JP6291663B2 - Open / close control device for vehicle door - Google Patents

Description

  The present invention relates to a vehicular door open / close control device for electrically controlling the open / close of a vehicle door, and more particularly to a technique for detecting an obstacle being caught.

  Conventionally, a sliding door supported to be openable / closable on the side of a vehicle body is configured to open and close a boarding gate by electrically opening and closing by connecting a wire to the sliding door and pulling the wire by a motor of a door opening / closing drive device. Yes.

  In addition, the open / close control device for electrically controlling the open / close of the slide door is equipped with a pinching detection function for preventing the obstacle from being pinched while the slide door is moving in the opening direction or the closing direction. Yes.

  For example, the stagnation detection function described in Patent Literature 1 calculates a pulse width total value of a plurality of continuous pulse signals output from a pulse encoder that detects rotation of a motor in a door opening / closing drive device, and calculates the calculated value. When the state in which the total pulse width value is equal to or greater than the predetermined threshold value continues for a predetermined time, pinching detection by pulse detection is performed.

  In addition to the pulse detection based on the pulse signal output from the above-described pulse encoder, the detection of stagnation of an obstacle is detected by detecting the current flowing through the motor of the door opening / closing drive device during the electric door opening / closing operation. There is also something like that.

Japanese Patent No. 3591510

  However, since the pulse detection described in Patent Document 1 requires at least time to detect a plurality of continuous pulse signals from the time when the stagnation of the obstacle occurs until the trapping is detected, the current detection As compared with, a slight delay occurs in the detection of the stagnation. In particular, in the case where the door opening / closing speed is increased in order to further improve the convenience at the time of opening / closing the door, the stagnation detection delay appears remarkably.

  On the other hand, the current detection detects the current flowing through the motor. If the current value is stable, there is an advantage of detecting swallowing more quickly than the pulse detection, but the slide When the door starts moving from the fully closed position or the fully opened position, when the slide door starts moving again from the position where it was temporarily stopped, and when the fully opened latch device for holding the sliding door in the fully opened position is engaged with the striker, the motor Since the current value rises due to the start-up of the motor and an increase in the load on the motor, etc., the current value is not stable in the predetermined region near the fully closed position and the predetermined region near the fully open position. It is difficult to detect stagnation and stability.

  SUMMARY OF THE INVENTION The present invention provides a vehicle door open / close control device that can reliably detect the entrapment of an obstacle during the door open / close operation in view of the above-described problems of the prior art. The purpose is to do.

In order to solve the above problems, the first invention includes a motor that drives a door that is supported by a vehicle body so as to be opened and closed in an opening and closing direction, and a control unit that controls the motor according to a predetermined operation. The means includes a current detection unit for detecting a current value flowing through the motor, a pulse encoder for outputting a pulse signal having a pulse width corresponding to the opening / closing speed of the door, and pulse detection based on the pulse signal output from the pulse encoder. A pulse detection unit capable of detecting the opening and closing speed of the door and a stagnation detection unit for detecting the stagnation of the door. If it is in the closed area and the fully open area before the fully opened position, the pulse detector detects that the opening / closing speed of the door has fallen below a predetermined threshold speed by pulse detection. And when the door is in an intermediate region between the fully closed side region and the fully open side region, the current detection unit detects when a current value exceeding a predetermined threshold current value is detected. It is characterized by detecting penetration.

In a second aspect based on the first aspect, the squeezing detection unit starts from the position where the control is stopped when the control means controls the stop so that the door can be stopped in the intermediate area. When the operation is restarted, the detection of the stagnation by the current detection of the current detection unit is ignored, and the detection of the stagnation by the pulse detection of the pulse detection unit is enabled.

  According to the present invention, by detecting the stagnation by pulse detection of the fully closed side region and the fully open side region where the current value is not stable, and by detecting the current in the intermediate region which is the high speed region, It is possible to reliably detect stagnation in the region and the fully open side region, and to quickly detect stagnation in the intermediate region.

1 is an external side view of a vehicle to which an opening / closing control device according to the present invention is applied. It is a block diagram of a control circuit. It is explanatory drawing for demonstrating each area | region of a door. It is a flowchart figure for demonstrating the opening operation | movement of a door. It is a flowchart for demonstrating the closing operation | movement of a door.

  Hereinafter, an embodiment according to the present invention will be described with reference to the drawings. In the following description, the left side in FIGS. 1 and 3 is “front”, and the right side is “rear”.

  As shown in FIG. 1, a sliding door (hereinafter referred to as “door”) D of a vehicle is supported by guide rails 1, 2, 3 that are fixed to the side surface of the vehicle body and that can be opened and closed in the front-rear direction. By a manual operation by manual operation and an electric operation by the power of the door opening / closing motor 41 of the door opening / closing drive device 4 to be described later, it is slightly outside the outer surface of the vehicle body from the fully closed position where the entrance / exit provided on the side of the vehicle body is closed It can move to the fully open position which moved back along the side of the vehicle body, and vice versa.

  The guide rail 2 guides and supports the door D so that it can move rearward along the side surface of the vehicle body while moving the door D slightly outward from the outer surface of the vehicle body when the door D is opened. As shown, the front portion of the guide rail 2 is curved toward the inside of the vehicle, and the rear portion is formed linearly with respect to the curved portion. The other guide rails 1 and 3 are also formed in the same shape.

  At the rear end of the door D, a fully closed latch device 5 for holding the door D in the fully closed position and a door closer device 6 for closing the door D from the half door position to the fully closed position are provided.

  The fully-closed latch device 5 engages with a latch (not shown) that can be engaged with a fully-closed striker (not shown) that is fixed at an appropriate position of the rear edge of the opening at the entrance / exit, and a latch that is engaged with the fully-closed striker. Thus, a latching mechanism (not shown) including a ratchet (not shown) capable of preventing the latch from rotating in the opening direction is provided, and when the door D is closed, the latch slightly meshes with the fully closed striker (door D) The door D is held in the fully closed position by rotating to a fully latched state (corresponding to the fully closed position of the door D) via the full open striker.

The door closer device 6 includes a closer motor 61 for moving the door D from the half-door position to the fully-closed position by rotating the latch of the fully-closed latch device 5 from the half-latched state to the fully-latched state. When the half latch detection switch 51 provided in the closed latch device 5 detects the half latch state of the latch, the closer motor 61 is driven to rotate the latch from the half latch state to the full latch state, The door D is moved from the half door position to the fully closed position against the reaction force of the door seal. Note that the fully-closed latch device 5 and the door closer device 6 employ a known structure, and thus detailed description thereof is omitted.

  A fully open latch device 7 for holding the door D in the fully open position is provided at the lower front portion of the door D. When the door D is opened, the fully-open latch device 7 is engaged with a fully-open striker (not shown) fixed to the lower portion of the vehicle body to hold the door D in the fully-open position.

  The fully-closed latch device 5 and the fully-opened latch device 7 are the opening operation of the outside handle 8 provided on the vehicle exterior side of the door D and the inside handle (not shown) provided on the vehicle interior side, and the fully closed latch device 5 and the fully opened latch device. By being released by an electric release actuator (not shown) connected to the device 7, the door D is released from each striker, and the door D can be opened and closed.

  The door opening / closing drive device 4 is disposed on the side of the vehicle body, and is a door opening / closing motor 41 that can rotate forward and backward, and a rotating drum 42 that can rotate forward and backward via a speed reducer that decelerates the rotation of the door opening / closing motor 41. And a cable 43 that is wound around the rotating drum 42 so as to be able to be wound and fed out, is routed along the guide rail 2 and is connected to the rear end of the door D, a door opening / closing motor 41, and the rotating drum. And an electromagnetic clutch 44 capable of intermittently connecting the power transmission path between 42 and the handlebar 11 which is linked to the opening / closing operation of the outside handle 8 and the inside handle, the vicinity of the driver's seat, a portable wireless remote control switch, etc. Based on the operation of the operation switch 12, the electromagnetic clutch 44 is activated and the door opening / closing motor 41 is rotated (normally rotated). Than to reverse), the electromagnetic clutch 44 to the rotary, rotating drum 42, is transmitted to the door D via the cable 43 to actuate the door D to the opening direction or the closing direction. Further, when the electromagnetic clutch 44 is in a disconnected state, the door D can be manually opened and closed without receiving resistance to reverse the speed reducer and the door opening / closing motor 41.

  The door opening / closing motor 41 is driven during the closing operation of the door 2 during a period in which the door D moves from the fully open position to the half door position, and the door D is moved from the half door position by driving the closer motor 61. The drive is stopped during the period of movement to the fully closed position. That is, in the closing operation of the door 2, the drive source for moving the door D from the fully open position to the half door position is the door opening / closing motor 41, and the drive source for moving the door D from the half door position to the fully closed position is the closer motor. 61.

  The rotating drum 42 is provided with a pulse encoder 45 that detects the rotation angle of the rotating drum 42 with high resolution and outputs a pulse signal corresponding to the rotation. Since the rotating drum 42 is connected to the door D via the cable 43 and rotates substantially in synchronization with the opening / closing operation of the door D, the rotating speed and the rotating angle of the rotating drum 42 are detected. Is substantially the same as detecting the opening / closing speed of the door D and the position of the door D. In the following description, the pulse encoder 45 outputs a pulse signal corresponding to the movement of the door D. Define.

  The pulse encoder 45 outputs a pulse signal corresponding to the opening / closing direction, opening / closing speed, and movement amount of the door D, and the pulse signal is transmitted to the control device 9 installed at an appropriate position of the vehicle body.

Next, the control device 9 and each electrical element connected to the control device 9 will be described with reference to the block diagram shown in FIG.
The control device 9 is electrically connected to the in-vehicle battery 10 and controls the driving elements of the electric elements in an integrated manner by program control by a microcomputer, and is based on the pulse signal output from the pulse encoder 45. In order to control the electromagnetic clutch 44, the pulse detection unit 91 that calculates the opening / closing speed, moving direction, and current position of the door D by pulse detection, the PWM control unit 92 that controls the door opening / closing motor 41 by PWM (Pulse Width Modulation). A clutch control unit 93, a current detection unit 94 for detecting a current value flowing through the door opening / closing motor 41, a closer control unit 95 for controlling the closer motor 61 of the door closer device 6, a body to the door D, A stagnation detecting unit 96 that detects contact of other obstacles, stagnation, etc., a fully-closed latch device 5 and a fully-opened latch An actuator control unit (not shown) for controlling the release electric actuator connected to the device 7, and a drive circuit unit 97 for turning on / off based on the control of the PWM control unit 92, the clutch control unit 93 and the closer control unit 95; including.

  The pulse detector 91 includes a door speed calculator 911 that calculates the opening / closing speed of the door D based on the pulse width of the pulse signal output from the pulse encoder 45 according to the opening / closing operation of the door D, and the phase of the two-phase pulse signal. A door movement direction detection unit 912 that detects the movement direction of the door D based on the relationship, and a door position calculation unit 913 that detects the current position of the door D are included.

  The door speed calculation unit 911 calculates an actual value of the opening / closing speed of the door D based on the pulse width of the pulse signal output from the pulse encoder 45, and sets the actual value of the opening / closing speed to a value equal to or less than a predetermined target speed. If the pulse width is lower than the predetermined threshold speed and the pulse width becomes wider than a predetermined pulse width, or if one of the two-phase pulse signals cannot be detected due to the door D stopping, etc., the pulse Stagnation is detected based on the detection.

  The target speed of the door D is set in advance so as to be low in the fully closed side area L1 and fully open side area L3 shown in FIG. 3, which will be described in detail later, and high in the intermediate area L2. It is stored in the storage area of the control device 9. Therefore, the fully closed region L1 and the fully open region L3 can be defined as a low speed region, and the intermediate region L2 can be defined as a high speed region.

  When the door D is temporarily stopped by a predetermined emergency operation of the outside handle 8, the inside handle or the operation switch 12 during the opening / closing operation of the door D by the operation of the door opening / closing drive device 4, the temporary stop position is included. In the temporary stop region L4 (the region from the deceleration and stop position when the door D stops and until the target speed is reached again), it is slower than the door speed when moving in the intermediate region L2. , Defined as the slow region.

  The door movement direction detection unit 912 detects the movement direction of the door D based on the phase relationship between the two-phase pulse signals output from the pulse encoder 45.

  The door position calculation unit 913 counts the pulse signal output from the pulse encoder 45, and calculates the current position of the door D based on the counted value. The count value is reset (count value is set to 0) based on a fully closed signal output from a full latch detection switch (not shown) for detecting the fully latched state of the fully closed latch device 5. Thereby, when the door D moves in the opening direction from the fully closed position, the count value inevitably starts from 0. As a result, the current position of the door D can be accurately detected even if the cable 43 is stretched due to secular change or the like.

The current detector 94 detects an actual current value flowing through the door opening / closing motor 41 during the opening / closing operation of the door D, and the actual current value exceeds a threshold current value having a value equal to or greater than a predetermined target current value. In this case, stagnation is detected by current detection.
The target current value is determined in advance according to the position of each area of the door D and stored in the storage area of the control device 9.

  The stagnation detection unit 96 is either one of the pulse detection of the pulse detection unit 91 or the current detection of the current detection unit 94 depending on the position of the door D currently detected by the door position calculation unit 913, that is, each region. It detects stagnation based on the detection. Details are as follows.

  Note that the fully closed region L1 shown in FIG. 3 is between the half door position of the door D that opens and closes along the guide rail 2 (corresponding to the half latch state of the fully closed latch device 5) and the half door front position. Area (deceleration area before the door D reaches the half-door position when the door D is closed, and corresponds to the curved portion 21 (11, 31) at the front of the guide rail 2 (1, 3)) The fully open side region L3 has a fully open position (a position where the fully open latch device 7 is completely engaged with the fully open striker) and a fully open position (at the rear end of the straight portion of the guide rails 1, 2, 3). During the opening operation, the region between the fully-open latch device 7 starts to contact the fully-open striker), the intermediate region L2 indicates the region between the fully-closed region L1 and the fully-open region L3, and the temporary stop region L4 Is the deceleration and stop position when the door D stops as described above. It refers to a region to reach the target speed start moving again.

  In addition, it can be recognized by the number of pulses which the door position calculation part 913 counted the pulse signal output from the pulse encoder 45 whether the door D exists in each area | region L1-L3. Further, the fact that the door D is in the temporary stop region L4 indicates that a temporary stop signal due to a predetermined emergency operation of the outside handle 8, the inside handle or the operation switch 12 during the opening / closing operation of the door D by the operation of the door opening / closing drive device 4 is given. It can be recognized when it is transmitted to the control device 9.

  The stagnation detection unit 96 causes the door opening / closing motor 41 to detect when the door position calculation unit 913 detects any one of the low speed regions of the fully closed region L1, the fully open region L3, and the temporary stop region L4. For the reason that the value of the flowing current is not stable, the detection of the stagnation by the current detection of the current detection unit 94 is ignored, and the detection of the stagnation by only the pulse detection of the pulse detection unit 91 is made effective. , The current value flowing through the door opening / closing motor 41 is stable and the opening / closing speed is high, so that the pulse detection of the pulse detector 91 is ignored and compared with the pulse detection. The stagnation detection only by the current detection of the current detection unit 94 having a fast reaction speed of the squeezing detection is validated.

  An opening operation signal for the handle switch 11 and the operation switch 12 and a half latch signal for the half latch detection switch 51 are input to the drive determination unit 98 on the input side of the control device 9.

  A door opening / closing motor 41, an electromagnetic clutch 44, and a closer motor 61 are electrically connected to the drive circuit unit 97 on the output side of the control device 9.

Next, the opening / closing control performed by the control device 9 will be described based on the flowcharts shown in FIGS.
First, the opening control will be described with reference to FIG. When the drive determination unit 98 receives the opening operation signal from the handle switch 11 or the operation switch 12, the control device 9 controls the release electric actuator to release the engagement between the fully-closed latch device 5 and the fully-closed striker. When it is detected that the half latch detection switch 51 has moved from the fully closed position through the half door position to the fully closed region L1 (step S2), the clutch control unit 93 and the PWM control unit 92 The electromagnetic clutch 44 is connected and the door opening / closing motor 41 is controlled to rotate forward via the drive circuit 97. Thereby, the door opening / closing drive device 4 opens the door (step S103).

  In the following description, when the door D is opened and closed, the actual speed of the door D calculated by the door speed calculation unit 911 based on the pulse signal is within the threshold speed and detected by the current detection unit 94. If the measured current value is within the threshold current value, feedback control is performed so that the target speed according to the door position is obtained.

  When the door position calculation unit 913 detects the fully closed region L1 by the opening operation of the door D (step S102), the stagnation detecting unit 96 is controlled by the current detecting unit 94 during the period of detecting the fully closed region L1. The stagnation detection of the current detection is ignored, the stagnation detection only by the pulse detection of the pulse detection unit 91 is validated, and the process proceeds to step S104.

  In step S104, if the stagnation is detected by the pulse detection of the pulse detector 91 in the fully closed region L1 (YES in step S104), the stagnation detector 96 detects an obstacle in the fully closed region L1. The door opening / closing motor 41 is reversely controlled (step S112), and the door D is reversely operated in the closing direction.

  In step S104, if there is no stagnation detection by pulse detection of the pulse detection unit 91 in the fully closed region L1 (NO in step S104), the door opening / closing motor 41 is continuously driven in the forward direction. Move D in the opening direction. When the door position calculation unit 913 detects the intermediate region L2 with the opening operation of the door D, during that period (step S105), the stagnation detection unit 96 ignores the pulse detection by the door speed calculation unit 911, and the current The detection of the stagnation by only the current detection by the detection unit 94 is validated, and the process proceeds to step S106.

  In step S106, when the stagnation is detected by current detection of the current detection unit 94 in the intermediate region L2 (YES in step S106), the stagnation detection unit 96 detects that the obstacle is squeezed in the intermediate region L2. The door opening / closing motor 41 is reversely controlled (step S112), and the door D is reversely operated in the closing direction.

  Further, in step S106, there is no detection of stagnation due to current detection of the current detection unit 94 in the intermediate region L2 (NO in step S106), and a pause operation signal is not transmitted to the control device 9 in step S107. (NO in step S107), the forward rotation drive of the door opening / closing motor 41 is continued to move the door D in the opening direction, and the process proceeds to step 109.

  In step S107, when a pause operation signal is transmitted to the control device 9, the squeezing detection unit 96 detects whether the current detection unit 94 has detected current during the period during which the pause region L4 is detected. The detection of penetration is ignored, and the detection of penetration by only the pulse detection of the pulse detector 91 is validated.

  In step S108, when the stagnation is detected by the pulse detection of the pulse detection unit 91 in the pause region L4 (YES in step S108), the stagnation detection unit 96 stagnation of the obstacle in the pause region L4. When it is determined that a jam has occurred, the door opening / closing motor 41 is reversely controlled (step S112), the door D is reversed in the closing direction, and no stagnation is detected by pulse detection (NO). Performs switching control to validate the pinching detection by current detection again when the door D that has started moving again passes through the temporary stop region L4.

  When the door position calculation unit 913 detects the fully open side region L3 by the opening operation of the door D (step S109), the squeezing detection unit 96 detects the current by the current detection unit 94 during the period when the fully open side region L3 is detected. Is ignored and the detection of the stagnation by only the pulse detection of the pulse detector 91 is validated, and the process proceeds to step S110.

  In step S110, if the stagnation is detected by the pulse detection of the door speed calculation unit 911 in the fully open side region L3 (YES in step S110), the stagnation detection unit 96 detects an obstacle in the fully open side region L3. When it is determined that the stagnation has occurred, the door opening / closing motor 41 is reversely controlled (step S112), and the door D is reversely operated in the closing direction.

  In step S110, if no stagnation is detected by pulse detection of the pulse detector 91 in the fully open side region L3 (NO in step S110), the forward rotation control of the door opening / closing motor 41 is continued, and the door When the door opening / closing motor 41 is controlled to stop when D reaches the fully open position, the series of opening operations is completed.

  Next, the closing control will be described based on FIG. When the drive determination unit 98 receives the closing operation signal from the handle switch 11 or the operation switch 12 (step S201), the controller 9 controls the release electric actuator to engage the fully-open latch device 7 and the fully-open striker. Then, the clutch control unit 93 and the PWM control unit 92 control the connection of the electromagnetic clutch 44 via the drive circuit unit 97, and the door opening / closing motor 41 is reversely controlled. As a result, the door D is moved in the closing direction from the fully open position by the door opening / closing drive device 4 (step S202).

  Even in the closing operation of the door D, the actual speed of the door D detected by the door speed calculation unit 911 is within the threshold speed and the actual current value detected by the current detection unit 94 is the threshold current as in the opening operation. If it is within the value, feedback control is performed so as to achieve a target speed corresponding to the door position.

  When the door position calculation unit 913 detects the fully open side region L3 by the closing operation of the door D (step S203), the squeezing detection unit 96 detects the current of the current detection unit 94 during the period of detecting the fully open side region L3. The detection of the stagnation due to is ignored, the detection of the stagnation only by the pulse detection of the pulse detector 91 is validated, and the process proceeds to step S204.

  In step S204, if the stagnation is detected by the pulse detection of the pulse detection unit 91 in the fully open side region L3 (YES in step S204), the stagnation detection unit 96 detects the obstacle in the fully open side region L3. When it is determined that the stagnation has occurred, the door opening / closing motor 41 is reversely controlled (step S212), and the door D is reversely operated in the opening direction.

  In step S204, if the stagnation is not detected by the pulse detection of the pulse detector 91 in the fully open side region L3 (NO in step S204), the closing operation of the door D is continued. When the door position calculation unit 913 detects the intermediate region L2 by the closing operation of the door D (step S205), the stagnation detection unit 96 ignores the pulse detection of the pulse detection unit 91 while the intermediate region L2 is detected. Then, the stagnation detection based only on the current detection of the current detection unit 94 is validated, and the process proceeds to step S206.

  In step S206, when the stagnation is detected by the current detection of the current detection unit 94 in the intermediate region L2 (YES in step S206), the stagnation detection unit 96 detects the obstacle in the intermediate region L2. When it is determined that the penetration has occurred, the door opening / closing motor 41 is reversely controlled (step S212), and the door D is reversely operated in the opening direction.

  Further, in step S206, if there is no detection of stagnation due to current detection of the current detection unit 94 in the intermediate region L2 (NO), and if the pause operation signal is not transmitted to the control device 9 in step S207 (NO) ), The closing operation of the door D is continued, and the process proceeds to step S209.

  In step S207, when a temporary stop operation signal is transmitted to the control device 9 (YES), the stagnation detection unit 96 performs current detection by the current detection unit 94 during the period in which the temporary stop region L4 is detected. Ignore it and enable the detection of swallowing only by the pulse detection of the pulse detector 91.

  In step S208, when the stagnation is detected by the pulse detection of the pulse detection unit 91 in the pause region L4 (YES), the stagnation detection unit 96 stagnation of the obstacle in the pause region L4. When it is determined that a jam has occurred, the door opening / closing motor 41 is reversely controlled (step S212), the door D is reversed in the closing direction, and no stagnation is detected by pulse detection (NO). Performs switching control to validate the pinching detection by current detection again when the door D that has started moving again passes through the temporary stop region L4.

  When the door position calculation unit 913 detects the fully closed side region L1 by passing through the intermediate region L2 by the closing operation of the door D (step S209), the stagnation detecting unit is in a period during which the fully closed side region L1 is detected. 96 ignores the current detection by the current detection unit 94 and validates the swallowing detection by the pulse detection of the pulse detection unit 91.

  In step S210, when the stagnation due to the pulse detection of the pulse detection unit 91 is detected (YES), the stagnation detection unit 96 causes the stagnation of the obstacle in the fully closed region L1. The door opening / closing motor 41 is reversely controlled (step S212), and the door D is reversely operated in the opening direction.

  Further, in step S210, if no stagnation is detected by pulse detection of the pulse detector 91 (NO), when the half latch signal is transmitted from the half latch detection switch 51, the drive control of the door opening / closing motor 41 is controlled. And the connection control of the electromagnetic clutch 44 is stopped, and the closer motor 61 is driven to control the fully-closed latch device 5 from the half-latched state to the fully-latched state, so that the door D is moved from the half-door position to the fully-closed position. When the closer motor 61 is controlled to stop at the point of time (S211), the series of closing operations ends.

  In addition, the detection of stagnation when the door D is moved from the half-door position to the fully closed position by the door closer 6 is provided on the front end surface of the door D or the edge of the entrance / exit facing the front end surface, and contacts the object. Thus, an object detection switch (not shown) that can detect the presence or absence of an obstacle is detected. When stagnation is detected by the object detection switch, the engagement between the fully-closed latch device 5 and the fully-closed striker is released, and the closer motor 61 is reversely controlled.

  As described above, the control device 9 according to this embodiment includes the current detection unit 94 that detects the current value flowing through the door opening / closing motor 41 and the pulse encoder 45 that outputs a pulse signal having a pulse width corresponding to the opening / closing speed of the slide door D. A pulse detection unit 91 including a door speed calculation unit 911 capable of detecting the opening / closing speed of the slide door D by pulse detection based on the pulse signal output from the pulse encoder 45, and a stagnation during the opening / closing operation of the slide door D A stagnation detection unit 96 that detects stagnation, and the stagnation detection unit 96 is provided when the slide door D is in the fully closed side region L1 before the fully closed position and the fully open side region L3 before the fully opened position. When it is detected by the pulse detection of the door speed calculation unit 911 of the pulse detection unit 91 that the opening / closing speed of the slide door D has fallen below a predetermined threshold speed, When the sliding door D is in the intermediate region L2 between the fully closed region L1 and the fully open region L3, the current detection unit 94 detects a current value exceeding a predetermined threshold current value. Occasionally stagnation is detected, so that the sliding door D opens and closes at a low speed and the current value is not stable. In the fully closed region L1 and the fully opened region L3, reliable pinching is performed by pulse detection. In addition, in the intermediate region L2 where the opening / closing speed of the slide door D is constant and the speed is high, it is possible to detect stagnation quickly by current detection.

  Furthermore, the stagnation detection unit 96 allows the control device 9 to temporarily stop the door D in the intermediate region L2 based on a predetermined operation from any of the outside handle 8, the inside handle, or the operation switch 12. When the suspension control is performed, when the door D is re-actuated from the position where the suspension is temporarily stopped, the detection of the stagnation by the pulse detection of the pulse detection unit 91 is made valid for a predetermined period, so that the current value is not stabilized in the suspension region L4. Even in this case, it is possible to reliably detect stagnation.

  Although one embodiment of the present invention has been described above, the following modifications and changes can be made to the present embodiment without departing from the scope of the present invention.

(I) The door is replaced with a sliding door, and a swing side door or back door is used.
(Ii) The door closer device 6 is omitted.

1, 2, 3 Guide rails 11, 21, 31 Curved portion 4 Door opening / closing drive device 5 Fully closed latch device 6 Door closer device 7 Fully open latch device 8 Outside handle 9 Control device 10 Battery 11 Handle switch 12 Operation switch 41 Door opening / closing Motor 42 Rotating drum 43 Cable 44 Electromagnetic clutch 45 Pulse encoder 51 Half latch detection switch 61 Closer motor 91 Pulse detector 92 PWM controller 93 Clutch controller 94 Current detector 95 Closer controller 96 Stagnation detector 97 Drive circuit Unit 98 drive determination unit 911 door speed calculation unit 912 door movement direction detection unit 913 door position calculation unit D sliding door

Claims (2)

A motor for driving a door supported in a vehicle body to be opened and closed in an opening and closing direction;
Control means for controlling the motor according to a predetermined operation,
The control means includes
A current detector for detecting a current value flowing through the motor;
A pulse encoder that outputs a pulse signal having a pulse width corresponding to the opening and closing speed of the door;
A pulse detection unit capable of detecting the opening and closing speed of the door by pulse detection based on a pulse signal output from the pulse encoder;
A stagnation detection unit for detecting stagnation of the door,
The stagnation detection unit ignores the current detection of the current detection unit when the door is in the fully closed side region before the fully closed position and the fully open side region before the fully open position , and the pulse detection unit Enables detection of swallowing by detecting that the opening and closing speed of the door is lower than a predetermined threshold speed by pulse detection , and the door is intermediate between the fully closed side area and the fully open side area. when in the area, ignoring the pulse detection of the pulse detecting section, to validate the detection narrowing sandwiched by the detection of the current value the current detection unit exceeds a predetermined threshold current A vehicle door opening / closing control device. The stagnation detection unit is configured to detect the current of the current detection unit when the control unit performs a stop control so that the door can be temporarily stopped in the intermediate region. 2. The vehicle door opening / closing control device according to claim 1, wherein stagnation detection by pulse detection of the pulse detection unit is enabled while ignoring stagnation detection by the vehicle.

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