Mobile control device

Abstract

To provide a movable body control device that can surely detect tucking even if a movable body and an object have flexibility and suppress wrong detection due to a disturbance.SOLUTION: The movable body control device comprises: a tucking detection part that detects tucking of an object on the basis of change in motor currents; and a control part that controls operation of a motor on the basis of the detected result by the tucking detection part. The tucking detection part calculates as a first difference ΔI a difference (a current difference) between motor currents at the beginning and the end of a first time period T, and calculates as a second difference ΔIs (m) a difference (a trend difference) between the motor currents at the beginning and the end of each of a plurality of second time periods W1-W6 obtained by dividing the first time period T. When the first difference ΔI is equal to or greater than a first threshold and when the second differences ΔIs (m) equal to or greater than a second threshold account for a ratio equal to or greater than a third threshold, of the plurality of second differences ΔIs (m), the tucking detection part determines that tucking of the object occurs.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present invention relates to a device for controlling a moving object such as an electrically operated seat installed in a vehicle, and more particularly to a moving object control device having a function for detecting the entrapment of a foreign object. [Background technology]

[0002] Some vehicles, such as automobiles, are equipped with an electrically operated seat that moves forward and backward by the rotation of a motor. Conventionally, when adjusting the forward and backward position of such an electrically operated seat, the seat position is adjusted by manually operating an operating unit provided near the seat to move the seat forward or backward. Meanwhile, in recent years, vehicles have been introduced that have a function that allows a seat position that matches the user's preferences to be registered in advance, identifies the user when getting in, and automatically moves the seat to a seat position that corresponds to the user.

[0003] In a vehicle equipped with the above-mentioned automatic seat position adjustment function, if the front seat automatically moves backwards when there is a person or object between the front and rear seats, the person or object may be trapped between the front and rear seats, threatening safety. A similar situation can also occur with a manual power seat. For this reason, the seat control device is required to have a function to quickly detect the occurrence of entrapment and stop or reverse the motor to eliminate the entrapment.

[0004] When pinching occurs, the motor current increases as the load applied to the motor increases. Therefore, by calculating the change (difference) in the motor current over a predetermined period and comparing this difference value with a threshold value, it is possible to determine whether pinching has occurred. However, since soft cushioning is generally used in seats, it takes time from when pinching occurs until the pinching is detected. This will be explained with reference to FIG.

[0005] 9 shows a state in which a person's legs F are caught between the front seat S1 and the rear seat S2. This type of entrapment occurs, for example, when the seat S1 moves backward and the seat S2 moves forward at the same time. When the front seat S1 moves backward a distance d1 from the initial position shown by the dashed dotted line to the position shown by the solid line, the legs F become caught between the seats S1 and S2. In addition to the legs of a person, a person's torso, luggage, animals, etc. may also become caught.

[0006] However, because sheet S1 is flexible, the motor load is insufficient at the position indicated by the solid line in Fig. 9, and pinching is not detected. After this, a depression occurs in sheet S1 at the pinched portion indicated by K, and sheet S1 moves backward a further distance d2 and stops at the position indicated by the dashed line. At this position, the motor load increases, the motor current difference value becomes equal to or exceeds the threshold, and pinching is detected.

[0007] Although the case where the sheet has flexibility has been described above, even if the sheet has rigidity, the same thing as above may occur when a soft object is sandwiched between the sheets.

[0008] The following Patent Document 1 discloses a seat control device that can appropriately detect an object being caught in a soft portion of a seat. Patent Documents 2 to 6 disclose power window devices that can accurately detect a soft object being caught in a vehicle window. [Prior art documents] [Patent documents]

[0009] [Patent Document 1] JP 2007-131138 A [Patent Document 2] JP 2010-119210 A [Patent Document 3] Japanese Patent Application Publication No. 8-149871 [Patent Document 4] Japanese Patent Application Publication No. 8-4416 [Patent Document 5] JP 2001-248358 A [Patent Document 6] Japanese Patent Application Publication No. 7-158338 Summary of the Invention [Problem to be solved by the invention]

[0010] 9, as described above, pinching cannot be detected at the solid line position where the sheet S1 has moved a distance d1, but can be detected at the dashed line position where the sheet S1 has moved a distance d1+d2. Therefore, in order to accurately detect pinching, it is necessary to set a long period for calculating the motor current difference value. However, if this calculation period is long, pinching becomes easier to detect, but on the other hand, the possibility of false pinching detection due to disturbance also increases.

[0011] An object of the present invention is to provide a moving body control device that can reliably detect entrapment even if the moving body or object is flexible, and can suppress erroneous detection due to disturbances. [Means for solving the problem]

[0012] The mobile object control device according to the present invention is a device for controlling a mobile object that moves by the rotation of a motor, and includes an entrapment detection unit that detects an object being entrapped due to the movement of the mobile object based on a change in a physical quantity that indicates the rotation state of the motor, and a control unit that controls the operation of the motor based on the detection result of the entrapment detection unit. This is the unit section for pinching judgment. The difference between each physical quantity at the beginning and end of the first period is calculated as a first difference, and the first period is divided to obtain During the first period For each of the second periods, a difference between each physical amount at the beginning and end of the second period is calculated as a second difference. If the first difference is equal to or greater than a first threshold and the proportion of the second differences equal to or greater than the second threshold among the second differences is equal to or greater than a third threshold, the entrapment detection unit determines that an object is entrapped.

[0013] In this way, when the first condition that the first difference in the first period is equal to or greater than the first threshold value and the second condition that the ratio of the second difference equal to or greater than the second threshold value in the second period is equal to or greater than the third threshold value are both satisfied, the pinching of an object is detected. The ratio of the second difference equal to or greater than the second threshold value in the second period represents the tendency of the change in the motor current in the first period, and this ratio differs between when a disturbance is applied and when pinching occurs. Therefore, in the case of a disturbance, even if the first condition is satisfied, the second condition is not satisfied, so that it is possible to avoid erroneous determination that pinching has occurred even when the motor current fluctuates greatly due to a disturbance. As a result, even if the period for calculating the difference value of the motor current is set long in order to ensure detection of pinching by a flexible sheet, it is possible to clearly distinguish between disturbance and pinching, and to suppress erroneous detection of pinching.

[0014] In the present invention, the physical quantity representing the rotation state of the motor may be, for example, the motor current flowing through the motor. Alternatively, instead of the motor current, the rotation speed of the motor may be used as the physical quantity.

[0015] In the present invention, when 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) that is equal to or greater than β among M ΔIs(m) in the first period is N, the pinch detection unit may calculate a propensity score SC that represents a tendency of change in the physical quantity in the first period by SC=N / M, and determine that pinch of an object has occurred if ΔI≧α and SC≧γ are satisfied.

[0016] In the present invention, the entrapment detection unit may determine that an object has been entrapped when the relationship between M and N is M=N, ΔI≧α, and SC=1.

[0017] The moving object in the present invention may be a seat of a vehicle or a window of a vehicle. Effect of the Invention

[0019] According to the present invention, it is possible to provide a moving body control device that can reliably detect entrapment even if the moving body or object is flexible, and can suppress erroneous detection due to disturbances. [Brief description of the drawings]

[0020] [Figure 1] 1 is a block diagram of an electric seat system including a seat control device according to a first embodiment of the present invention. [Diagram 2] FIG. 1 is a schematic diagram illustrating the basic principle of the present invention. [Diagram 3] 13 is a graph illustrating a current difference, a trend difference, and a trend score, and their threshold values. [Figure 4] 11 is a graph illustrating a method for calculating a current difference and a trend difference. [Diagram 5] 13 is a graph showing changes in each trend difference. [Figure 6] 13 is a graph showing changes in motor current, current difference, and tendency score when a disturbance is present; [Figure 7] 11 is a graph showing changes in motor current, current difference, and tendency score in a normal case. [Figure 8] FIG. 6 is a block diagram of an electric seat system including a seat control device according to a second embodiment of the present invention. [Figure 9] FIG. 13 is a diagram showing a state in which flexible sheets are sandwiched. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0021] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described with reference to the drawings. In the drawings, the same or corresponding parts are denoted by the same reference numerals. In the following, a vehicle seat is taken as an example of a moving body, and the present invention will be described as being applied to a seat control device.

[0022] 1 shows a seat control device 1 according to a first embodiment of the present invention, and an example of an electric seat system 100 using the same. The electric seat system 100 is installed in a vehicle such as a four-wheeled automobile, and includes a seat control device 50, an operation unit 5, a motor current detection unit 6, a motor speed detection unit 7, a motor 8, a slide mechanism 9, and a seat 20. The seat 20 is an electric seat driven by the motor 8 and the slide mechanism 9.

[0023] The operation unit 5 is composed of switches and the like for manually operating the operation of 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 rotation speed of the motor 8. The motor 8 is a motor for moving the seat 20 in the X direction (front-rear direction). The slide mechanism 9 is connected to the motor 8 and the seat 20, and converts the rotational motion of the motor 8 into linear motion, moving the seat 20 a predetermined distance in the X direction.

[0024] The seat control device 1 includes a control unit 1, a motor drive unit 2, and a threshold storage unit 3. The control unit 1 is configured with a CPU and the like, and controls the overall operation of the seat control device 50.

[0025] The control unit 1 is equipped with a pinch detection unit 4. The function of this pinch detection unit 4 is actually realized by software. The method of pinch detection will be described in detail later. The motor drive unit 2 is composed of a circuit that generates a drive signal (e.g., a PWM signal) for rotating the motor 8. The threshold memory unit 3 stores thresholds α, β, and γ that the pinch detection unit 4 uses to determine whether or not an object is pinched between sheets. These thresholds will also be described in detail later.

[0026] Next, the basic principle of pinch detection according to the present invention will be described with reference to Fig. 2. Fig. 2(a) shows an example of the change in motor current and current difference when pinch occurs, and Fig. 2(b) shows an example of the change in motor current and current difference when disturbance occurs. The horizontal axis of each figure is the count value of pulses output from a rotation sensor (not shown) attached to the motor 8, and corresponds to the moving distance of the seat 20 (the same applies to Figs. 3 to 7 described later). Note that the motor current and current difference actually fluctuate minutely as shown in Fig. 3, but are shown in a simplified manner in Fig. 2.

[0027] In Fig. 2(a), period T is a unit interval for pinch determination, and the presence or absence of pinch is determined based on the change in motor current within period T. Period T gradually shifts in time to the right in the figure, and each time it shifts, the presence or absence of pinch during period T is determined. Period T corresponds to the "first period" in this invention.

[0028] Now, if pinching occurs at the first point n' of the period T, the load on the motor 8 starts to increase from this point, and the motor current also increases accordingly. As the rate of increase in the motor current increases over time, the current difference, which indicates the change in the motor current per unit time, also increases. Therefore, the first condition for pinching determination is that the current difference ΔIa at the last point n of the period T is equal to or greater than the current difference threshold α. However, with only this first condition, if a disturbance occurs during the period T as shown in FIG. 2(b), and the current difference ΔIb at point n is equal to or greater than the current difference threshold α, it will be erroneously determined that pinching has occurred, even though it is a disturbance.

[0029] Therefore, in the present invention, in the case of pinching, as shown in FIG. 2(a), Motor Current In contrast, in the case of a disturbance, as shown in Fig. 2(b), Motor Current Focusing on the fact that does not increase monotonically (it fluctuates), Motor CurrentThe second condition for pinching determination is that the first and second conditions are both satisfied.

[0030] As a result, in the case of the disturbance shown in FIG. 2(b), the first condition is satisfied but the second condition is not satisfied, so that it is not determined that there is an entrapment, and erroneous determination can be avoided. Motor Current The accuracy of pinch detection is improved by determining whether the change in is a monotonically increasing one using a unique method described below.

[0031] Next, a specific method for detecting entrapment according to the present invention will be described with reference to FIGS.

[0032] Fig. 3 is a diagram for explaining parameters used in pinching determination. In Fig. 3(a), the motor current I, current difference ΔI, current difference threshold α, and period T are the same as those explained in Fig. 2. The current difference threshold α corresponds to the "first threshold" in the present invention. In addition to these, the present invention uses new parameters, namely, trend difference ΔIs(m), trend difference threshold β, trend score SC, and trend score threshold γ.

[0033] The trend difference ΔIs(m) is calculated as the difference between the motor current I at the start and end of each of a plurality of periods (only one period W is shown in FIG. 3(a)) obtained by dividing the period T. The details of this will be explained using FIG. 4.

[0034] In FIG. 4, the period T is divided into seven parts, and multiple (six here) periods W1 to W6 are set within the period. These periods W1 to W6 correspond to the "second period" in the present invention. The width of each of the periods W1 to W6 is the same, and is twice the division width Z (W1 to W6 = 2Z). Furthermore, each of the periods W1 to W6 is set with a shift of Z. The trend difference ΔIs(m) is a collective term for the six trend differences ΔIs(1) to ΔIs(6) calculated for each period, and is calculated by the following formula: ΔIs(m)=I(n-[m-1]×Z)-I(n-[m-1]×ZW) ···(1)

[0035] The trend difference ΔIs(1) is the trend difference in period W1, and is calculated as the difference between the motor current (current at point c) at the beginning (n-2Z) of period W1 and the motor current (current at point a=I(n)) at the end (n) of period W1. In other words, when m=1 and W=W1 in the above formula (1), the trend difference ΔIs(1) is ΔIs(1)=I(n)-I(n-W1) It becomes.

[0036] The trend difference ΔIs(2) is the trend difference in period W2, and is calculated as the difference between the motor current (current at point d) at the beginning of period W2 (n-3Z) and the motor current (current at point b) at the end of period W2 (nZ). In other words, when m=2 and W=W2 in the above formula (1), the trend difference ΔIs(2) is expressed as follows: ΔIs(2)=I(nZ)-I(nZ-W2) It becomes.

[0037] The trend difference ΔIs(3) is the trend difference in period W3, and is calculated as the difference between the motor current (current at point e) at the beginning of period W3 (n-4Z) and the motor current (current at point c) at the end of period W3 (n-2Z). In other words, when m=3 and W=W3 in the above formula (1), the trend difference ΔIs(3) is expressed as follows: ΔIs(3)=I(n-2Z)-I(n-2Z-W3) It becomes.

[0038] The trend difference ΔIs(4) is the trend difference in period W4, and is calculated as the difference between the motor current (current at point f) at the beginning of period W4 (n-5Z) and the motor current (current at point d) at the end of period W4 (n-3Z). In other words, when m=4 and W=W4 in the above formula (1), the trend difference ΔIs(4) is expressed as follows: ΔIs(4)=I(n-3Z)-I(n-3Z-W4) It becomes.

[0039] The trend difference ΔIs(5) is the trend difference in period W5, and is calculated as the difference between the motor current (current at point g) at the beginning of period W5 (n-6Z) and the motor current (current at point e) at the end of period W5 (n-4Z). In other words, when m=5 and W=W5 in the above formula (1), the trend difference ΔIs(5) is expressed as follows: ΔIs(5)=I(n-4Z)-I(n-4Z-W5) It becomes.

[0040] The trend difference ΔIs(6) is the trend difference in period W6, and is calculated as the difference between the motor current (current at point h=I(n')) at the beginning (n') of period W6 and the motor current (current at point f) at the end (n-5Z) of period W6. In other words, when m=6 and W=W6 in the above formula (1), the trend difference ΔIs(6) is ΔIs(6)=I(n-5Z)-I(n-5Z-W6) It becomes.

[0041] When the six trend differences ΔIs(1) to ΔIs(6) are calculated in the period T in the above manner, the period T is shifted to the right by a predetermined amount in FIG. 4, and in the new period T after the shift, the six trend differences ΔIs(1) to ΔIs(6) are calculated in the same manner as described above. FIG. 3(b) shows how the trend differences ΔIs(m) calculated sequentially in this manner change. The trend difference threshold value β is a threshold value set for this trend difference ΔIs(m) and corresponds to the "second threshold value" in the present invention. In FIG. 5(a) to (f), the trend differences in FIG. 3(b) are shown as independent trend differences ΔIs(1) to ΔIs(6). Note that the scales of the vertical and horizontal axes in FIG. 5 are different from those in FIG. 3(b).

[0042] By comparing each of the trend differences ΔIs(1) to ΔIs(6) with the trend difference threshold β, it is possible to grasp the trend of change in the motor current I during the period T. For example, as shown in FIG. 5, if the trend differences ΔIs(1) to ΔIs(6) are all equal to or greater than the threshold β at time n, this indicates that the motor current I is monotonically increasing during the period T (minor fluctuations in the current are ignored). On the other hand, if, among the trend differences ΔIs(1) to ΔIs(6), for example, there are three differences equal to or greater than the threshold β and there are three differences less than the threshold β, this indicates that the motor current I is fluctuating during the period T.

[0043] Therefore, in the present invention, a propensity score SC calculated for each period T based on the trend difference ΔIs(m) is used as a parameter representing the tendency of change in the motor current I during the period T. When the number of ΔIs(m) that is equal to or greater than the threshold value β among the M trend differences ΔIs(m) during the period T is N, the propensity score SC is calculated by the following formula. SC=N / M (2) The propensity score threshold γ in FIG. 3(a) is a threshold set for this propensity score SC, and corresponds to the “third threshold” in the present invention.

[0044] When all of the trend differences ΔIs(1) to ΔIs(6) are equal to or greater than the threshold β, M=6 and N=6 in the above formula (2), so the propensity score SC is SC=1. On the other hand, when there are three trend differences equal to or greater than the threshold β, M=6 and N=3 in the formula (2), so the propensity score SC is SC= 0.5 In addition, when there is no trend difference equal to or greater than the threshold value β, M=6 and N=0 in formula (2), so the propensity score SC is SC=0.

[0045] Thus, the propensity score SC is in the range of 1 ≥ SC ≥ 0, and the closer the SC is to 1, the Motor current I Therefore, if the propensity score SC is compared with the propensity score threshold γ and SC ≥ γ, then the Motor Currentincreases monotonically, it can be considered that the second condition for pinching judgment described above is satisfied. In the example of Fig. 3(a), at the time point n, the current difference ΔI is equal to or greater than the threshold value α (ΔI≧α) and the propensity score SC is equal to or greater than the propensity score threshold value γ (SC≧γ), so both the first and second conditions are satisfied and it is determined that pinching has occurred.

[0046] When pinching is detected, the control unit 1 causes the motor drive unit 2 to stop or reverse the rotation of the motor 8, thereby eliminating the pinched state.

[0047] FIG. 6 shows an example of the changes in the motor current I, current difference ΔI, and propensity score SC when there is a disturbance. A disturbance occurs when, for example, an occupant sitting in a seat shakes his or her body, which increases the load applied to the motor via the seat. In FIG. 6, the disturbance causes the current difference ΔI to exceed the threshold value α, but Motor current I Since the change in is not monotonically increasing, the propensity score SC does not exceed the threshold value γ. Therefore, the first condition described above is satisfied, but the second condition is not satisfied, so even if the load of the motor increases, it is not erroneously determined that pinching has occurred.

[0048] FIG. 7 shows an example of changes in the motor current I, current difference ΔI, and propensity score SC in a normal case where there is neither pinching nor disturbance. In this case, the motor current I fluctuates little, so the current difference ΔI does not exceed the threshold value α. In addition, the motor current I does not increase monotonically over a long period of time, so the propensity score SC does not exceed the threshold value γ. Therefore, neither the first nor the second condition is satisfied, so pinching is not detected.

[0049] According to the first embodiment described above, when the current difference ΔI is equal to or greater than the current difference threshold α (first condition) and the propensity score SC is equal to or greater than the propensity score threshold γ (second condition), it is determined that pinching has occurred. The propensity score SC represents the tendency of change in the motor current I in the period T, and the value of the propensity score SC differs between when a disturbance is applied and when pinching has occurred. Therefore, in the case of a disturbance, even if the first condition is satisfied, the second condition is not satisfied, so that it is possible to avoid erroneous determination that pinching has occurred even when the motor current I has fluctuated significantly due to a disturbance. As a result, even if the period T for calculating the difference ΔI of the motor current I is set long in order to ensure detection of pinching by the flexible sheet 20, it is possible to clearly distinguish between disturbance and pinching, and to suppress erroneous detection of pinching.

[0050] Fig. 8 shows an example of a seat control device 60 according to a second embodiment of the present invention and an electric seat system 200 using the same. In Fig. 9, two entrapment detectors 4a, 4b, two motor current detectors 6a, 6b, two motor speed detectors 7a, 7b, two motors 8a, 8b, and a reclining mechanism 10 are provided. The other configurations are the same as in Fig. 1, so a description of the parts that overlap with Fig. 1 will be omitted.

[0051] In FIG. 8, a seat portion 20a of an electrically powered seat 20 is moved in the X direction by a first motor 8a and a slide mechanism 9, and a backrest 20b of the seat 20 is tilted in the Y direction by a second motor 8b and a reclining mechanism .

[0052] The first motor driving unit 2a and the second motor driving 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 currents 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 rotation speeds of the first motor 8a and the second motor 8b, respectively. The first pinch detection unit 4a detects the pinch 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 pinch detection unit 4b detects the pinch 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.

[0053] In the second embodiment, based on the same principle as in the first embodiment, the first pinch detector 4a detects pinching of an object due to the movement of the seat 20, and the second pinch detector 4b detects pinching due to the inclination of the backrest 20b. When either of the pinch detectors 4a, 4b detects pinching, the control unit 1 causes the motor drive units 2a, 2b to stop or reverse the first motor 8a or the second motor 8b, thereby eliminating the pinched state.

[0054] In the second embodiment, the thresholds α, β, and γ stored in the threshold storage unit 3 may be set separately for the first and second entrapment detectors 4a and 4b, respectively.

[0055] In the present invention, various embodiments other than those described above can be adopted.

[0056] For example, in the above embodiment, an example was given in which pinching was detected based on the motor current detected by the motor current detection units 6, 6a, and 6b, but pinching may also be detected based on the frequency of ripples contained in the motor current.

[0057] Furthermore, the physical quantity for detecting pinching is not limited to the current or frequency, but may be the rotation speed of the motor detected by the motor speed detectors 7, 7a, and 7b. In this case, when pinching occurs, the rotation speed of the motor decreases, and the difference in the rotation speeds shows a monotonous decreasing tendency during the period T in FIG. 2(a).

[0058] Furthermore, in order to determine whether the current or the rotation speed is monotonically increasing or decreasing during the period T, other mathematical methods may be used instead of the above formulas (1) and (2).

[0059] In addition, in the above embodiment, in Figures 1 and 8, an example was given in which the motor drive units 2, 2a, 2b are provided in the seat control device 50, 60, but these motor drive units 2, 2a, 2b may also be provided outside the seat control device 50, 60.

[0060] 1 and 8, the motors 8, 8a, 8b are provided outside the seat control device 50, 60, but these motors 8, 8a, 8b may be provided in the seat control device 50, 60.

[0061] Furthermore, while the above embodiment has been described as an example of a seat control device equipped in a vehicle, the present invention can also be applied to a power window device that opens and closes a vehicle window using a motor, and can also be applied to a mobile object control device used in fields other than vehicles. [Explanation of symbols]

[0062] 1. Control section 2 Motor drive unit 2a First motor drive unit 2b Second motor drive unit 3. Threshold memory 4. Entrapment detection unit 4a First pinch detector 4b Second pinch detector 6 Motor current detection section 6a First motor current detection section 6b Second motor current detection section 7 Motor speed detector 7a First motor speed detector 7b Second motor speed detector 8 Motor 8a First motor 8b Second motor 20 seats (mobile) 50, 60 Seat control device (mobile body control device) T Period (1st Period) W1~W6 period (2nd period) α Current difference threshold (first threshold) β Trend difference threshold (second threshold) γ Propensity score threshold (third threshold)

Claims

1. A device for controlling a moving object that moves by rotation of a motor, comprising: a pinching detection unit that detects pinching of an object due to movement of the moving body based on a change in a physical quantity that represents a rotation state of the motor; A control unit that controls the operation of the motor based on a detection result of the pinch detection unit, The pinching detection unit is A difference between each physical quantity at the beginning and end of a first period, which is a unit section of the pinch determination, is calculated as a first difference; calculating, for each of a plurality of second periods within the first period obtained by dividing the first period, a difference between each physical quantity at a start and an end of the second period as a second difference; A mobile body control device characterized in that it determines that entrapment of the object has occurred when the first difference is greater than or equal to a first threshold value and the proportion of second differences that are greater than or equal to the second threshold value among the multiple second differences is greater than or equal to a third threshold value.

2. 2. The mobile object control device according to claim 1, The mobile object control device, wherein the physical quantity is a motor current flowing through the motor.

3. 2. The mobile object control device according to claim 1, 4. A mobile object control device, wherein the physical quantity is a rotation speed of the motor.

4. 4. The mobile object control device according to claim 1, When 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) that is equal to or greater than β among M ΔIs(m) in the first period is N, The pinching detection unit is A propensity score SC representing a tendency of change in the physical quantity in the first period, SC=N / M Calculated by A mobile body control device characterized in that, when ΔI≧α and SC≧γ are established, it is determined that the object has been pinched.

5. The mobile object control device according to claim 4, The pinching detection unit is A mobile object control device, characterized in that, when the relationship between M and N is M=N, and ΔI≧α and SC=1 are established, it is determined that the object has been pinched.

6. 6. The mobile object control device according to claim 1, 4. A moving object control device, wherein the moving object is a seat of a vehicle.

7. 6. The mobile object control device according to claim 1, The moving object control device is characterized in that the moving object is a window of a vehicle.

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