open and close the opening of the vehicle body, and a control unit that performs feedback control on the opening and closing drive unit to automatically open and close the vehicle opening and closing body so that the rotation speed of the vehicle opening and closing body reaches a preset target speed; The target speed of the automatic opening and closing is in three stages: acceleration area, constant speed area and deceleration area. When the difference between the rotation speed of the vehicle opening and closing body and the target speed exceeds a preset threshold value during the automatic opening and closing, the control unit executes a specific process. In the specific processing, the control unit changes the target speed to a stopping target speed having a greater deceleration degree than that in the deceleration area and a smaller deceleration degree than that in the case of immediate stopping, and drives and controls the opening and closing drive unit according to the stopping target speed, and stops the rotation movement of the vehicle opening and closing body when the rotation speed of the vehicle opening and closing body becomes within a pre-set allowable speed range.

2. The opening and closing control device for a vehicle opening and closing body according to claim 1, in, The control unit controls the opening and closing drive unit to perform a reversing process for reversing the rotation direction of the vehicle opening and closing body after the specific process is completed.

3. The opening and closing control device for a vehicle opening and closing body according to claim 1 or 2, in, The control unit starts the specific process in response to detection of a foreign object being caught by the vehicle opening and closing body during automatic closing.

4. The opening and closing control device for a vehicle opening and closing body according to claim 1 or 2, in, The control unit starts the specific process when the vehicle opening and closing body is automatically opened, based on the detection that the vehicle opening and closing body collides with a foreign object and the rotation is blocked.

5. The opening and closing control device for a vehicle opening and closing body according to claim 1 or 2, in, The control unit performs feedback control on a duty ratio of a PWM signal sent to a drive circuit of the opening and closing drive unit so that the rotation speed of the vehicle opening and closing body reaches the target speed.

6. The opening and closing control device for a vehicle opening and closing body according to claim 3, in, The control unit performs feedback control on the duty ratio of the PWM signal sent to the drive circuit of the opening and closing drive unit so that the rotation speed of the vehicle opening and closing body reaches the target speed.

7. The opening and closing control device for a vehicle opening and closing body according to claim 4, in, The control unit performs feedback control on a duty ratio of a PWM signal sent to a drive circuit of the opening and closing drive unit so that the rotation speed of the vehicle opening and closing body reaches the target speed.

8. The opening and closing control device for a vehicle opening and closing body according to claim 1 or 2, in, If the rotation speed of the vehicle opening and closing body is lower than a preset speed, the control unit immediately stops the rotation action of the vehicle opening and closing body.

9. The opening and closing control device for a vehicle opening and closing body according to claim 3, in, If the rotation speed of the vehicle opening and closing body is lower than a preset speed, the control unit immediately stops the rotation action of the vehicle opening and closing body.

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