Mobile control device

Abstract

This invention relates to a moving body control device. The moving body control device includes a clamping detection unit. The clamping detection unit is configured to: calculate a first difference between physical quantities at the start and end of a first time period; calculate a plurality of second differences for each of the second time periods obtained by dividing the first time period, each of the plurality of second differences being the difference between physical quantities at the start and end of the corresponding second time period; and determine that clamping of an object has occurred if the ratio of the second difference (which is equal to or greater than a first threshold and equal to or greater than a second threshold) to the plurality of second differences is equal to or greater than a third threshold.

Description

Technical Field

[0001] One or more embodiments of the present invention relate to a means for controlling a moving body, such as an electric seat equipped in a vehicle, and more particularly to a moving body control means having the function of detecting the clamping of foreign objects. Background Technology

[0002] Vehicles such as autonomous four-wheeled vehicles are equipped with electrically operated seats that move forward and backward by rotating an electric motor. In related technologies, adjusting the fore-and-aft position of such electrically operated seats involves manually operating a control unit located near the seat and moving the seat forward or backward. However, in recent years, vehicles have emerged that pre-register seat positions according to user preferences, recognize the user upon boarding, and automatically move the seat to the position corresponding to that user.

[0003] In vehicles equipped with the automatic seat position adjustment function described above, if the front seat automatically moves backward while a person or object is positioned between the front and rear seats, the person or object may be trapped between the two seats, threatening safety. The same situation can occur with manual or power seats. Therefore, the seat control device must have the function of quickly detecting a clamping situation, stopping or reversing the motor, and eliminating the clamping state if it occurs.

[0004] When clamping occurs, the motor current increases with the load applied to the motor. Therefore, by calculating the change (difference) in the motor current over a predetermined time period and comparing this difference to a threshold, it can be determined whether clamping has occurred. However, since flexible cushioning materials are typically used in seats, there is a time lag between the occurrence of clamping and its detection. This will refer to... Figure 9 Describe it.

[0005] Figure 9 This illustrates a situation where a person's leg F is trapped between the front seat S1 and the rear seat S2. This trapping occurs, for example, when seat S1 moves backward and seat S2 moves forward simultaneously. When the front seat S1 moves backward a distance d1 from its initial position (represented by a dashed line) to its current position (represented by a solid line), leg F is trapped between seat S1 and seat S2. Besides a person's leg, other objects such as a person's body, luggage, or animals can also be trapped.

[0006] However, because seat S1 is flexible, therefore... Figure 9At the solid line position, the motor load is insufficient, and clamping is not detected. Subsequently, a depression forms in the seat S1 at the clamping portion indicated by K, and the seat S1 moves further back a distance d2 and stops at the position indicated by the dashed line. At this position, the motor load increases, the difference in motor current becomes equal to or greater than a threshold, and clamping is detected.

[0007] Although the case of a flexible seat has been described here, the same situation as described above can occur even if the seat is rigid, when a soft object is clamped.

[0008] JP-A-2007-131138 discloses a seat control device capable of appropriately detecting clamping when an object is held in place by a soft part of the seat. Furthermore, JP-A-2010-119210, JP-A-H08-149871, JP-A-H08-004416, JP-A-2001-248358, and JP-A-H07-158338 disclose an electric window device capable of accurately detecting the clamping of a soft object in a vehicle window. Summary of the Invention

[0009] exist Figure 9 As mentioned above, clamping cannot be detected at the solid line position where the seat S1 has moved a distance d1, but it can be detected at the dashed line position where the seat S1 has moved a distance d1+d2. Therefore, to accurately detect clamping, a long time period is needed to calculate the difference in motor current. However, while a longer calculation period makes it easier to detect clamping, it also increases the possibility of erroneous detection due to interference.

[0010] One or more embodiments of the present invention provide a moving body control device that can reliably detect clamping and suppress false detections caused by interference, even if the moving body or object is flexible.

[0011] A mobile body control device according to one or more embodiments of the present invention controls a mobile body that moves by the rotation of an electric motor. The mobile body control device includes: a clamping detection unit that detects clamping of an object caused by the movement of the mobile body based on changes in a physical quantity representing the rotational state of the electric motor; and a control unit that controls the operation of the electric motor based on the detection result of the clamping detection unit. The clamping detection unit is configured to: calculate a first difference between a physical quantity at the beginning of a first time period and a physical quantity at the end of the first time period; and calculate a plurality of second differences for a plurality of second time periods, the plurality of second time periods being obtained by dividing the first time period, each difference for the plurality of second time periods being the difference between a physical quantity at the beginning of the second time period and a physical quantity at the end of the corresponding second time period. The clamping detection unit determines that clamping of an object has occurred when the ratio of the first difference to the second difference (which is equal to or greater than a first threshold and equal to or greater than a second threshold) and the plurality of second differences is equal to or greater than a third threshold.

[0012] In this way, clamping of an object is detected when a first condition is met (a first difference in the first time period equal to or greater than a first threshold) and a second condition is met (a second difference in the second time period equal to or greater than a second threshold) and a third condition is met (a third threshold). The ratio of the second difference in the second time period equal to or greater than the second threshold represents the trend of the motor current change in the first time period, and this ratio differs between situations where interference is applied and situations where clamping has occurred. Therefore, in the case of interference, even if the first condition is met, the second condition is not. Thus, even when the motor current fluctuates significantly due to interference, erroneous determination that clamping has occurred can be avoided. As a result, even if the time period used to calculate the difference in motor current is set to be relatively long to ensure detection of clamping of the flexible seat, interference and clamping are clearly distinguished, and erroneous detection of clamping can be suppressed.

[0013] In one or more embodiments of the invention, for example, the motor current flowing through the motor can be used as a physical quantity representing the rotational state of the motor. Alternatively, instead of the motor current, the rotational speed of the motor can be used as the physical quantity.

[0014] In one or more embodiments of the present invention, the clamping detection unit can calculate a trend score SC representing the trend of change of a physical quantity in a first time period by using SC=N / M, wherein the first difference is ΔI, the second difference is ΔIs(m), the first threshold is α, the second threshold is β, the third threshold is γ, and the number of ΔIs(m) equal to or greater than β among the M ΔIs(m) in the first time period is N, and the clamping detection unit can determine that clamping of the object has occurred if the conditions ΔI≥α and SC≥γ are met.

[0015] In one or more embodiments of the present invention, the clamping detection unit can determine that the object has been clamped when the relationship between M and N is M=N and the conditions ΔI≥α and SC=1 are satisfied.

[0016] The movable body in one or more embodiments of the present invention may be a vehicle seat or a vehicle window.

[0017] Furthermore, the clamping detection unit of one or more embodiments of the present invention can calculate the difference between a physical quantity at the beginning of a predetermined time period and a physical quantity at the end of the predetermined time period, and determine that clamping of an object has occurred if the difference is equal to or greater than a predetermined threshold and the change of the physical quantity during the predetermined time period is monotonically increasing or monotonically decreasing.

[0018] According to one or more embodiments of the present invention, a movement control device can be provided that can reliably detect clamping and suppress erroneous detections caused by interference, even if the movement or object is flexible. Attached Figure Description

[0019] Figure 1 This is a block diagram of an electric seat system including a seat control device according to a first embodiment of the present invention;

[0020] Figure 2A and Figure 2B This is a schematic diagram illustrating the basic principles of embodiments of the present invention;

[0021] Figure 3A and Figure 3B It is a graph used to illustrate current difference, trend difference, trend score and their thresholds;

[0022] Figure 4 It is a graph used to illustrate the calculation methods for current difference and trend difference;

[0023] Figure 5 It is a graph illustrating the changes in various trend differences;

[0024] Figure 6It is a graph illustrating the changes in motor current, current difference, and trend fraction under the presence of disturbance;

[0025] Figure 7 It is a graph illustrating the changes in motor current, current difference, and trend fraction under normal conditions;

[0026] Figure 8 It is a block diagram of an electric seat system including a seat control device according to a second embodiment of the present invention; and

[0027] Figure 9 This is an illustration of a state where the object is held between two flexible seats. Detailed Implementation

[0028] In embodiments of the invention, numerous specific details have been set forth in order to provide a thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without these specific details. In other instances, well-known features have not been described in detail to avoid obscuring the invention.

[0029] In the following description, embodiments of the invention will be illustrated with reference to the accompanying drawings. In the drawings, the same reference numerals denote the same or corresponding parts. An example, using a vehicle seat as a moving body, and the application of the invention to a seat control device will be described below.

[0030] Figure 1 An example of a seat control device 50 and an electric seat system 100 using the seat control device according to a first embodiment of the present invention is illustrated. The electric seat system 100 is equipped in a vehicle such as an autonomous four-wheeled vehicle and includes a seat control device 50, an operating unit 5, a motor current detection unit 6, a motor speed detection unit 7, a motor 8, a sliding mechanism 9, and a seat 20. The seat 20 is an electric seat driven by the motor 8 and the sliding mechanism 9.

[0031] The operation unit 5 consists of switches and the like for manually operating the seat 20. The motor current detection unit 6 detects the motor current flowing through the motor 8. The motor speed detection unit 7 detects the rotational speed of the motor 8. The motor 8 is a motor used to move the seat 20 along the X direction (forward and backward direction). The sliding mechanism 9 is connected to the motor 8 and the seat 20, converting the rotational motion of the motor 8 into linear motion and moving the seat 20 a predetermined distance along the X direction.

[0032] The seat control device 50 includes a control unit 1, a motor drive unit 2, and a threshold storage unit 3. The control unit 1 is composed of a CPU, etc., and controls the overall operation of the seat control device 50.

[0033] The control unit 1 is equipped with a clamping detection unit 4. The function of this clamping detection unit 4 is actually implemented in software. The method for detecting clamping will be described in detail later. The motor drive unit 2 consists of circuitry that generates drive signals (e.g., PWM signals) to rotate the motor 8. The threshold storage unit 3 stores thresholds α, β, and γ used by the clamping detection unit 4 to determine whether clamping exists between the seats. These thresholds will be described in detail later.

[0034] Next, we will refer to Figure 2A and Figure 2B This describes the basic principle of clamping detection according to an embodiment of the present invention. Figure 2A Examples of changes in motor current and current difference when clamping occurs are given, and Figure 2B Examples of changes in motor current and current difference under conditions of disturbance are illustrated. The horizontal axis of each figure represents the count value of pulses output from the rotation sensor (not shown) attached to motor 8, and corresponds to the distance traveled by seat 20 (as described later). Figure 3A and Figures 3B to 7 (Same). Although the motor current and current difference are actually as follows: Figure 3A and Figure 3B The fluctuations shown are subtle, but in Figure 2A and Figure 2B They are illustrated in a simplified manner.

[0035] exist Figure 2A In this diagram, time period T is the unit segment used for clamping determination, and the presence of clamping is determined based on the change in motor current within time period T. This time period T gradually moves to the right in the diagram, and each time it is determined whether clamping exists within time period T. Time period T corresponds to the "first time period" in this invention.

[0036] Now, suppose that clamping occurs at the beginning time point n' of time period T, the load on motor 8 begins to increase from this time point, and the motor current increases accordingly. Furthermore, as the rate of increase of the motor current increases over time, the current difference, representing the change of the motor current at regular intervals, also increases. Therefore, the current difference ΔIa at the end time point n of time period T is equal to or greater than the current difference threshold α, which is the first condition used to determine clamping. However, only under this first condition, in situations such as... Figure 2B As shown, if interference occurs during time period T, and the current difference ΔIb at time point n is equal to or greater than the current difference threshold α, then even if interference occurs, clamping will be incorrectly determined to have occurred.

[0037] Therefore, in this invention, as Figure 2A As shown, under clamping conditions, the current difference monotonically increases during time period T, while... Figure 2B As shown, under disturbance conditions, the current difference does not monotonically increase (fluctuates) during time period T. Therefore, focusing on the fact that the current difference monotonically increases during time period T, this monotonically increasing current difference is used as the second condition for determining clamping. Then, if both the first and second conditions are satisfied, clamping is determined to have occurred.

[0038] Therefore, in Figure 2B In the case of the interference shown, since the first condition is met but the second condition is not, it is uncertain whether it is clamping, and erroneous determination can be avoided. Furthermore, in this invention, the detection accuracy of clamping is improved by using the following unique method to determine whether the change of the current difference during the time period T is monotonically increasing.

[0039] Next, we will refer to Figure 3A and Figures 3B to 5 The present invention will now describe a specific method for clamping detection.

[0040] Figure 3A and Figure 3B It is a graph used to illustrate the parameters used to determine the clamping action. Figure 3A In the context, the motor current I, current difference ΔI, current difference threshold α, and time period T are related to... Figure 2A and Figure 2B The same as described in the previous section. The current difference threshold α corresponds to the "first threshold" in this invention. In addition to these, new parameters such as trend difference ΔIs(m), trend difference threshold β, trend fraction SC, and trend fraction threshold γ are used in this invention.

[0041] The trend difference ΔIs(m) is calculated as multiple time periods obtained by dividing the time period T (in Figure 3A The example only illustrates the difference in motor current I between the start and end times of each time period W within a single time period W. (Refer to...) Figure 4 Describe the details.

[0042] exist Figure 4 In this process, time period T is divided into seven segments, and within each segment, multiple (here, six) segments W1 to W6 are set. These segments W1 to W6 correspond to the "second time period" in this invention. The width of each segment W1 to W6 is the same, which is twice the segment width Z (W1 to W6 = 2Z). Furthermore, each segment in W1 to W6 is set to be shifted by Z. The trend difference ΔIs(m) is the general term of the six trend differences ΔIs(1) to ΔIs(6) calculated for each segment, and is calculated by the following equation.

[0043] ΔIs(m) = I(n - [m - 1] x Z) - I(n - [m - 1] x Z - W) ... (1)

[0044] The trend difference ΔIs(1) is the trend difference in time period W1, and is calculated as the difference between the motor current (current at point c) at the start time point (n-2Z) of time period W1 and the motor current (current at point a = I(n)) at the end time point (n) of time period W1. That is, in the above equation (1), when m=1 and W=W1, the trend difference ΔIs(1) is expressed by the following equation.

[0045] ΔIs(1) = I(n) - I(n - W1)

[0046] The trend difference ΔIs(2) is the trend difference in time period W2, and is calculated as the difference between the motor current (current at point d) at the beginning time point (n-3Z) of time period W2 and the motor current (current at point b) at the end time point (nZ) of time period W2. That is, in the above equation (1), when m=2 and W=W2, the trend difference ΔIs(2) is expressed by the following equation.

[0047] ΔIs(2) = I(n - Z) - I(n - Z - W2)

[0048] The trend difference ΔIs(3) is the trend difference in time period W3, and is calculated as the difference between the motor current (current at point e) at the start time point (n-4Z) of time period W3 and the motor current (current at point c) at the end time point (n-2Z) of time period W3. That is, in the above equation (1), when m=3 and W=W3, the trend difference ΔIs(3) is expressed by the following equation.

[0049] ΔIs(3) = I(n - 2Z) - I(n - 2Z - W3)

[0050] The trend difference ΔIs(4) is the trend difference in time period W4, and is calculated as the difference between the motor current (current at point f) at the start time point (n-5Z) of time period W4 and the motor current (current at point d) at the end time point (n-3Z) of time period W4. That is, in the above equation (1), when m=4 and W=W4, the trend difference ΔIs(4) is expressed by the following equation.

[0051] ΔIs(4) = I(n - 3Z) - I(n - 3Z - W4)

[0052] The trend difference ΔIs(5) is the trend difference in time period W5, and is calculated as the difference between the motor current (current at point g) at the beginning time point (n-6Z) of time period W5 and the motor current (current at point e) at the end time point (n-4Z) of time period W5. That is, in the above equation (1), when m=5 and W=W5, the trend difference ΔIs(5) is expressed by the following equation.

[0053] ΔIs(5) = I(n - 4Z) - I(n - 4Z - W5)

[0054] The trend difference ΔIs(6) is the trend difference in time period W6, and is calculated as the difference between the motor current at the start time point (n') of time period W6 (current at point h = I(n')) and the motor current at the end time point (n-5Z) of time period W6 (current at point f). That is, in the above equation (1), when m=6 and W=W6, the trend difference ΔIs(6) is expressed by the following equation.

[0055] ΔIs(6) = I(n - 5Z) - I(n - 5Z - W6)

[0056] As mentioned above, when calculating the six trend differences ΔIs(1) to ΔIs(6) in time period T, in Figure 4 The time period T is shifted to the right by a predetermined amount, and in the new time period T after the shift, the six trend differences ΔIs(1) to ΔIs(6) are calculated in the same manner as above. Figure 3B The variation of the trend difference ΔIs(m) calculated sequentially in this manner is illustrated. The trend difference threshold β is a threshold set for this trend difference ΔIs(m), and corresponds to the "second threshold" in this invention. Figure 3B The trend difference is respectively in Figure 5 The terms V(a) to V(f) are shown as independent trend differences ΔIs(1) to ΔIs(6). Figure 5 In the middle, the scales on the vertical and horizontal axes are different. Figure 3B The scale in the middle.

[0057] By comparing each of the trend differences ΔIs(1) to ΔIs(6) with the trend difference threshold β, the changing trend of the motor current I in time period T can be determined. For example, as Figure 5 As shown, if all the trend differences ΔIs(1) to ΔIs(6) at time point n are equal to or greater than the threshold β, it indicates that the motor current I increases monotonically during time period T (ignoring small fluctuations in the current). On the other hand, for example, if the number of differences ΔIs(1) to ΔIs(6) that are equal to or greater than the threshold β is 3, and the number of differences that are less than the threshold β is 3, it indicates that the motor current I fluctuates during time period T.

[0058] Therefore, in this invention, the trend score SC, calculated for each time period T, is used as a parameter representing the changing trend of the motor current I in time period T, based on the trend difference ΔIs(m). Among the M trend differences ΔIs(m) in time period T, when the number of ΔIs(m) equal to or greater than the threshold β is N, the trend score SC is calculated using the following equation.

[0059] SC = N / M ... (2)

[0060] Figure 3A The trend score threshold γ is a threshold set for the trend score SC, and corresponds to the "third threshold" in this invention.

[0061] When all the trend differences ΔIs(1) to ΔIs(6) are equal to or greater than the threshold β, in equation (2) above, M=6 and N=6, such that the trend score SC is SC=1. On the other hand, when there are 3 trend differences equal to or greater than the threshold β, in equation (2) above, M=6 and N=3, such that the trend score SC is SC=0.5. Furthermore, when there are no trend differences equal to or greater than the threshold β, in equation (2) M=6 and N=0, such that the trend score SC is SC=0.

[0062] As mentioned above, the trend score SC falls within the range of 1 ≥ SC ≥ 0, and the closer SC is to 1, the stronger the monotonically increasing trend of the current difference ΔI in the motor current. Therefore, the trend score SC is compared with the trend score threshold γ, and if SC ≥ γ, then... Figure 2A As shown, the current difference monotonically increases during time period T, and can be considered to satisfy the second condition for clamping as described above. Figure 3A In the example, at time point n, since the current difference ΔI is equal to or greater than the threshold α (ΔI≥α) and the trend score SC is equal to or greater than the trend score threshold γ (SC≥γ), it is determined that both the first and second conditions are met, and clamping occurs.

[0063] If clamping is detected, the control unit 1 eliminates the clamping state by stopping or reversing the motor 8 through the motor drive unit 2.

[0064] Figure 6 Examples illustrating the changes in motor current I, current difference ΔI, and trend fraction SC in the presence of disturbance are given. For instance, a disturbance occurs when a passenger sitting in a seat shakes their body, resulting in an increased load on the motor due to the seat. Figure 6In the above scenario, the current difference ΔI exceeds the threshold α due to disturbance, but because the change in current difference ΔI is not monotonically increasing, the trend fraction SC does not exceed the threshold γ. Therefore, although the first condition is met, the second condition is not met, and thus clamping will not be incorrectly determined even if the motor load increases.

[0065] Figure 7 An example is given illustrating the changes in motor current I, current difference ΔI, and trend fraction SC under normal conditions without clamping or interference. In this case, since the fluctuation of motor current I is small, the current difference ΔI does not exceed the threshold α. Furthermore, since motor current I does not monotonically increase over a long period, the trend fraction SC also does not exceed the threshold γ. Therefore, since neither the first nor the second condition is met, clamping is not detected.

[0066] According to the first embodiment described above, clamping is determined to have occurred when the current difference ΔI is equal to or greater than the current difference threshold α (first condition) and the trend score SC is equal to or greater than the trend score threshold γ (second condition). The trend score SC represents the trend of change of the motor current I in the time period T, and the value of the trend score SC differs between the case of applied interference and the case of clamping. Therefore, in the case of interference, even if the first condition is met, the second condition is not met, and thus even if the motor current I fluctuates significantly due to interference, erroneous determination that clamping has occurred can be avoided. As a result, even if the time period T used to calculate the difference ΔI of the motor current I is set to be relatively long in order to ensure that clamping of the flexible seat 20 is detected, interference and clamping are clearly distinguished, and erroneous detection of clamping can be suppressed.

[0067] Figure 8 An example is shown of a seat control device 60 according to a second embodiment of the present invention and an example of an electric seat system 200 using the seat control device. Figure 8 The system includes two clamping detection units 4a and 4b, two motor current detection units 6a and 6b, two motor speed detection units 7a and 7b, two motors 8a and 8b, and a tilting mechanism 10. Due to other configurations and... Figure 1 Those configurations are the same, therefore, the ones with... will be omitted. Figure 1 Explanation of repeated parts.

[0068] exist Figure 8 In the electric seat 20, the seat portion 20a moves along the X direction via the first motor 8a and the sliding mechanism 9, and the backrest 20b of the seat 20 tilts in the Y direction via the second motor 8b and the tilting mechanism 10.

[0069] The first motor drive unit 2a and the second motor drive unit 2b drive the first motor 8a and the second motor 8b, respectively. The first motor current detection unit 6a and the second motor current detection unit 6b detect the motor current flowing through the first motor 8a and the second motor 8b, respectively. The first motor speed detection unit 7a and the second motor speed detection unit 7b detect the rotational speeds of the first motor 8a and the second motor 8b, respectively. The first clamping detection unit 4a detects the clamping of an object when the seat 20 moves in the X direction based on the current detected by the first motor current detection unit 6a. The second clamping detection unit 4b detects the clamping of an object when the backrest 20b is tilted in the Y direction based on the current detected by the second motor current detection unit 6b.

[0070] Furthermore, in this second embodiment, based on the same principle as the first embodiment, the first clamping detection unit 4a detects clamping of the object caused by the movement of the seat 20, and the second clamping detection unit 4b detects clamping of the object caused by the tilting of the backrest 20b. Moreover, if either the clamping detection units 4a or 4b detects clamping, the first motor 8a or the second motor 8b is stopped or reversed by the motor drive units 2a and 2b, thereby controlling unit 1 to eliminate the clamping state.

[0071] In the second embodiment, the thresholds α, β and γ stored in the threshold storage unit 3 can be set separately for the first clamping detection unit 4a and the second clamping detection unit 4b, respectively.

[0072] In this invention, various embodiments other than those described above can be employed.

[0073] For example, in the above embodiment, an example of detecting clamping based on the motor current detected by the motor current detection units 6, 6a and 6b is given, but clamping can be detected based on the frequency of the ripple contained in the motor current.

[0074] Furthermore, the physical quantity used for clamping detection is not limited to current and frequency, but can be the motor speed detected by motor speed detection units 7, 7a, and 7b. In this case, when clamping occurs, the motor speed decreases, and the speed difference is represented by... Figure 2A The trend of monotonically decreasing during the time period T.

[0075] In addition, other mathematical methods can be used to replace the above equations (1) and (2) when determining whether the current or rotational speed increases or decreases monotonically during the time period T.

[0076] Furthermore, in the above embodiments, in Figure 1 and Figure 8The example given is that the motor drive units 2, 2a and 2b are disposed in the seat control devices 50 and 60, but these motor drive units 2, 2a and 2b can be disposed outside the seat control devices 50 and 60.

[0077] In addition, Figure 1 and Figure 8 In this configuration, motors 8, 8a, and 8b are located outside the seat control units 50 and 60, but these motors 8, 8a, and 8b can also be located within the seat control units 50 and 60.

[0078] Furthermore, while the above embodiments provide an example of a seat control device installed in a vehicle, the present invention can also be applied to electric window devices that open and close windows via an electric motor, and can also be applied to movement control devices used in fields other than vehicles.

[0079] While the invention has been described with respect to a limited number of embodiments, those skilled in the art who benefit from this disclosure will understand that other embodiments can be devised without departing from the scope of the invention disclosed herein. Therefore, the scope of the invention should be defined only by the appended claims.

[0080] Cross-references to related applications

[0081] This application is based on and claims priority to Japanese Patent Application No. 2021-040522, filed on March 12, 2021, the entire contents of which are incorporated herein by reference.

Claims

1. A moving body control device, the moving body control device controlling a moving body that moves by the rotation of an electric motor, the moving body control device comprising: A clamping detection unit detects the clamping of an object caused by the movement of the moving body based on changes in a physical quantity representing the rotational state of the motor. as well as A control unit controls the operation of the motor based on the detection results of the clamping detection unit. The clamping detection unit is configured as follows: The difference between the physical quantity at the beginning of the first time period and the physical quantity at the end of the first time period is calculated as the first difference; The differences for multiple second time periods are calculated separately as multiple second differences. The multiple second time periods are obtained by dividing the first time period. Each difference among the multiple second time periods is the difference between the physical quantity at the beginning of the second time period and the physical quantity at the end of the corresponding second time period. as well as If the ratio of the first difference to the second difference (which is equal to or greater than the first threshold and equal to or greater than the second threshold) to the plurality of second differences is equal to or greater than the third threshold, it is determined that clamping of the object has occurred.

2. The moving body control device according to claim 1, wherein, The physical quantity is the motor current flowing through the motor.

3. The moving body control device according to claim 1, wherein, The physical quantity is the rotational speed of the electric motor.

4. The moving body control device according to any one of claims 1 to 3, wherein, The clamping detection unit is configured to: The trend score SC, which represents the trend of change of the physical quantity in the first time period, is calculated using the following equation: SC=N / M, Wherein, the first difference is ΔI, the second difference is ΔIs(m), the first threshold is α, the second threshold is β, the third threshold is γ, and the number of ΔIs(m) equal to or greater than β among the M ΔIs(m) in the first time period is N; and The clamping of the object is determined to have occurred if the conditions ΔI≥α and SC≥γ are met.

5. The moving body control device according to claim 4, wherein, The clamping detection unit determines that the clamping of the object has occurred when the relationship between M and N is M=N and the conditions ΔI≥α and SC=1 are satisfied.

6. The moving body control device according to any one of claims 1 to 3, wherein, The moving body is the vehicle's seat.

7. The moving body control device according to any one of claims 1 to 3, wherein, The moving object is the car window.

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