JP2003184426A - Control device for vehicular opening/closing body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device for a vehicular opening/closing body capable of stopping a door body in a fully opened position and a half-latched position without using expensive instrument equipment such as a limit switch. <P>SOLUTION: This control device has a drive motor for outputting rotational power for putting the door body in sliding movement; a pulley journalled to an output shaft of the drive motor; a wire engaged with the pulley and connected to the door body; and a pulse encoder for outputting a pulse signal corresponding to the rotating speed of the pulley. The count value by the pulse encoder when the door body reaches a fully opened colliding position is set as a first count value, and the door body is slidingly moved from this position into a half-latched position. A count value when reaching the half-latched position is obtained as a second count value, and the pulse count values of the fully opened stop position and half-latched position of the door body are set on the basis of the first count value and second count value. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for controlling the operation of an opening / closing body mounted on a vehicle, especially a sliding door.

[0002]

2. Description of the Related Art In recent years, many vehicles have sliding doors. Further, since sliding doors require a large amount of force for opening and closing the doors, these days, the sliding type doors are electrically operated. An automatic sliding door that opens and closes the door has been proposed and put into practical use.

In an automatic slide door, the door body is slidably attached to the vehicle body, and a wire is connected to the door body, and the drive motor pulls the wire to move the door body in the longitudinal direction of the vehicle. Then, the passenger's entrance is opened and closed.

In such an automatic slide door, it is necessary to stop the driving of the motor when the position of the door body reaches a predetermined closed state (half latch position) and a fully open position. Therefore, in the conventionally used automatic slide door, a limit switch for detecting the fully opened position and the half-latch position of the door body is installed, and the fully opened position of the door body is detected based on the output signal of the limit switch. It controls the stop of the and the stop at the half latch position.

[0005]

However, in the above-mentioned conventional automatic slide door, since the limit switch is provided to detect the fully opened state and the half-latched state of the door body, the cost is high. There has been an increasing demand for detecting the fully opened state and the half-latched state of the door body without using an expensive limit switch.

The present invention has been made to solve such conventional problems, and the purpose thereof is to:
A vehicle in which the door body can be stopped at a desired stop position by setting the door body fully open position and a predetermined closed position based on the relationship between the pulse count value output from the pulse encoder and the door body position. To provide an opening / closing body control device.

[0007]

In order to achieve the above object, the invention according to claim 1 of the present invention is a vehicle opening / closing body control device for opening / closing the opening / closing body to open / close the opening / closing body. A connecting member connected to the opening / closing body, a drive motor that outputs rotational power for opening and closing the opening / closing body via the connecting member, and a pulse that outputs a pulse signal according to the rotation speed of the driving motor An encoder,
Pulse counting means for detecting the number of pulses output from the pulse encoder, and further, when the opening / closing body reaches a full-open abutting position, a count value by the pulse counting means is set to a predetermined first value. A count value, the opening / closing body is moved from this state to a predetermined closed position, and the pulse counting means sets the count value when the predetermined closing position is reached from the position where the opening / closing body is fully open to the predetermined closing position. To a second count value based on the number of pulses output from the pulse encoder and the first count value, and based on the first count value and the second count value, The present invention is characterized in that a pulse count value at a fully open stop position of the opening / closing body and a predetermined closed position is set.

According to a second aspect of the present invention, the control means, when a pulse count value corresponding to the fully open stop position and a predetermined closed position is not set, the fully open stop position of the opening / closing body, and It is characterized in that a pulse count value at a predetermined closed position is set.

According to a third aspect of the present invention, there is provided pinch detection means for detecting the pinch of an obstacle by the opening / closing body, and the control means sets the pulse count value of the pulse count means to the first count value. After that, while moving the opening / closing body to a predetermined closed position, when detecting the entrapment of an obstacle by the entrapment detection means, the opening / closing body is again moved to the full-open abutting position, and again, It is characterized in that the count value by the pulse counting means is used as the first count value to perform a process for obtaining the second count value.

According to a fourth aspect of the present invention, when the control means determines that the obtained second count value is not an appropriate value, the control means performs the process of obtaining the second count value again. It is characterized by performing procedures.

The fifth aspect of the present invention is characterized in that the predetermined closed position is a half-latch position.

[0012]

According to the first aspect of the present invention, the pulse count value (first count value) when the door body is in the fully open abutting position and the count value (second count value when the door is in the predetermined closed position). The count value) is obtained, and the position at which the door body is stopped is set based on these count values. Therefore, the door body can be stopped at a desired position without mounting an expensive instrumentation device such as a limit switch.

According to the second aspect of the present invention, when the pulse count value corresponding to the fully open stop position (a position slightly before the fully open abutting position) and the predetermined closed position of the door body is not set, the pulse count value is set as the pulse count value. Since the relationship with the position of the door body is set, the position of the door body can be set with certainty.

According to the third aspect of the invention, after the first count value is set and the door body is moving in the closing direction,
When the door body catches an obstacle, the door body is inverted from this state, and the door body is set to the fully opened state again, so that the position of the door body is set, so that the safety can be improved.

According to the fourth aspect of the present invention, when setting the relationship between the pulse count value and the position of the door body, if the second count value is not an appropriate value for the first count value, the Since the setting operation is performed again, the position of the door body can be surely set.

According to the fifth aspect of the present invention, since the predetermined closed position is set to the half-latch position, the door closure can be reliably operated and the door body can be fully closed.

[0017]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the configuration of a vehicle opening / closing body control device according to an embodiment of the present invention.
As shown in the figure, the vehicle opening / closing body control device 1 performs control for sliding the door body (opening / closing body) in the front-rear direction of the vehicle, and includes a control unit 2, a door drive motor 3, and And a pulse encoder 4 for detecting the number of rotations of the door drive motor 3. Further, a drive circuit 5 for driving and controlling the door drive motor 3, a motor current detection circuit 6 for detecting a current flowing through the door drive motor 3, and a battery voltage detection circuit 7 are provided.

2 and 3 are explanatory views showing a pulley rotatably driven by the door driving motor 3 and a pulse encoder 4 attached to the pulley. FIG. 2 is a perspective view seen from the front side. 3 is a perspective view seen from the back side.

As shown in FIG. 3, a door driving motor (not shown in FIG. 3) is provided at the center of the pulley 41.
Of the door main body connected to the wire 42 (shown in the drawing) by reversibly operating the wire 42 engaged with the pulley 41 by rotating the door driving motor in the forward or reverse direction. (Omitted) can be slid.

Further, since the pulse encoder 4 generates a pulse signal with the rotation of the pulley 41, the current position of the door body can be detected by counting the number of pulses. That is, since the half-latch position (predetermined closed position) and the fully open position of the door body can be detected, the door drive motor 3 is controlled to stop when the half latch position or the fully open position is reached. . Here, the fully open position is a position closer to the closing direction by a predetermined amount than the drive limit position in the opening direction of the door body, and will be simply referred to as a fully open position hereinafter.

The control means 2 shown in FIG. 1 includes a target speed generator 11 for generating a target rotation speed of the door drive motor 3.
And the door position calculation unit 1 for obtaining the current position of the door body based on the pulse signal output from the pulse encoder 4.
2, a pulse width detection unit 14 for obtaining the pulse width of the pulse signal, and a speed calculation unit 13 for finding the moving speed of the door body based on the pulse width.

Further, the control means 2 includes a volatile memory 21a.
An initial learning control unit 21 for initially setting the correspondence between the position of the door body and the pulse count value output from the pulse encoder 4 and a non-volatile memory 21b, and turning on the initial learning control unit 21. , OFF for switching.

Further, the control means 2 causes a failure of the door body based on the data of the position of the door body, the pulse width detected by the pulse width detection section 14, and the current value detected by the motor current detection circuit 6. An entrapment determination unit 15 that detects that an object is entrapped, an output signal of the speed calculation unit 13,
And a feedback control unit 1 that performs feedback control of the drive circuit 5 based on the output signal of the target speed generation unit 11.
6 and a feedback gain calculation unit 17 that obtains a feedback gain based on the data of the battery voltage and the position of the door body.

Further, the control means 2 detects the operation of the keyless controller 35 mounted on the vehicle, the door operation switch 31, and the main switch 32 for permitting and prohibiting the door drive by the door drive motor 3 to be operated by the switch operation determining section 18. And a drive determination unit 19 that sets the drive / stop of the door drive motor 3 and the drive direction based on the output signal of the door position calculation unit 12, the output signal of the half latch switch 33, and the output signal of the pinch determination unit 15. And a drive direction determining unit 20 that outputs a drive direction command signal to the drive circuit 5.

Further, when the door main body is driven, there is provided a notifying section 34 for notifying this by sound or light.

The volatile memory 21a included in the initial learning control section 21 stores a history of whether or not the half latch position has been learned in the past, and the volatile memory 21a.
Saves the learning completion flag as "0" when the half latch position is not learned, and saves the learning completion flag as "1" when the half latch position is learned. When the control unit 2 is disconnected from the power supply, such as when repairing the device, the flag stored in the volatile memory 21a is cleared. That is, the learning flag is set to "0".

Further, the initial learning control section 21 switches the switch 2 when the flag in the volatile memory 21a is "0".
It is controlled so that the contact point a and the contact point b of No. 2 are connected, and the contact point d and the contact point f of the switch 23 are connected. When the flag is "1", the contact a and the contact c of the switch 22 are connected, and the contact d and the contact e of the switch 23 are connected.

The target speed generator 11 has a door speed setting table as shown in FIGS. FIG. 4 shows a set speed when the door body is slid from the fully opened state in the closing direction. That is, the horizontal axis of FIG. 4 represents the count value (corresponding to the slide position of the door body) counted by the pulse encoder 4, and is the drive limit position in the opening direction of the door body (the position of the fully open abutting the final end). ), The count value is "300", and the half-latch position (the position where the door closure operates) is the count value "HL" (HL is "20", for example). Then, the position of the door body changes from the count value "295" to "25".
The door speed increases up to 0 ", then keeps a constant speed until the count value" 150 "is reached, and then decelerates to slightly increase the speed at the position of the count value (HL + 20), and the half latch" HL "is reached. To work.
The opening direction drive limit position is a mechanical limit position in the opening direction of the door body, and is a position different from the fully open position (the position of the count value 295 in FIG. 4) described above.

On the other hand, FIG. 5 shows set speeds when the door main body is slid from the half-latch position toward the opening direction, and as shown in the figure, "HL" to "HL" are set.
During +55 ", the door speed increases, and thereafter, a constant speed is maintained until the count value" 250 ", and then the door speed is reduced.

Further, the entrapment judging section 15 shown in FIG. 1 has entrapment threshold values as shown in Table 1 below in order to determine whether the door body entraps an obstacle.

[0031]

[Table 1] That is, during normal driving, the position of the door body is "2"
In the case of 01 ”to“ 300 ”(the state where the door is fully open and a position slightly before that), it is determined that the pinching is performed when the pulse width is 200 msec or more or the current value flowing in the door drive motor 3 is 8 [A] or more. In addition, the count value is "51" ~
When "200", the entrapment is detected when the pulse width is 150 msec or more or when the current value is 6 [A] or more, and when the count value is "50" or less, the pulse width is 100.
Entrapment is detected when msec or more or the current value is 5 [A] or more.

During the initial learning, the entrapment is detected when the pulse width is 300 msec or more or the current value is 10 [A] or more over the entire pulse count value.

The operation of this embodiment will be described below with reference to the flow charts shown in FIGS.

The operation of setting the pulse count value described below is performed, for example, when the voltage of the battery mounted on the vehicle is low or when the battery is replaced with a new one so that the pulse count value and the sliding position of the door body are changed. This is performed when the data indicating the correspondence is lost.

First, the operation of the switch for operating the door body (the door operation switch 31 shown in FIG. 1 or the keyless controller 35) is judged (step ST1), and the operation of closing the door is input (step ST1). "Close"), the door body is automatically operated in the closing direction (step ST11), and the reverse load is not detected (step ST1).
If NO in step 2) and the half-latch position is detected (YES in step ST13), the door drive motor 3 is stopped (step ST14), and the fully closed stop control is performed (step ST15). Then, it waits for the input of the "open" operation (step ST16).

When an operation signal in the opening direction is input from the door operation switch 31 or the keyless controller 35 (“open” in step ST1), it is determined that the operation signal is input by the switch operation determination unit 18. It is detected and outputs a switch input signal to the drive determination unit 19.

Next, when the drive determination section 19 receives the switch input signal output from the switch operation determination section 18, it transmits a flag confirmation signal to the initial learning control section 21, and the initial learning control section 21 receives the flag confirmation signal. When the flag is received, the flag in the volatile memory 21a is read, and when the flag is “0”, the initial learning signal is transmitted to the drive determination unit 19 and the entrapment determination unit 15. Also, the target speed generator 1
The target speed generation command signal at the time of the initial learning opening operation is output to 1.

When the initial learning signal is input, the drive determination section 19 outputs a door opening command to the drive direction determination section 20 so that the door body is driven in the door opening direction (step ST2). When the initial learning signal is input from the initial learning control unit 21, the entrapment determination unit 15 sets the entrapment threshold value, which is larger than the normal entrapment threshold value, as shown in Table 1 above. Set.

Then, the pinch determination unit 15 detects the motor load current of the door drive motor 3 detected by the motor current detection circuit 6 or the pulse width detected by the pulse width detection unit 14 (from the rising of the pulse to the next pulse). (The time until the rising edge) exceeds the entrapment threshold value at the time of initial learning shown in Table 1 (that is, when inversion is detected; step ST3), the stop signal to the initial learning control unit 21. Is output. That is, when the door body reaches the mechanical limit in the door opening direction, the drive determination unit 19 causes the drive direction determination unit 2
A stop command is output to 0 to stop the drive of the door body.

When the stop signal is input, the initial learning control unit 21 confirms that the tensioner 44 (FIG. 3) has a full stroke (step ST4), and informs the door position calculation unit 12 of the current door position ( The command signal is output so that the pulse count number corresponding to the door position) becomes a predetermined value (for example, 300 pulses; first count value) (steps ST5 to ST7). Further, when the door body stops during the opening of the door, the process from step ST2 is repeated by inputting the opening operation signal again (step ST8).

Next, when the switch input signal (close operation signal) is input again, the drive determination unit 19 receives the switch input signal (step ST
(YES in 9), and outputs a closing command to the initial learning control unit 21 and the driving direction determination unit 20 so that the driving direction of the door body is the closing direction (step ST10).

When the door closing command is given, the initial learning control section 21 outputs a target speed generation signal for the initial learning closing operation to the target speed generation section 11.

Next, the target speed generator 11 outputs a predetermined door target drive speed value to the feedback controller 16 when the target generation signal for the initial learning closing operation is input. When the target speed generation command for the initial learning close operation is input to the target speed generation unit 11, the predetermined target door drive speed value to be output is given the target speed generation command for the initial learning open operation. The value may be the same as or different from the target door drive speed value output at times.

When a pinch occurs during this closing operation (that is, when the reverse load is detected) and a pinch occurrence signal is transmitted from the pinch determination unit 15 to the drive determination unit 19 (step ST17), the door is closed. After reversing in the door opening direction and driving the door body to the mechanical limit position in the door opening direction, the processing from step ST2 is performed again.

The door position calculating unit 12 calculates the position of the door body by subtracting the pulse count value from the pulse encoder 4 from the "300" pulse.

When the drive determination unit 19 detects that the half-latch switch 33 is turned on (step ST18), it transmits a stop command to the drive direction determination unit 20 and the initial learning control unit 21, respectively. The drive of the door body is stopped (steps ST19 and ST20).

After that, the initial learning control section 21 determines whether or not the pulse count value (second count value) when the door body reaches the half-latch position is an appropriate value. That is, since the distance from the fully opened position to the half latched position of the door body is fixed, when the pulse count value at the fully opened position is set to "300", the pulse count value N at the half latched position is approximately In this embodiment, it is determined that the value is appropriate when 7 ≦ N ≦ 23, and otherwise, it is determined that the value is not appropriate (step ST2).
1).

When the pulse count value N is an appropriate value (YES in step ST21), the initial learning control unit 21 determines the number of pulses calculated by the door position calculation unit 12 and the nonvolatile memory 21b. The pulse count number corresponding to the previous half-latch position stored inside is compared (step ST23), and the count value calculated by the door position calculation unit 12 is stored in the nonvolatile memory 21b. If the following (Y in step ST23)
ES), the calculated count value is determined as the count value “HL” of the half latch position, and the nonvolatile memory 21b
It is stored inside (step ST25).

On the other hand, when the count value calculated by the door position calculation unit 12 is equal to or larger than the count value stored in the non-volatile memory 21b (NO in step ST23), the calculated count value is set. A predetermined value (in this example,
The value obtained by adding 1 pulse) is determined as the count value of the half latch position and stored in the non-volatile memory 21b.

This operation (operation for resetting the count value of the half-latch position) may change the half-latch position due to aging after the initial learning. After the power is turned off for maintenance or the like, the half-latch position is changed again. This is because the count value “HL” at the half latch position stored in the non-volatile memory 21b is corrected when the power supply is connected. Therefore, at the time of initial learning at the factory offline, a value (for example, 300) sufficiently larger than the normal half-latch position count value is stored in the nonvolatile memory 21b.

Here, when the count value of the half-latch position obtained in the processing of step ST21 is smaller than the previous count value (stored count value),
The calculated count value is used as a new count value as it is, and when it is larger, "1" is added to the previous count value, because the new count value is changed when the count value at the half-latch position is changed to be smaller. Even if the value is used, the door body can reach the half-latch position with certainty and the door body can be fully closed with the door closure.However, if the count value at the half-latch position is changed to increase, This is because if the new count value is used as it is, the door body may not reach the half-latch position and the door body may not be fully closed.

That is, when the count value at the half-latch position is changed to increase, the above problem is solved by incrementing the count value by one.

After that, when the count value of the half-latch position is determined, the initial learning control unit 21 outputs the data of the count value of the determined half-latch position to the target speed generating unit 11, and the contact point a of the switch 22. And setting c are connected so that they are connected. Similarly, the contact d of the switch 23
And the contact point e are connected to each other.

Then, the target speed generator 11 substitutes the half-latch position "HL" shown in FIG. 4 and FIG. 5 with the count value of the half-latch position obtained in the above-mentioned processing and stores it (step ST25).

When the half-latch position is not an appropriate value, that is, when the half-latch position is not within the range of 7≤N≤23 (NO in step ST21, NO in ST22), the next opening operation is input (step ST22). (YES in ST16), the count value is set again by the processes in step ST2 and subsequent steps. Then, as the count value of the half latch position,
If the proper value is not obtained three times in a row (YES in step ST22), it is determined that there is some abnormality, and the automatic operation is prohibited (step ST26).

Thus, the correspondence between the pulse count value output from the pulse encoder 4 and the slide position of the door body is set.

In this way, in the vehicle opening / closing body control device 1 according to the present embodiment, the correspondence between the pulse count value and the slide position of the door body can be obtained,
Based on the count value when the door body is in the fully open position and the count value when it is in the half-latch position, the door body can be reliably stopped at the fully open position, the half-latch position, and the fully closed position. This allows
The stop position of the door body can be controlled without using expensive instrumentation equipment such as limit switches.

Although the vehicle opening / closing body control device of the present invention has been described above based on the illustrated embodiment, the present invention is not limited to this, and the configuration of each part is arbitrary as long as it has the same function. It can be replaced with the one of the configuration.

For example, in the above-described embodiment, the sliding door is described as an example of the vehicle opening / closing body, but the present invention is not limited to this, and is applicable to doors of the type that are positioned by the pulse encoder output. Can be applied.

Further, in the above-mentioned embodiment, the count value of the door fully opened state is set to "300" and the count value of the half latch position is set to "20". However, the present invention is not limited to this, and other Can also be the value of.

[Brief description of drawings]

FIG. 1 is a block diagram showing a configuration of a vehicle opening / closing body control device according to an embodiment of the present invention.

FIG. 2 is a front perspective view showing a configuration of a pulley connected to a door drive motor and a wire engaged with the pulley.

FIG. 3 is a rear perspective view showing a configuration of a pulley connected to a door drive motor and a wire engaged with the pulley.

FIG. 4 is a characteristic diagram showing a relationship between a pulse count value and a moving speed of a door, which is set by a target speed generating unit, during a door body closing operation.

FIG. 5 is a characteristic diagram showing the relationship between the pulse count value and the moving speed of the door, which is set by the target speed generating unit, when the door body is opened.

FIG. 6 is a first partial diagram of a flowchart showing an operation of the vehicle opening / closing body control device according to the embodiment of the present invention.

FIG. 7 is a second partial diagram of the flowchart showing the operation of the vehicle opening / closing body control device according to the embodiment of the present invention.

[Explanation of symbols]

1 Vehicle opening / closing control device 2 control means 3 door drive motor 4 pulse encoder 5 drive circuit 6 Motor current detection circuit 7 Battery voltage detection circuit 11 Target speed generator 12 Door position calculator 13 Speed calculator 14 Pulse width detector 15 Entrapment judgment section 16 Feedback control unit 17 Feedback gain calculator 18 Switch operation judgment part 19 Drive judgment unit 20 Drive direction determination unit 21 Initial learning control unit 21a Volatile memory 21b Non-volatile memory 22,23 switch 31 Door operation switch 32 Main switch 33 Half-latch switch 34 Notification section 35 keyless controller 41 pulley 42 wire 44 Tensioner

   ─────────────────────────────────────────────────── ─── Continued front page    (72) Inventor Yoichi Koga             Nissan, Takaracho, Kanagawa-ku, Yokohama-shi, Kanagawa Nissan             Inside the automobile corporation (72) Inventor Takeshi Utsumi             Nissan, Takaracho, Kanagawa-ku, Yokohama-shi, Kanagawa Nissan             Inside the automobile corporation (72) Inventor Takashi Mita             Nissan, Takaracho, Kanagawa-ku, Yokohama-shi, Kanagawa Nissan             Inside the automobile corporation (72) Inventor Jinsho             Nissan, Takaracho, Kanagawa-ku, Yokohama-shi, Kanagawa Nissan             Inside the automobile corporation F-term (reference) 2E052 AA09 BA02 CA06 DA03 DB03                       EA15 EB01 GA08 GA10 GB06                       GB12 GB13 GB15 GC06 GD03                       GD07 GD09 HA01 KA13 KA15                       KA27

Claims (5)

[Claims] 1. A vehicle opening / closing body control device for opening / closing the opening / closing body to open / close the opening / closing body, comprising: a connecting member connected to the opening / closing body; and the opening / closing body via the connecting member. A drive motor that outputs rotational power for opening and closing, a pulse encoder that outputs a pulse signal according to the number of revolutions of the drive motor, and pulse counting means that detects the number of pulses output from the pulse encoder. Further, the count value by the pulse counting means when the opening / closing body reaches the full-open abutment position is set to a predetermined first count value, and the opening / closing body is moved from this state to a predetermined closed position. The pulse counting means outputs the count value when the predetermined closing position is reached by the time the opening / closing body reaches the predetermined closing position from the full-open abutment position. Wherein the number of pulses outputted from the pulse encoder based on the first count value, obtains a second count value, said first
An opening / closing body control device for a vehicle, comprising: setting a pulse count value at a fully open stop position of the opening / closing body and a predetermined closed position based on a count value of the above and a second count value. . 2. The control means, when a pulse count value corresponding to the fully open stop position and a predetermined closed position is not set, a pulse count at the fully open stop position and a predetermined closed position of the opening / closing body. An opening / closing body control device for a vehicle, which sets a value. 3. An entrapment detection means for detecting entrapment of an obstacle by the opening / closing body, wherein the control means sets the pulse count value by the pulse count means to the first count value.
After the count value is set to, when the opening / closing body is being moved to a predetermined closed position and the entrapment detection means detects entrapment of an obstacle, the opening / closing body is moved to the full-open abutting position again. 3. The vehicle opening / closing body according to claim 1 or 2, wherein a process of obtaining a second count value is performed again by using the count value of the pulse count means as the first count value. Control device. 4. The control means, if it is determined that the obtained second count value is not an appropriate value, performs the procedure from the processing of obtaining the second count value again. The vehicle opening / closing body control device according to any one of claims 1 to 3. 5. The vehicle opening / closing body control device according to claim 1, wherein the predetermined closed position is a half-latch position.