Vehicle opening / closing body control device

Abstract

To provide an opening / closing body control device for a vehicle capable of improving convenience while ensuring safety by increasing a holding force when the opening / closing body is in the open state, and when a user intends to manually close the opening / closing body, by automatically reducing the holding force.SOLUTION: In an opening / closing body control device for vehicle 100, a control unit 17 is configured so as to, when a position detection unit 42 detects and determines that an opening / closing body 3 has stopped at a position where the opening / closing body is in the open state, control an electric motor 6 of a drive unit 5 to stop the opening / closing body with a first braking force (first brake control). When determining that the opening / closing speed detected by the speed detector 43 during the first brake control the state that a second predetermined speed less than or equal to the first predetermined speed has continued for the first predetermined time after the first predetermined speed is exceeded, the control unit 17 controls the electric motor 6 with a second braking force smaller than the first braking force.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a control device for an opening / closing member for a vehicle. [Background technology]

[0002] Patent Document 1 discloses a vehicle opening / closing body control device that electrically drives a back door as an opening / closing body that opens and closes an opening of a vehicle. In this vehicle opening / closing body control device, the user can set the holding force so that even if clothes or the like are hung on the back door when it is open, the holding force is increased so that the clothes do not move in the closing direction, and the holding force is decreased when the back door is closed.

[0003] However, in the vehicle opening / closing body control device of Patent Document 1, after the holding force is set strong to hang clothes or the like, when closing the back door, the holding force must be reset to a weaker force, which is inconvenient. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2018-035584 Summary of the Invention [Problem to be solved by the invention]

[0005] The objective of the present invention is to provide a vehicle opening / closing body control device that can increase the holding force of an opening / closing body that opens and closes an opening in the vehicle body when the opening / closing body is in the open state, and automatically decrease the holding force without the user having to set it when the user manually closes the opening / closing body, thereby improving convenience while ensuring safety. [Means for solving the problem]

[0006] According to one aspect of the present invention, there is provided a vehicle body opening / closing device, the vehicle body opening / closing device including an electric motor as a power source, a drive unit that drives an opening / closing body that opens and closes an opening in a vehicle body, a position detection unit that detects an opening / closing position of the opening / closing body based on the number of rotations of the electric motor, a speed detection unit that detects the opening / closing speed of the opening / closing body based on the rotation speed of the electric motor, and a control unit that controls the electric motor of the drive unit so as to move the opening / closing body in an opening direction or a closing direction, the control unit controlling the electric motor of the drive unit to move the opening / closing body in the closed and when it is determined that the opening / closing body has stopped at a position where the opening / closing body is in an open state based on the opening / closing position detected by the position detection unit, a first brake control is executed to brake the electric motor with a first braking force, and the control unit is In the closing direction A vehicle opening / closing body control device is provided which, when it is determined that the opening / closing speed has remained greater than a second predetermined speed, which is less than the first predetermined speed, for a first predetermined time, executes a second brake control to brake the electric motor with a second brake force smaller than the first brake force.

[0007] When the control unit determines that the opening / closing body has stopped at a position where it is in the open state, the control unit brakes the electric motor with a relatively strong first braking force. In other words, when the opening / closing body is in the open state, the holding force can be made strong, and safety can be ensured even if, for example, clothes are hung on the opening / closing body. In addition, when the opening / closing speed of the opening / closing body becomes equal to or greater than a first predetermined speed and continues to be greater than a second predetermined speed that is equal to or less than the first predetermined speed for a first predetermined time, the control unit determines that the user is attempting to manually close the opening / closing body, and brakes the electric motor with a relatively weak second braking force. In other words, when the user attempts to manually close the opening / closing body, the holding force can be automatically weakened without the user having to set it, improving convenience.

[0008] The control unit may execute the first brake control again when it determines, during the second brake control, that the opening / closing speed detected by the speed detection unit has become equal to or lower than a third predetermined speed that is lower than the second predetermined speed.

[0009] The control unit executes the first brake control again when the opening / closing speed of the opening / closing body during the second brake control becomes equal to or lower than a third predetermined speed that is lower than the second predetermined speed, for example, when the opening / closing body stops due to the user interrupting the manual operation of the opening / closing body and the opening / closing speed becomes zero. child This can prevent the door from moving when it is stopped.

[0010] When the control unit determines that the opening / closing speed detected by the speed detection unit becomes equal to or higher than a fourth predetermined speed that is higher than the first predetermined speed during the second brake control, the control unit drives the electric motor of the drive unit to move the opening / closing body to the closed It may be moved in a direction.

[0011] When the opening / closing speed of the opening / closing body during the second brake control becomes equal to or higher than a fourth predetermined speed that is higher than the first predetermined speed, that is, when the opening / closing speed (movement speed in the closing direction) of the opening / closing body becomes faster due to manual operation by the user, the control unit automatically moves the opening / closing body in the closing direction (auto-close operation). After the auto-close operation starts, the user does not need to manually operate the opening / closing body. In other words, when the user tries to close the opening / closing body by manual operation during the second brake control, there is no need to perform the manual operation to the end, which improves convenience.

[0012] The control unit may supply a pulse width modulated signal to the electric motor of the drive unit, and set the first braking force and the second braking force based on a duty ratio between a braking period in which both ends of the electric motor are short-circuited and a free period in which both ends of the electric motor are released.

[0013] The braking force can be easily changed simply by setting the duty ratio, so the first and second braking forces can be set to suit the weight of the opening and closing body, which varies depending on the vehicle model.

[0014] The control unit controls the data of the first brake force of the first brake control. かった You may set the ratio to 100%.

[0015] During the first brake control, that is, when the opening / closing body stops at a position where the force acting on the opening / closing body is large, the electric motor is braked with the first brake force with a duty ratio set to 100%, thereby reliably preventing the opening / closing body from moving in the closing direction and ensuring the safety of the user.

[0016] The control unit may, in the second brake control, gradually reduce the duty ratio so that the duty ratio becomes 0% within a second predetermined time from the start of the second brake control.

[0017] By gradually reducing the duty ratio in the second brake control to 0% over a second specified time period and gradually weakening the second brake force, the force required for the user to manually move the opening / closing body in the closing direction can be reduced, thereby improving convenience.

[0018] The control unit may calculate an average speed, which is the opening / closing speed of the opening / closing body during the first predetermined time, and set the second predetermined time in accordance with the average speed.

[0019] By setting the second specified time, i.e., the time for gradually reducing the second braking force, in accordance with the average speed, which is the average value of the opening and closing speed, the second braking force can be weakened to match the opening and closing speed of the opening and closing body due to manual operation by the user, allowing the user to manually operate the opening and closing body smoothly.

[0020] When it is determined that the duty ratio has become 0% during the second brake control, the control unit may drive the electric motor of the drive unit to move the opening / closing body in the closing direction.

[0021] When the duty ratio becomes 0% during the second brake control, that is, when the second brake force becomes zero, the control unit automatically moves the opening / closing body in the closing direction (auto-close operation). After the auto-close operation starts, the user does not need to manually operate the opening / closing body. In other words, once a certain amount of time has passed since the second brake control started, the user does not need to manually close the opening / closing body to the end, which improves convenience.

[0022] The control unit may set the second brake force in the second brake control to a constant value. Effect of the Invention

[0023] According to the vehicle opening / closing body control device of the present invention, the holding force is strengthened when the opening / closing body is in the open state, and when the user manually closes the opening / closing body, the holding force is automatically weakened without the user having to set it, thereby improving convenience while ensuring safety. [Brief description of the drawings]

[0024] [Figure 1] 1 is a perspective view showing a rear part of a vehicle equipped with a vehicle opening / closing body control device according to an embodiment of the present invention; [Diagram 2] 1 is a block diagram of a vehicle opening / closing member control device according to an embodiment of the present invention; [Diagram 3] FIG. [Figure 4A] Schematic diagram of the H-bridge circuit of an electric motor (standby mode). [Figure 4B] Circuit diagram of an H-bridge circuit for an electric motor (forward rotation mode). [Figure 5A] Circuit diagram of the H-bridge circuit of an electric motor (reverse rotation mode). [Figure 5B] Circuit diagram of the H-bridge circuit of an electric motor (braking mode). [Figure 6] 4 is a flowchart for explaining control of a back door by the control device for a vehicle opening / closing body according to the embodiment of the present invention. [Figure 7A] 4 is a flowchart illustrating a braking force reduction control. [Figure 7B] 4 is a flowchart illustrating a braking force reduction control. [Figure 8] 4 is a time chart showing an example of control of a back door by the vehicle opening / closing body control device according to the embodiment of the present invention. [Figure 9]5 is a time chart showing another example of the control of the back door by the vehicle opening / closing body control device according to the embodiment of the present invention. [Figure 10A] 10 is a flowchart for illustrating braking force reduction control performed by a vehicle opening / closing body control device according to a modified example. [Figure 10B] 10 is a flowchart for illustrating braking force reduction control performed by a vehicle opening / closing body control device according to a modified example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0025] Next, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0026] Fig. 1 shows a rear part of a vehicle body 1 of a vehicle (a passenger car in this embodiment) equipped with a vehicle opening / closing body control device 100 according to an embodiment of the present invention. Fig. 2 is a block diagram of the vehicle opening / closing body control device 100.

[0027] An opening 2 is formed at the rear of the vehicle body 1. The opening 2 is opened and closed by a back door 3 (opening / closing body) which is an opening / closing body. The back door 3 is provided so as to be rotatable about a rotation axis at the upper part (not shown) between a fully open position where the opening 2 is fully opened and a fully closed position where the opening 2 is fully closed. The back door 3 is rotated in a direction toward the fully open position (opening direction) or in a direction toward the fully closed position (closing direction) by the drive of a spindle drive mechanism 5 (driving unit).

[0028] The spindle drive mechanism 5 is composed of a first spindle drive mechanism 5A and a second spindle drive mechanism 5B provided on either side of the back door 3. Each of the spindle drive mechanisms 5A, 5B is connected between the vehicle body 1 and the back door 3.

[0029] Here, the spindle drive mechanism 5 will be briefly described with reference to FIG. 3. The spindle drive mechanism 5 is composed of a first housing 7 in which an electric motor 6 as a power source is housed, and a second housing 8 in which a spindle 10 and the like are housed. One end of the first housing 7 is provided with a door-side connecting portion 7a to which a joint ball 3a provided on the back door 3 is rotatably connected. The rotating shaft 6a of the electric motor 6 is connected to a spindle 10 in the second housing 8 via a reduction gear mechanism 9. A spindle nut 11 is screwed onto the spindle 10, and the rear end of a cylindrical push rod 12 is fixed to the outer periphery of the front part of the spindle nut 11. The end of a cylindrical inner cylinder 14 arranged coaxially with a radial gap is fixed to the tip of the push rod 12. The second housing 8 is provided with a guide cylinder portion 15a that guides the push rod 12 so that it can move forward and backward, and an outer cylinder 15 that guides the inner cylinder 14 so that it can move forward and backward. A compression coil spring 13 is disposed on the outer periphery of the guide tube portion 15a, and an inner tube 14 and an outer tube 15 are disposed in that order on the outer periphery of the compression coil spring 13. In the longitudinal direction, the compression coil spring 13 is disposed between the rear end portion of the second housing 8 and the tip portion of the inner tube 14. A vehicle body side connecting portion 12a is provided at the tip of the push rod 12, which is rotatably connected to a joint ball 1a provided on the vehicle body.

[0030] In the spindle drive mechanism 5, when the electric motor 6 is driven in a forward direction to rotate the spindle 10 and move the spindle nut 11 forward, the inner cylinder 14 protrudes forward from the outer cylinder 15 via the push rod 12. This causes the back door 3 to rotate in the opening direction. Conversely, when the electric motor 6 is driven in a reverse direction to move the spindle nut 11 backward, the inner cylinder 14 retreats into the outer cylinder 15. This causes the back door 3 to rotate in the closing direction.

[0031] On the other hand, when the electric motor 6 is not driven and the back door 3 is displaced in the opening or closing direction by an external force, the inner cylinder 14, the push rod 12 and the spindle nut 11 move back and forth within the outer cylinder 15, and the spindle 10 rotates to rotate the rotating shaft 6a of the electric motor 6.

[0032] In other words, since the forward and backward movement of the spindle drive mechanism 5 and the rotation of the electric motor 6 are linked, the forward and backward movement of the spindle drive mechanism 5 can be braked by performing brake control that suppresses the rotational movement of the electric motor 6.

[0033] The rotation of the rotary shaft 6a of the electric motor 6 is detected by a rotation speed sensor 16 shown only in FIG.

[0034] An H-bridge circuit shown in Figures 4A to 5B is used to supply power to the electric motor 6. The H-bridge circuit includes an open-side high-side switch 18, a close-side low-side switch 19, a close-side high-side switch 20, and an open-side low-side switch 21. By setting these switches 18 to 21 to on or off, the state can be switched between a free state, a forward rotation state, a reverse rotation state, and a brake state.

[0035] As shown in FIG. 4A, in the free state, all the switches 18 to 121 of the H-bridge circuit are set to off.

[0036] 4B, in the forward rotation state, the open-side high-side switch 18 and the close-side low-side switch 19 are set to ON, and the close-side high-side switch 20 and the open-side low-side switch 21 are set to OFF. When power is supplied in this state, the electric motor 6 rotates forward, and the back door 3 rotates in the opening direction.

[0037] 5A, in the reverse rotation state, the open-side high-side switch 18 and the close-side low-side switch 19 are set to OFF, and the close-side high-side switch 20 and the open-side low-side switch 21 are set to ON. When power is supplied in this state, the electric motor 6 rotates in the reverse direction, and the back door 3 rotates in the closing direction.

[0038] 5B, in the braking state, the open-side high-side switch 18 and the close-side high-side switch 20 are set to off, and the open-side low-side switch 21 and the close-side low-side switch 19 are set to on. The braking state can also be achieved by setting the open-side low-side switch 21 and the close-side low-side switch 19 to off, and the open-side high-side switch 18 and the close-side high-side switch 20 to on. In the braking state, the electric motor 6 is short-circuited, so that when the rotating shaft 6a of the electric motor 6 is rotated by an external force, a short brake state is entered.

[0039] The control device 17 (control unit) includes an authentication processing unit 41, a position detection unit 42, a speed detection unit 43, and a motor control unit 44. The control device 17 can be constructed by hardware including storage devices such as a CPU (Central Processing Unit), a RAM (Random Access Memory), and a ROM (Read Only Memory), and by software implemented therein.

[0040] The authentication processing unit 41 communicates with the electronic key 33 via a receiver ECU (Electronic Control Unit) 32, and executes authentication processing.

[0041] The position detection unit 42 calculates the rotation speed of the spindle 10 from the rotation speed of the rotating shaft 6a of the electric motor 6 input from the rotation speed sensor 16, and detects the relative position of the inner cylinder 14 (push rod 12) with respect to the outer cylinder 15, that is, the position (open / closed position) of the back door 3 between the fully open position and the fully closed position.

[0042] The speed detection unit 43 calculates the rotational speed of the spindle 10 based on the rotational speed of the rotating shaft 6a of the electric motor 6 input from the rotation speed sensor 16, and detects the forward and backward movement speed of the inner tube 14 (push rod 12) relative to the outer tube 15, i.e., the speed of rotation of the back door 3 in the opening or closing direction.

[0043] The motor control unit 44 drives the electric motor 6 of the spindle drive mechanism 5 based on an input signal from the door open switch 24 (provided on the back door 3 in this embodiment as shown in FIG. 1) to execute an opening operation for rotating the back door 3 in the opening direction. At this time, the motor control unit 44 sets the H-bridge circuit to the forward rotation state shown in FIG. 4B.

[0044] Furthermore, the motor control unit 44 drives the electric motor 6 of the spindle drive mechanism 5 based on an input signal from the door close switch 23 (provided on the back door 3 in this embodiment as shown in FIG. 1) to execute a closing operation for rotating the back door 3 in the closing direction. At this time, the motor control unit 44 sets the H-bridge circuit to the reverse rotation state shown in FIG. 5A.

[0045] Furthermore, as will be described later, the motor control unit 44 executes brake control to brake the spindle drive mechanism 5 by shorting both ends of the electric motor 6, that is, by putting the electric motor 6 into the brake state shown in FIG. 5B.

[0046] By alternately repeating the brake state shown in Fig. 5B and the free state shown in Fig. 4A, the brake force applied to the spindle drive mechanism 5 can be adjusted by the duty ratio between the brake state period (brake period) and the free state period (free period). The higher the duty ratio of the brake period, the stronger the brake force that can be applied to the spindle drive mechanism 5. More specifically, when the duty ratio of the brake period is 100%, the brake force applied to the spindle drive mechanism 5 is maximum, and when the duty ratio of the brake period is 0%, the brake force applied to the spindle drive mechanism 5 is minimum.

[0047] Hereinafter, the control of the spindle drive mechanism 5 executed by the control device 17 will be described with reference to FIGS. 6 to 7B.

[0048] Referring to FIG. 6, in step S1, when the door open switch 24 is set to ON, the motor control unit 44 controls the spindle drive mechanism 5, more specifically, drives the electric motor 6 to rotate in the forward direction to move the back door 3 in the opening direction (auto-open operation).

[0049] Next, in step S2, when it is determined that the back door 3 has stopped at a position where the back door 3 is in a predetermined open state based on the opening / closing position detected by the position detection unit 42, the process of step S3 is executed. Here The "position resulting in a predetermined open state" may be the fully open position, but may also be a position in an open state that is close to but does not reach the fully open position.

[0050] In the first brake control in step S3, a relatively strong first brake force is used to brake the electric motor 6 of the spindle drive mechanism 5. Specifically, the duty ratio of the brake period is set to 100%.

[0051] In step S4, the braking force reduction control is executed. This braking force reduction control is continued until the back door 3 is stopped at a position where the back door 3 is in a predetermined closed state (for example, a fully closed position) in step S5.

[0052] Please refer to Figures 7A and 7B below.

[0053] First, in step S21, the speed detection unit 43 detects the opening / closing speed of the back door 3.

[0054] Next, in step S22, if the opening / closing speed detected in step S21 is not equal to or greater than a first predetermined speed (e.g., 10 rps), the process of step S33 is executed, and if it is equal to or greater than the first predetermined speed, the process of step S23 is executed. The first predetermined speed is set to a speed at which it can be determined that there is a possibility that the user is attempting to manually close the back door 3.

[0055] In step S33, that is, when it is determined that the opening / closing speed detected in step S21 is not equal to or greater than the first predetermined speed and there is no possibility that the user is attempting to manually close the back door 3, the process returns to step S3 in FIG. 6, and the first brake control is executed.

[0056] In step S23, it is determined whether the opening / closing speed of the back door 3 detected by the speed detection unit 43 is continuously greater than a second predetermined speed for a first predetermined time. If the determination in step S23 is true, the process of step S24 is executed, and if not, the process of step S33 is executed.

[0057] The second predetermined speed is set to be equal to or lower than the first predetermined speed. For example, when the first predetermined speed is set to 10 rps, the second predetermined speed can be set to 5 rps. The second predetermined speed may be set to the same speed as the first predetermined speed. That is, after the opening / closing speed becomes equal to or higher than the first predetermined speed, it may be determined whether the opening / closing speed is continuously higher than the first predetermined speed for the first predetermined time. The first predetermined time is set to, for example, 100 to 1000 msec. The first predetermined time and the second predetermined speed are set so that it can be determined that the user is attempting to manually close the back door 3. That is, if it is determined that the user is attempting to manually close the back door 3 in step S23, the process of step S24 is executed. On the other hand, if it cannot be determined that the user is attempting to manually close the back door 3 in step S23, that is, if the opening / closing speed of the back door 3 initially exceeds the first predetermined speed but then becomes smaller in a relatively short time, the process of step S33 is executed.

[0058] In step S24, an average value (average speed) of the opening / closing speed of the back door 3 in the first predetermined time is calculated. Next, in step S25, a second predetermined time is calculated. The second predetermined time is set to be longer as the average speed of the back door 3 in the first predetermined time is larger, and set to be shorter as the average speed is smaller. The second predetermined time is set, for example, in the range of 100 to 5000 msec.

[0059] Next, in step S26, the second brake control is executed. R The second brake control is executed in step S26 when it is determined in step S23 that the user is attempting to manually close the back door 3, as described above. In the second brake control, the relatively strong first brake force of the first brake control is gradually reduced so as to become zero in a second predetermined time from the start of the second brake control. In this embodiment, the duty ratio of the brake period, which is 100% in the first brake force, is gradually reduced so as to become 0% in a second predetermined time from the start of the second brake control.

[0060] The processes of steps S27 to S32 are executed during the second brake control.

[0061] In step S27, if the opening / closing speed of the back door 3 detected by the speed detection unit 43 is equal to or lower than the third predetermined speed, the process of step S28 is executed, and if not, the process of step S29 is executed.

[0062] The third predetermined speed is set to be smaller than the second predetermined speed. For example, when the first predetermined speed is set to 10 rps and the second predetermined speed is set to 5 rps, the third predetermined speed is set to 0 rps. The third predetermined speed is set so that the opening and closing speed of the back door 3 becomes slower and it can be determined that the user has interrupted the operation of manually closing the back door 3. That is, if it is determined so in step S27, the process of step S28 is executed, and if it is not determined so, the process of step S29 is executed.

[0063] As the process of step S28, that is, the process when it is determined that the user has stopped the operation of manually closing the back door 3, the process returns to step S3 in FIG. 6, and the first brake control is executed.

[0064] In step S29, that is, when it is determined that the user has not interrupted the operation of manually closing the back door 3, it is determined whether the opening / closing speed of the back door 3 detected by the speed detection unit 43 is equal to or greater than a fourth predetermined speed. If the determination in step S29 is true, the process of step S30 is executed, and if not, the process of step S31 is executed.

[0065] The fourth predetermined speed is set to be greater than the first predetermined speed. For example, when the first predetermined speed is set to 10 rps, the fourth predetermined speed can be set to 20 rps. The fourth predetermined speed is set so that it can be determined that the opening / closing speed (movement speed in the closing direction) of the back door 3 has increased due to, for example, a manual operation by the user. That is, if it is determined so in step S29, the process of step S30 is executed, and if it is not determined so, the process of step S31 is executed.

[0066] In step S30, if it is determined that the opening / closing speed (movement speed in the closing direction) of the back door 3 has increased due to manual operation by the user, for example, the motor control unit 44 controls the spindle drive mechanism 5, and more specifically, drives the electric motor 6 in the reverse direction to move the back door in the closing direction (auto-close operation).

[0067] In step S31, if it cannot be determined that the opening / closing speed of the back door 3 has increased due to, for example, a manual operation by the user, it is determined whether or not the duty ratio of the brake period at the present time is 0%. If the duty ratio of the brake period is 0% in step S31, an automatic closing operation is executed in step S32, similar to step S30. On the other hand, if the duty ratio of the brake period is 0% in step S31, So. If not, the process returns to step S26, and the second brake control is continued.

[0068] According to the above control, when it is determined that the back door 3 has stopped at a position where it is in an open state, the electric motor 6 is braked with a relatively strong first braking force (first brake control). In other words, when the back door 3 is in an open state, the holding force can be made strong, and safety can be ensured even when clothes are hung on the back door 3, for example. In addition, when the opening / closing speed of the back door 3 becomes equal to or higher than a first predetermined speed and continues to be higher than a second predetermined speed that is equal to or lower than the first predetermined speed for a first predetermined time, it is determined that the user is attempting to manually close the opening / closing body, and the electric motor 6 is braked with a relatively weak second braking force (second brake control). In other words, when the user attempts to manually close the back door 3, the holding force can be automatically weakened without the user having to set it, and convenience can be improved.

[0069] When the opening / closing speed of the back door 3 during the second brake control becomes equal to or lower than a third predetermined speed which is lower than the second predetermined speed, for example, when the opening / closing body stops due to the user interrupting the manual operation of the back door 3 and the opening / closing speed becomes zero, the first brake control is executed again. child In this way, it is possible to prevent the back door 3 from being displaced when it is stopped.

[0070] When the opening / closing speed of the back door 3 during the second brake control becomes equal to or higher than a fourth predetermined speed that is higher than the first predetermined speed, that is, when the opening / closing speed of the back door 3 becomes faster due to manual operation by the user, the back door 3 is automatically moved in the closing direction (auto-close operation). After the auto-close operation starts, the user does not need to manually operate the back door 3. In other words, when the user tries to close the back door 3 manually during the second brake control, there is no need to perform the manual operation to the end, which improves convenience.

[0071] The first and second braking forces can be easily changed simply by setting the duty ratio, so that the first and second braking forces can be set to suit the weight of the opening / closing body, which differs depending on the vehicle model.

[0072] During the first brake control, that is, when the tailgate 3 stops at a position where the force acting on the opening / closing body is large and the tailgate 3 is in an open state, the electric motor 6 is braked by the first brake force with a duty ratio set to 100%, thereby reliably preventing the opening / closing body from moving in the closing direction and ensuring the safety of the user.

[0073] By gradually decreasing the duty ratio in the second brake control to 0% over a second specified time period and gradually weakening the second brake force, the force required for the user to manually move the tailgate 3 in the closing direction can be reduced, thereby improving convenience.

[0074] By setting the second predetermined time, i.e., the time for gradually reducing the second braking force, according to the average speed, which is the average value of the opening and closing speeds, the second braking force can be weakened in accordance with the opening and closing speed of the tailgate 3 by the user's manual operation, allowing the user to manually operate the tailgate 3 smoothly.

[0075] When the duty ratio becomes 0% during the second brake control, that is, when the second brake force becomes zero, the back door 3 is automatically moved in the closing direction (auto-close operation). After the auto-close operation starts, the user does not need to manually operate the opening and closing body. In other words, once a certain amount of time has passed since the second brake control started, the user does not need to manually close the back door 3 to the end, which improves convenience.

[0076] In an example of control in this embodiment shown in Fig. 8, during the first brake control started at time t1, the opening / closing speed becomes equal to or higher than the first predetermined speed during the period from time t2 to t3 (first predetermined time), and the second brake control starts from time t3. After that, the duty ratio of the brake period decreases to 0% at time t4, and the automatic closing operation starts from time t4.

[0077] In one example of control in this embodiment shown in FIG. 9, during the first brake control started at time t1', the opening and closing speed becomes equal to or higher than the first predetermined speed during the period from time t2' to t3' (first predetermined time), and the second brake control is started from time t3'. Du Before the duty ratio decreases to 0%, the opening / closing speed becomes equal to or higher than the fourth predetermined speed at time t4', and the automatic closing operation starts from time t4'.

[0078] In the modified example of the braking force reduction control shown in Figures 10A and 10B, the second braking force in the second brake control in step S26 is not gradually reduced, but is set to a constant value weaker than the first braking force. Therefore, the processes of steps S24 and S25 in Figure 7A and steps S31 and S32 in Figure 7B are not executed. Also, if the opening / closing speed of the back door 3 is not equal to or greater than the fourth predetermined speed in step S29, the process returns to step S26, and the second brake control is continued. [Explanation of symbols]

[0079] 1. Vehicle body 2 Opening 3 Back door (opening and closing body) 5 Spindle drive mechanism (drive unit) 6 Electric motor 7. First Housing 8 Second Housing 9 Reduction gear mechanism 10 Spindle 11 Spindle nut 12 Pushrod 13 Compression coil spring 14 Inner cylinder 15 Outer cylinder 16 Rotational Speed ​​Sensor 17 Control device (control unit) 18 Open side high side switch 19 Close side low side switch 20 Close side high side switch 21 Open side low side switch 23 Door close switch 24 Door open switch 32 Receiver ECU 33 Electronic Key 41 Authentication processing section 42 Position detection unit 43 Speed ​​detection section 44 Motor control unit 100 Vehicle opening / closing body control device

Claims

1. a drive unit having an electric motor as a power source and driving an opening / closing body that opens and closes an opening in a vehicle body; a position detection unit that detects an open / close position of the opening / closing body based on the number of revolutions of the electric motor; a speed detection unit that detects an opening / closing speed of the opening / closing body based on a rotation speed of the electric motor; a control unit that controls the electric motor of the drive unit so as to move the opening / closing body in an opening direction or a closing direction; Equipped with the control unit controls the electric motor of the drive unit to move the opening / closing body in the closing direction, and when it is determined that the opening / closing body has stopped at a position where the opening / closing body is in an open state based on the opening / closing position detected by the position detection unit, executes a first brake control to brake the electric motor with a first brake force; A control device for a vehicle opening / closing body, wherein when the control unit determines during the first brake control that the opening / closing speed in the closing direction detected by the speed detection unit has continued to be greater than a first predetermined speed and then greater than a second predetermined speed less than the first predetermined speed for a first predetermined time, the control unit executes a second brake control to brake the electric motor with a second brake force smaller than the first brake force.

2. 2. The vehicle opening / closing body control device as described in claim 1, wherein the control unit executes the first brake control again when it determines during the second brake control that the opening / closing speed detected by the speed detection unit has become equal to or lower than a third predetermined speed that is lower than the second predetermined speed.

3. 3. The vehicle opening / closing body control device as described in claim 1 or 2, wherein when the control unit determines that the opening / closing speed detected by the speed detection unit during the second brake control has become equal to or greater than a fourth predetermined speed that is greater than the first predetermined speed, the control unit drives the electric motor of the drive unit to move the opening / closing body in the closing direction.

4. 4. The vehicle opening / closing body control device according to claim 1, wherein the control unit supplies a pulse width modulated signal to the electric motor of the drive unit, and sets the first braking force and the second braking force based on a duty ratio between a braking period in which both ends of the electric motor are short-circuited and a free period in which both ends of the electric motor are open.

5. The control device for an opening / closing member for a vehicle according to claim 4 , wherein the control unit sets the duty ratio of the first braking force of the first brake control to 100%.

6. The control device for a vehicle opening / closing body according to claim 4 or 5, wherein the control unit, in the second brake control, gradually reduces the duty ratio so that the duty ratio becomes 0% at a second predetermined time from the start of the second brake control.

7. The control device for a vehicle opening / closing body according to claim 6, wherein the control unit calculates an average speed, which is the opening / closing speed of the opening / closing body in the first predetermined time, and sets the second predetermined time in accordance with the average speed.

8. 8. The vehicle opening / closing body control device according to claim 6, wherein when the control unit determines that the duty ratio has become 0% during the second brake control, the control unit drives the electric motor of the drive unit to move the opening / closing body in the closing direction.

9. The control device for an opening / closing member for a vehicle according to claim 1 , wherein the control unit sets the second braking force in the second brake control to a constant value.

Images