Opening / closing body control device for vehicle

Abstract

The present invention is a vehicle opening and closing body control device that performs high-precision pinching detection. When the door ECU detects the input of an acceleration operation by a user to accelerate a sliding door in drive control, it increases the target speed for controlling its movement speed. When the target speed is increased, the door ECU performs a pinching detection judgment during acceleration operation that changes the judgment conditions for the pinching of the sliding door, so that it is difficult to judge that the sliding door has been pinched. The door ECU maintains the lowest current value (Imin) detected after the input of the acceleration operation, and when it detects a current value (I) that exceeds a current increase threshold value (Ithu) set based on the lowest current value (Imin), it judges that the user's acceleration operation has ended. After a current stabilization period (R) set based on the moment when the acceleration operation is determined to be ended, the door ECU ends the execution of the pinching detection judgment during the acceleration operation.

Description

Technical Field

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

[0002] Conventionally, in vehicle opening and closing body control devices, such as those for power sliding door systems, which have a drive source to open and close the vehicle's opening and closing body, there are devices that detect pinching of the opening and closing body by monitoring the current value of the motor that serves as the drive source for the opening and closing body. For example, the vehicle opening and closing body control device described in Patent Document 1 modifies the criteria for pinching detection when executing advance angle control, which advances the phase of the motor control signal, to make it less likely that pinching of the opening and closing body has occurred. Furthermore, this configuration makes it less likely that errors in the pinching detection determination will occur, even if the current value increases due to the execution of advance angle control.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-2224

[0006] However, in addition to the execution of the advance angle control as described above, the motor current value may also fluctuate significantly due to the drive control. Moreover, even in such cases, it is preferable to perform the pinch detection with high accuracy, so there is still room for improvement in this regard. Summary of the Invention

[0007] The present invention has been made to solve the above-mentioned problems, and an object thereof is to provide a vehicle opening and closing body control device capable of performing pinching detection with high accuracy.

[0008] The vehicle opening and closing body control device for solving the above-mentioned problems comprises: a drive control unit, which uses a motor as a drive source to move the vehicle's opening and closing body; and a clamping detection unit, which performs clamping detection judgment of the opening and closing body based on the current value of the motor. The drive control unit comprises: a speed control unit, which controls the movement speed of the opening and closing body by supplying driving power to the motor; an acceleration operation detection unit, which detects the input of the acceleration operation that accelerates the opening and closing body in the drive control; and a target speed changing unit, which increases the target speed for controlling the movement speed of the opening and closing body when the input of the acceleration operation is detected. The clamping detection unit comprises: a judgment condition changing unit, which A fixed condition changing unit changes the determination condition of the pinching detection judgment when the target speed is increased, making it difficult to determine that pinching of the opening and closing body has occurred; and a pinching detection judgment unit during acceleration operation, which performs the pinching detection judgment based on the changed determination condition, and the pinching detection judgment unit during acceleration operation maintains the lowest current value detected after the input of the acceleration operation, and determines that the acceleration operation has ended when the current value exceeding the current increase threshold set based on the lowest current value is detected, and ends the execution of the pinching detection judgment during acceleration operation based on the changed determination condition after a current stabilization period set based on the moment when the acceleration operation is determined to be ended.

[0009] That is, the current value of the motor that serves as the driving source of the opening and closing body fluctuates due to the input of the acceleration operation performed by the user and the increase in the target speed detected based on the input. However, according to the above-mentioned structure, even in such a case, it is possible to avoid the occurrence of false detection due to the increase in the current value, thereby detecting the pinching caused by the opening and closing body with high precision. In addition, the increase in the current value caused by the increase in the target speed occurs after the current value of the motor has decreased due to the load reduction caused by the input of the acceleration operation and the end of the acceleration operation by the user. Moreover, the increased current value decreases again thereafter and fluctuates at a constant value that is approximately equal to that before the input of the acceleration operation performed by the user. In this regard, according to the above-mentioned structure, it is possible to detect the end of the acceleration operation with high precision and appropriately set the execution interval of the pinching detection judgment during the acceleration operation. Moreover, it is possible to suppress the influence of the reduction in sensitivity caused by the change in the judgment condition to a minimum and perform the pinching detection of the opening and closing body with high precision.

[0010] In the vehicle opening and closing body control device that solves the above-mentioned problem, it is preferred that the clamping detection and judgment unit during the acceleration operation maintains the current value at the start of the acceleration operation at the moment when the current value decreases due to the start of the acceleration operation input, and determines that the acceleration operation has ended when the current value exceeds the current increase threshold and exceeds the current value at the start of the acceleration operation.

[0011] According to the above configuration, the completion of the user's acceleration operation can be detected with high accuracy.

[0012] In the vehicle opening and closing body control device that solves the above-mentioned problem, preferably, the pinching detection and determination unit during the acceleration operation determines that the acceleration operation has ended when the current value exceeding the current increase threshold value is continuously detected.

[0013] According to the above configuration, the completion of the user's acceleration operation can be detected with high accuracy.

[0014] In the vehicle opening and closing body control device that solves the above-mentioned problem, it is preferred that the clamping detection unit determines that clamping of the opening and closing body has occurred when the current value exceeds a threshold value, and when the target speed is increased, the judgment condition changing unit sets a value larger than the threshold value when the target speed is not increased as the threshold value of the current value.

[0015] Specifically, when an acceleration operation is input, the motor current value increases due to the increase in target speed, and the threshold for detecting pinching during acceleration operation based on this current value is pre-set to a higher value. This prevents false detections of pinching of the opening and closing member, even if pinching of the opening and closing member does not actually occur, by keeping the motor current value below the threshold.

[0016] In a vehicle opening and closing body control device that solves the above-mentioned problem, it is preferred that the clamping detection unit determines that clamping of the opening and closing body has occurred when the differential value of the current value exceeds a threshold value, and when the target speed is increased, the determination condition changing unit sets a value larger than the threshold value when the target speed is not increased as the threshold value of the differential value.

[0017] Specifically, using the differential value allows for rapid detection of increases in current value due to pinching of the opening and closing member. However, if the target speed is increased by detecting an acceleration input, the current value rises steeply. Therefore, in the pinching detection determination during acceleration based on the differential value of the current value, a higher threshold value is also pre-set, enabling more accurate pinching detection of the opening and closing member.

[0018] In the vehicle opening and closing body control device that solves the above-mentioned problem, it is preferred that the acceleration operation detection unit detects the input of the acceleration operation when the movement speed of the opening and closing body exceeds a speed increase threshold value set based on the target speed and greater than the target speed.

[0019] According to the above configuration, the occurrence of the acceleration operation input by the user can be detected.

[0020] According to the present invention, insertion detection can be performed with high accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a side view of a vehicle provided with a sliding door.

[0022] Figure 2 This is a schematic diagram of the electric sliding door system.

[0023] Figure 3 This is a flowchart showing the processing procedure of the insertion detection judgment.

[0024] Figure 4 This is a flowchart showing the processing procedure of the insertion detection judgment.

[0025] Figure 5 This is a flowchart showing the processing procedure for detecting and determining the occurrence of an accelerator operation input.

[0026] Figure 6 This is a flowchart showing a processing procedure for changing the target speed based on detection of an accelerator operation input.

[0027] Figure 7 This is a flowchart showing a processing procedure for changing the determination conditions in the pinch detection determination according to a change in the target speed.

[0028] Figure 8 This is a graph showing the transition of the target speed and current value during normal drive control.

[0029] Figure 9 This is a graph showing changes in target speed and current value in drive control during acceleration operation.

[0030] Figure 10 This is a graph showing how the completion detection of the acceleration operation and the determination of the completion of the pinching detection during the acceleration operation are performed based on the setting of the current stabilization period.

[0031] Figure 11 This is a flowchart showing a processing procedure for updating the minimum current value detected after input of an accelerator operation.

[0032] Figure 12 This is a flowchart showing the processing procedure for detecting and determining the end of the accelerator operation.

[0033] Figure 13 This is a flowchart showing the processing procedure for terminating the pinch detection determination during the accelerator operation.

[0034] Figure 14 This is a flowchart showing another example of the processing procedure for detecting and determining the end of the accelerator operation.

[0035] Figure 15 This is a flowchart showing another example of the processing procedure for detecting and determining the end of the accelerator operation.

[0036] Figure 16 This is a flowchart showing another example of the processing procedure for entrapment detection and determination completion during accelerator operation.

[0037] Figure 17 This is a flowchart showing another example of the processing procedure for detecting and determining the occurrence of an accelerator operation input.

[0038] Explanation of symbols

[0039] 4…Sliding door (opening and closing body)

[0040] 20…Motor

[0041] 30…Electric sliding door device (vehicle opening and closing body control device)

[0042] 25...door ECU

[0043] 40a...Drive control unit

[0044] 40b…Pinch detection unit

[0045] 40c…Speed control unit

[0046] 40d...Acceleration operation detection unit

[0047] 40e…Target speed change unit

[0048] 40f…Judgment condition change unit

[0049] 40g...Pinch detection and judgment unit during acceleration operation

[0050] I…current value

[0051] Imin…minimum current value

[0052] Ithu…Current increase threshold

[0053] R…Current stabilization period DETAILED DESCRIPTION

[0054] Hereinafter, an embodiment in which the vehicle opening and closing body control device is embodied as an electric sliding door device will be described with reference to the drawings.

[0055] like Figure 1 As shown, the vehicle 1 of this embodiment includes a sliding door 4 for opening and closing a door opening 3 provided on a side surface 2s of the vehicle body 2. Specifically, the vehicle 1 is provided with a sliding door 4 for opening and closing a door opening 3 provided on a side surface 2s of the vehicle body 2. Figure 1 The sliding door 4 of this embodiment includes multiple guide rails 5a to 5c extending in the left-right direction (in the left-right direction) and multiple guide roller units 6a to 6c connected to each of these guide rails 5. Specifically, the sliding door 4 of this embodiment is supported on the side surface 2s of the vehicle body 2 via the guide rails 5 and guide roller units 6. Furthermore, these guide rails 5 and guide roller units 6 are capable of moving the engagement position of each guide roller unit 6 relative to the guide rail 5 along the direction in which the guide rails 5 extend. Furthermore, the sliding door 4 of this embodiment is thus configured to move in the vehicle front-rear direction while following the side surface 2s of the vehicle body 2.

[0056] That is, the sliding door 4 of this embodiment is opened toward the front side of the vehicle ( Figure 1 The sliding door 4 is moved to the left side in the figure to a fully closed state, closing the door opening 3, and is moved to the rear side of the vehicle (the right side in the figure) to a fully open state, allowing passengers of the vehicle 1 to get on and off through the door opening 3. A door handle 10 is provided on the sliding door 4 for opening and closing the sliding door 4.

[0057] In addition, if Figure 2 As shown, the sliding door 4 is provided with a plurality of locking devices 11. Furthermore, the sliding door 4 is provided with a front locking member 11a and a rear locking member 11b, which serve as fully closed locking members for securing the sliding door 4 in the fully closed position. Furthermore, the sliding door 4 is provided with a fully open locking member 11c for securing the sliding door 4 in the fully open position. Furthermore, in the sliding door 4 of this embodiment, each of these locking devices 11 is connected to the door handle 10 via a remote control 12.

[0058] Specifically, the sliding door 4 of this embodiment releases the restraints of the locking devices 11 by operating the door handle 10. Furthermore, the sliding door 4 can release the restraints of the locking devices 11 by operating an operating switch located within the vehicle cabin or a portable device, even remotely. Furthermore, the sliding door 4 can be manually opened and closed using the door handle 10 as a grip.

[0059] In addition, the sliding door 4 of the present embodiment is provided with a door actuator 21 driven by a motor 20. The motor 20 of the door actuator 21 rotates by receiving a supply of driving power from the door ECU 25. That is, the door ECU 25 controls the operation of the door actuator 21 by supplying driving power to the motor 20. In the vehicle 1 of the present embodiment, an electric sliding door device 30 is formed as a vehicle opening and closing body control device that can open and close the sliding door 4 based on the driving force of the motor 20.

[0060] Specifically, the door actuator 21 of the present embodiment includes an opening / closing drive unit 31 that drives the opening / closing body and the sliding door 4 to open and close based on the driving force of the motor 20 .

[0061] Furthermore, the door actuator 21 of this embodiment is provided with a pulse sensor 32 that outputs a pulse signal Sp synchronized with the operation of the opening and closing drive unit 31. Furthermore, the door ECU 25 of this embodiment detects the movement position X and movement speed V of the sliding door 4 after being driven by the door actuator 21 based on the pulse output of the pulse sensor 32.

[0062] Furthermore, the door ECU 25 of this embodiment receives an operation input signal Scr from an operation input unit 33 provided at the door handle 10, inside the vehicle cabin, or on a portable device. Specifically, the door ECU 25 of this embodiment detects the user's request for movement of the sliding door 4 based on the operation input signal Scr. Furthermore, the door actuator 21 is controlled to move the sliding door 4 in the requested direction of movement.

[0063] In further detail, the door ECU 25 of this embodiment sets a target speed Vt when opening and closing the sliding door 4. In the electric sliding door device 30 of this embodiment, the target speed Vt of the sliding door 4 is stored in the storage area 25m of the door ECU 25. Furthermore, the door ECU 25 of this embodiment is configured to control the drive of the sliding door 4 by supplying drive power to the motor 20 so that the movement speed V of the sliding door 4 follows the target speed Vt.

[0064] Furthermore, the door ECU 25 of this embodiment has the function of detecting and determining whether a foreign object, such as a passenger's hand or foot, is caught between the front end portion 4f of the sliding door 4 and the front edge 3f of the door opening 3, for example. Specifically, the current value I of the motor 20 is input to the door ECU 25 of this embodiment. Furthermore, the door ECU 25 of this embodiment detects and determines whether the sliding door 4 is caught, based on the current value I of the motor 20.

[0065] like Figure 3As shown in the flowchart, the door ECU 25 of this embodiment obtains the current value I of the motor 20 (step 101) and compares the current value I of the motor 20 with the threshold value Ith (step 102). If the current value I exceeds the threshold value Ith (I>Ith, step 102: Yes), it is determined that the sliding door 4 is pinched (step 103). If the current value I is less than the threshold value Ith (I≤Ith, step 102: No), it is determined that no pinching has occurred (step 104).

[0066] In addition, if Figure 4 As shown in the flowchart, the door ECU 25 of this embodiment calculates the differential value α of the current value I obtained from the motor 20 (step 201). Furthermore, the door ECU 25 of this embodiment compares the differential value α of the current value I with a threshold value αth (step 202). If the differential value α of the current value I exceeds the threshold value αth (α>αth, step 202: Yes), the door ECU 25 determines that the sliding door 4 is pinched (step 203). If the differential value α of the current value I is less than the threshold value αth (α≤αth, step 202: No), the door ECU 25 determines that no pinching has occurred (step 204).

[0067] That is, when entrapment occurs, the rotation of the motor 20 is restricted, and thus the current value I increases (restricted current). The door ECU 25 of this embodiment is thus configured to detect entrapment of the sliding door 4 by monitoring the current change generated in the motor 20 .

[0068] Furthermore, the door ECU 25 of the present embodiment has a function of detecting input of an acceleration operation when a user performs an operation to accelerate the sliding door 4 during drive control of the sliding door 4 .

[0069] Specifically, if Figure 5 As shown in the flowchart, the door ECU 25 of the present embodiment sets a speed increase threshold value V0 that is greater than the target speed Vt based on the target speed Vt of the sliding door 4 (step 301). In addition, in the door ECU 25 of the present embodiment, the speed increase threshold value V0 is calculated by adding a specified value β to the target speed Vt of the sliding door 4 (V0=Vt+β). Moreover, the door ECU 25 of the present embodiment compares the movement speed V of the sliding door 4 with the speed increase threshold value V0 (step 302). And, when the movement speed V of the sliding door 4 exceeds the speed increase threshold value V0 (V>V0, step 302: yes), it is determined that an acceleration operation input has occurred (step 303).

[0070] Furthermore, as a form of acceleration operation by the user, in addition to operating the sliding door 4 in its driving direction using the door handle 10 as a grip, a so-called push door operation in which the sliding door 4 itself is pushed in the driving direction is also conceivable.

[0071] Then, when detecting the input of such an acceleration operation, the door ECU 25 of the present embodiment increases the target speed Vt for controlling the operation speed V of the sliding door 4 .

[0072] like Figure 2 As shown, the door ECU 25 of this embodiment stores a first target speed Vt1 and a second target speed Vt2 greater than the first target speed Vt1 as target speed Vt (Vt2>Vt1) in its storage area 25m. Furthermore, when an acceleration operation input is detected as described above, the target speed Vt used for driving the sliding door 4 is changed from the first target speed Vt1 corresponding to normal operation to the second target speed Vt2 corresponding to acceleration operation.

[0073] Specifically, if Figure 6 As shown in the flowchart of FIG. 4 , the door ECU 25 of this embodiment performs drive control of the sliding door 4 using the first target speed Vt1 as the initial setting value when no acceleration operation input is detected (step 401: No) (normal drive control: Vt=Vt1, step 402). Figure 5 This first target speed Vt1 is also used as the target speed Vt in the detection and determination of the occurrence of the accelerator input shown. Furthermore, if the door ECU 25 detects an accelerator input in step 401 (step 401: Yes), it reads the second target speed Vt2 from its storage area 25m (step 403). The target speed Vt is then changed from the first target speed Vt1 to the second target speed Vt2 to execute drive control of the sliding door 4 (accelerator drive control: Vt = Vt2, step 404).

[0074] Furthermore, when the target speed Vt of the drive control is increased by detecting the input of the accelerator operation in this manner, the door ECU 25 of the present embodiment changes the determination condition when detecting pinching occurring in the sliding door 4 .

[0075] like Figure 2 As shown, the door ECU 25 of this embodiment holds in its storage area 25m a first threshold value Ith1 and a second threshold value Ith2 having a value larger than the first threshold value Ith1 (Ith2>Ith1) as a threshold value Ith for pinching detection determination based on the current value I of the motor 20 (see Figure 3). In addition, the door ECU 25 stores a first threshold value αth1 and a second threshold value αth2 (αth2>αth1) having a value larger than the first threshold value αth1 in its storage area 25m as a threshold value αth for pinching detection determination based on the differential value α of the current value I (see Figure 4 ). Furthermore, the structure is such that, when the target speed Vt of the drive control is increased as described above, the threshold value Ith for pinch detection based on the current value I and the threshold value αth for pinch detection based on the differential value α of the current value I are changed from the first threshold values Ith1 and αth1 corresponding to the normal state to the second threshold values Ith2 and αth2 corresponding to the acceleration operation, respectively.

[0076] Specifically, if Figure 7 As shown in the flowchart, the door ECU 25 of this embodiment, when normally executing drive control of the sliding door 4 at the first target speed Vt1 (step 501: No), uses the first threshold values Ith1 and αth1 as initial settings to perform a pinch detection determination of the sliding door 4 (Ith = Ith1, αth = αth1, step 502). Furthermore, when the target speed Vt of the drive control is increased by detecting an acceleration input in step 501 (step 501: Yes), the door ECU 25 reads the second threshold values Ith2 and αth2 from the storage area 25m (step 503). Then, using these second threshold values Ith2 and αth2, a pinch detection determination of the sliding door 4 is performed (pinch detection determination during acceleration operation: Ith = Ith2, αth = αth2, step 504).

[0077] That is, Figure 8 As shown, in the absence of an acceleration operation input by the user, the target speed Vt of the drive control is fixed at the first target speed Vt1 as its initial setting value until the end position where the sliding door 4 stops. Figure 8The figure shows an example of a case where the sliding door 4 is closed from the fully open position to the fully closed position. In addition, the door ECU 25 of the present embodiment gradually reduces the target speed Vt of the drive control from the first target speed Vt1 to the third target speed Vt3 as the sliding door 4 reaches the vicinity of the fully closed position which is the end position of the drive control. Moreover, in the figure, the movement speed V of the sliding door 4 shown by the single-dot chain line moves in the form of following the target speed Vt. Therefore, the current value I of the motor 20 increases as the drive of the sliding door 4 starts, and then moves at a substantially constant value until the drive control stops. Similarly, the acceleration change of the current value I is also limited to the starting position and the end position of the drive control (omitted from the figure). In addition, the door ECU 25 of the present embodiment is configured as follows: a value larger than the current value I that moves at a substantially constant value is set as the threshold value Ith for the normal pinch detection judgment, that is, the first threshold value Ith1.

[0078] On the other hand, Figure 9 As shown, when an acceleration operation is input, the current value I of the motor 20 fluctuates significantly due to the operating force, such as a user pressing the sliding door 4 during drive control, which accelerates the sliding door 4, and the change in the target speed Vt based on the detection of the acceleration operation. Consequently, the differential value α of the current value I also fluctuates significantly.

[0079] Specifically, the load on the motor 20 is reduced by the user's operating force on the sliding door 4, significantly reducing its current value I. Furthermore, in the electric sliding door device 30 of this embodiment, the acceleration input is subsequently detected, and the target speed Vt for drive control is changed from the first target speed Vt1 to the second target speed Vt2. Therefore, the duty cycle of the motor drive is increased to ensure that the operating speed V follows the increased target speed Vt. Consequently, the current value I of the motor 20 is significantly increased.

[0080] Based on this, as described above, the door ECU 25 of this embodiment increases the pinch detection thresholds Ith and αth from their initial settings of first thresholds Ith1 and αth1 to second thresholds Ith2 and αth2, respectively, in response to an increase in the target speed Vt. In other words, the pinch detection criteria are modified to make it less likely that the sliding door 4 will be pinched. Furthermore, in the power sliding door device 30 of this embodiment, this prevents false detections caused by an increase in the target speed Vt and allows for highly accurate detection of pinching in the sliding door 4.

[0081] Further details, such as Figure 10As shown, the door ECU 25 of this embodiment holds the minimum current value Imin (refer to Figure 2 ). Furthermore, when the door ECU 25 detects a current value I exceeding a current increase threshold value Ithu set based on the minimum current value Imin, it determines that the user's acceleration operation has ended. Furthermore, the door ECU 25 of this embodiment terminates the execution of the pinch detection determination during the acceleration operation after a current stabilization period R set based on the moment when the acceleration operation is determined to have ended (acceleration operation input end detection position X3) has elapsed (current stabilization period passing position X4).

[0082] Specifically, if Figure 11 As shown in the flowchart, when the user performs an acceleration operation on the sliding door 4 (step 601: yes), the door ECU 25 of this embodiment compares the current value I of the motor 20 to be detected with the minimum current value Imin stored in its storage area 25m (step 602). In addition, the door ECU 25 of this embodiment sets the current value I at the moment when the target speed Vt is increased by detecting the input of the acceleration operation as the initial value of the minimum current value Imin. And, when the detected current value I is lower than the minimum current value Imin stored in the storage area 25m (I<Imin, step 602: yes), the minimum current value Imin is updated with the detected current value I (Imin=I, step 603). That is, the detected current value I is stored in the storage area 25m as the new minimum current value Imin.

[0083] In addition, if Figure 12 As shown in the flowchart, the door ECU 25 of this embodiment reads the minimum current value Imin from the storage area 25m (step 701), adds a predetermined value γ to the minimum current value Imin, and sets the value obtained by adding the predetermined value γ to the minimum current value Imin as the current increase threshold value Ithu (Ithu = Imin + γ, step 702). Then, the current value I of the motor 20 to be detected is compared with the current increase threshold value Ithu (step 703). If the current value I is greater (I>Ithu, step 703: Yes), it is determined that the user's acceleration operation has ended (step 704).

[0084] Moreover, if Figure 13As shown in the flowchart, upon detecting the end of an accelerator operation (step 801: YES), the door ECU 25 of this embodiment sets a current stabilization period R, which is the current stabilization period elapsed position X4 (X4 = X3 + δ, step 802), calculated by adding a predetermined value δ to the position X3, the position of the sliding door 4 at that moment in time, i.e., the position X4 where the accelerator input has ended. Furthermore, the door ECU 25 counts the amount of movement of the sliding door 4 (step 803) to determine whether the current stabilization period R, set based on the moment when the accelerator operation is determined to have ended, has elapsed (step 804). If the door ECU 25 of this embodiment determines that the current stabilization period R has elapsed (step 804: YES), it terminates the pinching detection determination during the accelerator operation and returns to the normal pinching detection determination state (step 805).

[0085] That is, Figure 10 As shown, the increase in current value I caused by the increase in target speed Vt in response to the accelerator input occurs after the target speed Vt is increased and the user's accelerator input ends. This increased current value I then decreases again, remaining constant at a value substantially equal to that before the user's accelerator input.

[0086] Based on this, the door ECU 25 of this embodiment monitors the current value I of the motor 20, which decreases and then increases due to the accelerator input, to detect the end of the accelerator operation. Furthermore, by setting a current stabilization period R to take into account the subsequent fluctuations in the current value I, the door ECU 25 raises the pinching detection thresholds Ith and αth to the second thresholds Ith2 and αth2, respectively, corresponding to the accelerator operation during the current stabilization period R. Furthermore, after the current stabilization period R, the door ECU 25 lowers the pinching detection thresholds Ith and αth to the initial settings of the first thresholds Ith1 and αth1, respectively. In other words, the door ECU 25 of this embodiment performs pinching detection during accelerator operation with modified determination conditions, limiting the period from detection of the user's accelerator input until the current stabilization period R has expired, thereby making it less likely that the sliding door 4 will be pinched. Furthermore, in the electric sliding door device 30 of the present embodiment, even after the current value I that has increased due to the increase in the target speed Vt of the drive control decreases again, pinching occurring in the sliding door 4 can be detected with high accuracy.

[0087] Next, the operation of this embodiment will be described.

[0088] In the drive control of the sliding door 4, when the user performs an operation to accelerate the sliding door 4, the target speed Vt for controlling the movement speed V of the sliding door 4 is increased. In addition, in accordance with the increase in the target speed Vt, the judgment condition of the pinching detection judgment is changed so that it is difficult to judge that the pinching of the sliding door 4 has occurred. Moreover, when a current value I is detected that exceeds the current increase threshold value Ithu set based on the minimum current value Imin detected after the input of the acceleration operation, it is judged that the acceleration operation has ended. Moreover, after the current stabilization period R set based on the moment when the acceleration operation is judged to have ended has passed, the execution of the pinching detection judgment is ended when the judgment condition is changed as described above so that it is difficult to judge that the pinching has occurred.

[0089] Next, the effects of this embodiment will be described.

[0090] (1) In a power sliding door device 30 serving as a vehicle opening / closing body control device, the door ECU 25 functions as a drive control unit 40a, which uses the motor 20 as a drive source to operate the sliding door 4 serving as the opening / closing body of the vehicle 1, and a pinching detection unit 40b, which performs pinching detection and determination of the sliding door 4 based on the current value I of the motor 20. The door ECU 25, serving as the drive control unit 40a, functions as a speed control unit 40c, which controls the movement speed V of the sliding door 4 by supplying drive power to the motor 20. Furthermore, the door ECU 25 functions as an acceleration operation detection unit 40d, which detects an acceleration operation input by a user to accelerate the sliding door 4 under drive control, and as a target speed change unit 40e, which, upon detecting the acceleration operation input, increases the target speed Vt used to control the movement speed V of the sliding door 4. Furthermore, the door ECU 25, which functions as the pinch detection unit 40b, includes a function as a determination condition changing unit 40f. This determination condition changing unit 40f modifies the determination conditions for pinch detection when the target speed Vt is increased, thereby making it less likely that the sliding door 4 will be pinched. Furthermore, the door ECU 25 also includes a function as an acceleration operation pinch detection and determination unit 40g, which performs pinch detection and determination based on the modified determination conditions. Furthermore, the door ECU 25, which functions as the acceleration operation pinch detection and determination unit 40g, maintains the lowest current value Imin detected after an acceleration operation is input, and determines that the acceleration operation has ended when a current value I exceeding a current increase threshold Ithu set based on this lowest current value Imin is detected. Furthermore, the door ECU 25 terminates the acceleration operation pinch detection and determination based on the modified determination conditions after a current stabilization period R, which is set based on the time at which the acceleration operation is determined to have ended, has elapsed.

[0091] Specifically, the current value of the motor 20, which serves as the driving source for the sliding door 4, fluctuates due to the user's input of an acceleration operation and the increase in the target speed Vt detected based on this input. However, the above-described configuration prevents false detections caused by the increase in current value I, even in such situations, thereby enabling highly accurate detection of pinching in the sliding door 4. Furthermore, the increase in current value due to the increase in target speed occurs after the motor current value decreases due to the load reduction associated with the acceleration operation, resulting in the end of the user's acceleration operation. Furthermore, this increased current value I decreases again and remains constant, roughly equal to the value before the user's acceleration operation. In this regard, the above-described configuration allows for highly accurate detection of the end of the acceleration operation and the appropriate setting of the execution interval for pinching detection during the acceleration operation. Furthermore, the impact of the reduced sensitivity caused by the change in the determination conditions can be minimized, allowing for highly accurate detection of pinching in the sliding door 4.

[0092] (2) The door ECU 25 uses the current value I at the moment when the target speed Vt is increased by detecting the input of the accelerator operation as the initial value of the minimum current value Imin. If the detected current value I is lower than the minimum current value Imin stored in the storage area 25m, the minimum current value Imin is updated with the detected current value I. In this way, the end of the user's accelerator operation can be detected with high accuracy.

[0093] (3) When the current value I exceeds the threshold value Ith, the door ECU 25 determines that the sliding door 4 has been caught. Furthermore, when the target speed Vt is increased by detecting an accelerator input, the door ECU 25 sets a second threshold value Ith2, which is greater than the first threshold value Ith1 when the target speed Vt is not increased, as the threshold value Ith for catching detection based on the current value I.

[0094] Specifically, when an accelerator is input, the current value I of the motor 20 increases due to the increase in the target speed Vt. Accordingly, a higher value (Ith2 > Ith1) is set in advance for the threshold value Ith for entrapment detection during an accelerator operation based on this current value I. Consequently, even if entrapment of the sliding door 4 does not actually occur, the current value I of the motor 20 does not exceed the threshold value Ith, thereby preventing erroneous detections.

[0095] (4) When the differential value α of the current value I exceeds the threshold value αth, the door ECU 25 determines that pinching of the sliding door 4 has occurred. Furthermore, when the target speed Vt is increased by detecting an accelerator input, the door ECU 25 sets a second threshold value αth2, which is larger than the first threshold value αth1 when the target speed Vt is not increased, as the threshold value αth for pinching detection based on the differential value α of the current value I.

[0096] Specifically, by using the differential value α, it is possible to quickly detect the increase in the current value I due to the pinching of the sliding door 4. However, if the target speed Vt is increased by detecting the input of an accelerator operation, the increase in the current value I tends to become steeper. Therefore, in the pinching detection determination during acceleration operation based on the differential value α of the current value I, a larger value (αth2 > αth1) is pre-set for the threshold value αth, thereby enabling more accurate pinching detection of the sliding door 4.

[0097] (5) The door ECU 25 detects an accelerator input when the operating speed V of the sliding door 4 exceeds a speed increase threshold V0 set based on the target speed Vt and greater than the target speed Vt.

[0098] Furthermore, the above-described embodiment can be implemented by being modified as follows: The above-described embodiment and the following modified examples can be implemented in combination with each other within a range that does not technically conflict.

[0099] In the above embodiment, the invention is embodied as an electric sliding door device 30 that uses a sliding door 4 provided in a door opening 3 of a vehicle 1 as an opening and closing member. However, the invention is not limited thereto and may also be applied to a vehicle opening and closing member control device that opens and closes a rear door or a swing-type side door provided at the rear of the vehicle. Furthermore, the invention may also be applied to a vehicle opening and closing member control device that operates on opening and closing members other than vehicle doors, such as a window regulator that raises and lowers a vehicle window glass or a sunroof system.

[0100] In the above embodiment, the door ECU 25, which serves as the pinch detection and determination unit 40g during an accelerator operation, maintains the lowest current value Imin detected after an accelerator operation is input. When a current value I exceeding a current increase threshold value Ithu set based on the lowest current value Imin is detected, the door ECU 25 determines that the accelerator operation has ended.

[0101] However, the present invention is not limited to this, and the acceleration operation start current value Ist (see Figure 10). In addition, regarding the current value Ist at the start of the acceleration operation, for example, the following method can be considered: continuously maintain the current value I of the motor 20, trace back the starting point of the current reduction with the minimum current value Imin as the peak, and thus estimate the start time of the acceleration operation.

[0102] And, as Figure 14 As shown in the flowchart, the configuration may also be such that when it is detected that the current value I of the motor 20 exceeds the current increase threshold value Ithu (I>Ithu, step 903: Yes) and exceeds the current value I at the start of the acceleration operation (I>Ist, step 904: Yes), it is determined that the acceleration operation has ended (step 905). This allows for more accurate detection of the user's acceleration operation input.

[0103] In addition, it can also be constructed as follows Figure 15 As shown in the flowchart, if the current value I exceeding the current increase threshold Ithu is continuously detected (step 1003: Yes and step 1004: Yes), it is determined that the acceleration operation has ended (step 1005). Furthermore, the content of the continued determination can be arbitrarily changed, for example, by setting a continuous exceeding time requirement or a setting of the exceeding ratio per unit time. This allows for more accurate detection of the user's acceleration operation input.

[0104] The timing for starting to maintain and update the minimum current value Imin can be arbitrarily changed, for example, by tracing back to the time when the current value I decreases due to the start of the accelerator input. In other words, the peak of the current decrease caused by the accelerator input can be captured.

[0105] In the above embodiment, when the end of the acceleration operation is detected, the value obtained by adding the specified value δ to the moving position of the sliding door 4 at that moment, that is, the acceleration operation input end detection position X3, is set as the current stabilization period R at the current stabilization period passing position X4, but the current stabilization period R can also be set by the passage of time.

[0106] For example, Figure 16 As shown in the flowchart, the time elapsed from the moment the end of the acceleration operation is detected (step 1101: Yes) is measured (step 1102). Furthermore, if the elapsed time exceeds a predetermined time set as the current stabilization period R (step 1103: Yes), the execution of the pinch detection determination during the acceleration operation is terminated (step 1104).

[0107] In the above embodiment, it is determined that an acceleration operation has been inputted when the operating speed V of the sliding door 4 exceeds the speed increase threshold value V0 set based on the target speed Vt.

[0108] However, it is not limited thereto and may also be configured as follows: Figure 17 As shown in the flowchart, when the motion speed V exceeds the speed increase threshold V0 (V>V0, step 1202: Yes) and the current value I of the motor 20 is lower than the current decrease threshold Ithd (I<Ithd, step 1203: Yes), it is determined that an acceleration operation input has occurred (step 1204). This allows the occurrence of the acceleration operation input by the user to be detected with higher accuracy.

[0109] Next, technical ideas that can be grasped from the above-mentioned embodiment and modified examples will be described.

[0110] (1) A vehicle opening and closing body control device, wherein the acceleration operation detection unit detects the acceleration operation input when the movement speed of the opening and closing body exceeds the speed increase threshold and the current value is lower than the current decrease threshold. Thus, the occurrence of the acceleration operation input by the user can be detected with high accuracy.

[0111] (2) The pinch detection and determination unit during the acceleration operation uses the current value at the moment when the target speed is increased as the initial value of the minimum current value, and when the detected current value is lower than the maintained minimum current value, updates the minimum current value with the detected current value. Thus, the end of the user's acceleration operation can be detected with high accuracy.

Claims

1. A vehicle opening and closing body control device, comprising: a drive control unit that operates an opening and closing body of the vehicle using the motor as a drive source; and a pinching detection unit that performs pinching detection and determination of the opening and closing body based on a current value of the motor, The drive control unit includes: a speed control unit configured to control the movement speed of the opening and closing body by supplying driving power to the motor; an acceleration operation detection unit that detects input of an acceleration operation for accelerating the opening and closing body under drive control; as well as a target speed changing unit that increases a target speed for controlling the movement speed of the opening and closing body when input of the acceleration operation is detected; The pinch detection unit includes: a determination condition changing unit configured to change a determination condition for the pinching detection determination when the target speed is increased so as to make it difficult to determine that pinching of the opening and closing body has occurred; as well as an accelerator operation pinching detection and determination unit that performs the pinching detection and determination based on the changed determination condition, The pinch detection and determination unit during the acceleration operation maintains the lowest current value detected after the acceleration operation is input, and determines that the acceleration operation has ended when the current value exceeding the current increase threshold set based on the lowest current value is detected, and ends the execution of the pinch detection and determination during the acceleration operation based on the changed determination condition after a current stabilization period set based on the moment when the acceleration operation is determined to have ended has passed.

2. The vehicle opening and closing body control device according to claim 1, wherein: The pinch detection and determination unit during the acceleration operation maintains the current value at the start of the acceleration operation at the moment when the current value decreases due to the start of the input of the acceleration operation, and determines that the acceleration operation has ended when the current value is detected to exceed the current increase threshold and the current value at the start of the acceleration operation.

3. The vehicle opening and closing body control device according to claim 1 or 2, wherein: The pinching detection and determination unit during the accelerator operation determines that the accelerator operation has ended when the current value exceeding the current increase threshold value is continuously detected.

4. The vehicle opening and closing body control device according to claim 1, wherein: The clamping detection unit determines that clamping of the opening and closing body has occurred when the current value exceeds a threshold value, and when the target speed is increased, the determination condition changing unit sets a value larger than the threshold value when the target speed is not increased as the threshold value of the current value.

5. The vehicle opening and closing body control device according to claim 2, wherein: The clamping detection unit determines that clamping of the opening and closing body has occurred when the current value exceeds a threshold value, and when the target speed is increased, the determination condition changing unit sets a value larger than the threshold value when the target speed is not increased as the threshold value of the current value.

6. The vehicle opening and closing body control device according to claim 3, wherein: The clamping detection unit determines that clamping of the opening and closing body has occurred when the current value exceeds a threshold value, and when the target speed is increased, the determination condition changing unit sets a value larger than the threshold value when the target speed is not increased as the threshold value of the current value.

7. The vehicle opening and closing body control device according to claim 1, wherein: The clamping detection unit determines that clamping of the opening and closing body has occurred when the differential value of the current value exceeds a threshold value, and when the target speed is increased, the determination condition changing unit sets a value larger than the threshold value when the target speed is not increased as the threshold value of the differential value.

8. The vehicle opening and closing body control device according to claim 2, wherein: The clamping detection unit determines that clamping of the opening and closing body has occurred when the differential value of the current value exceeds a threshold value, and when the target speed is increased, the determination condition changing unit sets a value larger than the threshold value when the target speed is not increased as the threshold value of the differential value.

9. The vehicle opening and closing body control device according to claim 3, wherein: The clamping detection unit determines that clamping of the opening and closing body has occurred when the differential value of the current value exceeds a threshold value, and when the target speed is increased, the determination condition changing unit sets a value larger than the threshold value when the target speed is not increased as the threshold value of the differential value.

10. The vehicle opening and closing body control device according to claim 4, wherein: The clamping detection unit determines that clamping of the opening and closing body has occurred when the differential value of the current value exceeds a threshold value, and when the target speed is increased, the determination condition changing unit sets a value larger than the threshold value when the target speed is not increased as the threshold value of the differential value.

11. The vehicle opening and closing body control device according to claim 1, wherein: The acceleration operation detection unit detects input of the acceleration operation when the movement speed of the opening and closing body exceeds a speed increase threshold value that is set based on the target speed and is greater than the target speed.

12. The vehicle opening and closing body control device according to claim 2, wherein: The acceleration operation detection unit detects input of the acceleration operation when the movement speed of the opening and closing body exceeds a speed increase threshold value that is set based on the target speed and is greater than the target speed.

13. The vehicle opening and closing body control device according to claim 3, wherein: The acceleration operation detection unit detects input of the acceleration operation when the movement speed of the opening and closing body exceeds a speed increase threshold value that is set based on the target speed and is greater than the target speed.

14. The vehicle opening and closing body control device according to claim 4, wherein: The acceleration operation detection unit detects input of the acceleration operation when the movement speed of the opening and closing body exceeds a speed increase threshold value that is set based on the target speed and is greater than the target speed.

15. The vehicle opening and closing body control device according to claim 7, wherein: The acceleration operation detection unit detects input of the acceleration operation when the movement speed of the opening and closing body exceeds a speed increase threshold value that is set based on the target speed and is greater than the target speed.

16. The vehicle opening and closing body control device according to claim 1, wherein: The acceleration operation detection unit detects the input of the acceleration operation when the movement speed of the opening and closing body exceeds a speed increase threshold value set based on the target speed and greater than the target speed, and the current value is lower than a current decrease threshold value.

17. The vehicle opening and closing body control device according to claim 1, wherein: The pinching detection and determination unit during acceleration operation uses the current value at the time when the target speed is increased as an initial value of the minimum current value, and updates the minimum current value with the detected current value when the detected current value is lower than the maintained minimum current value.

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