JP2009161968A - Drive control device for vehicle opening / closing body - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a drive control device for a vehicle opening / closing body capable of preventing erroneous detection of a capacitance type sensor used for pinching detection.
An opening / closing body 3 that opens and closes an opening 2 of a vehicle body 1, a driving means 7 thereof, and an opening on the opening side of the opening / closing body, and generates a proximity output signal in response to the approach of an object. It has a capacitive sensor 100 and a control means 6 for driving and controlling the drive means 7 to automatically open and close the opening / closing body 3, and the proximity output signal value defines that the object 3 is approaching the sensor unit 4. In order to determine whether or not the increase in the proximity output signal is due to a disturbance that affects the sensor unit when the threshold value exceeds the first threshold value, the proximity output signal value and the first threshold value a predetermined time before that time are determined. The second threshold value set to a lower value is compared, and if the proximity output signal value before the predetermined time is equal to or greater than the second threshold value, it is determined that the object is approaching the sensor unit, The reversal operation was performed.
[Selection] Figure 1

Description

  BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a drive control device for an opening / closing body such as an automatic door provided in an automobile, for example. It relates to the device.

  Conventionally, a sliding door or a power window that automatically opens and closes an opening of a vehicle has been provided with means for preventing pinching. This means is, for example, that a sensor such as a pressure sensor or a capacitance sensor is installed on the end face on the door opening side to detect the presence of an object close to the sensor. When the presence of the door is detected, the automatic closing operation of the sliding door is stopped or the sliding door is reversed to avoid pinching.

While the pressure sensor detects the contact of an object such as a human body with the door, the capacitive sensor can detect the object without contact, so that the door and the object do not collide with each other. Can be detected. The sensor part of this capacitive sensor is generally composed of two flat detection electrodes facing each other. The capacitance values of these detection electrodes vary depending on the distance from an approaching object. A reference capacitor is connected to each detection electrode, and a pulse voltage is supplied through the reference capacitor. When an object approaches the detection electrode, the capacitance value of each detection electrode changes, and thus the voltage value of the detection electrode changes. Then, it is detected that an object such as a human body is approaching the door based on the amount of change in the voltage value of each detection electrode.
JP-A-2005-240428

  However, such a capacitance type sensor easily changes its capacitance value when a substance that affects the capacitance of the sensor, such as a water droplet due to rain, is present in the vicinity of the sensor unit. As a result, there is a problem that the value of the proximity output signal deviates from the reference potential serving as the base line, and erroneous detection occurs. In particular, when the sensor surface and the vehicle body are electrically coupled, the proximity output signal rises momentarily and causes object pinching and false detection when water flows on the sensor surface. There is a problem. Hereinafter, a phenomenon in which water flows on the surface of the sensor as flowing water and the water flowing on the surface of the sensor unit is electrically coupled to the vehicle body is hereinafter referred to as water crossing.

  In particular, when the slide door is provided with a capacitance type sensor, the sensor portion is generally installed on the end surface of the slide door on the opening side, so that it accumulates at the lower part of the window provided integrally with the slide door. There is a possibility that water may flow to the sensor unit as the slide door is opened and closed, which causes a problem that water crossing occurs and erroneous detection is likely to occur. This is because the structure of the lower part of the sliding door window has a rain gutter-like structure in which water easily collects. In addition, water drops attached to the surface of the sensor unit may not be able to maintain the attached state and collapse and water migration may occur, or water migration may occur due to dripping of water droplets from the outside of the vehicle body or sensor. There is a problem that false detection occurs due to a general phenomenon in the state.

  As an example of disturbance similar to waterwalking as an example, there is a case where an object instantaneously passes through a detection region of a sensor. As the object approaches, the proximity output signal rises instantaneously in the same manner as in the case of waterwalking. However, since the object immediately leaves the detection area of the sensor, there is no object to be caught. Even in such a case, there is a problem that the capacitance type sensor detects the pinching and is erroneously detected.

  The present invention has been made to solve the above problems, and an object of the present invention is to provide a reliable drive control device for a vehicle opening / closing body having a control capable of preventing erroneous detection due to disturbance such as water crossing. And

  In order to solve the above-described problems, a first aspect of the present invention is arranged at an opening / closing body that opens and closes an opening provided in a vehicle, a driving means that drives the opening / closing body, and an end of the opening / closing body. When an object approaches a region that is a predetermined distance away from the end of the opening / closing body, the capacitance value changes according to the distance, and a proximity output signal is generated according to the change in capacitance value. A drive device for a vehicle opening / closing body comprising a capacitive sensor, wherein a proximity output signal value generated by the capacitive sensor is compared with a predetermined first threshold value, and a proximity output is obtained. The first comparison means for generating the first comparison signal when the signal reaches the first threshold value, and the value of the proximity output signal generated by the capacitive sensor for each predetermined time difference ΔT (N is an integer) storing signal storage means and driving control of the driving means, When the body controls to close the opening, when the first comparison means generates a first comparison signal, the value of the proximity output signal initially stored in the signal storage means and the first threshold value are used. A first reversal that opens the opening when the proximity output signal first stored in the signal storage means reaches the second threshold. And a second comparison means for generating a signal.

  In a second aspect based on the first aspect, the control device generates the first inverted signal when the first comparison means generates the first comparison signal when the first comparison means generates the first comparison signal. If not, a timer that prohibits driving of the opening / closing body and counts a predetermined time T1 and, when the timer counts the time T1, compares the value of the proximity output signal with the first threshold value, When the output signal does not reach the first threshold value, a permission signal for permitting resumption of driving of the opening / closing member is generated, and when the proximity output signal reaches the first threshold value, the opening / closing member opens the opening. A third comparison means for generating a second inversion signal to be controlled is provided.

  In a third aspect based on the first aspect, the control device generates the first inversion instruction signal when the first comparison means generates the first comparison signal when the first comparison means generates the first comparison signal. If not, a stop signal generating means for generating a stop signal for prohibiting driving of the opening / closing body and a timer for starting counting of a predetermined time T1 are provided, and when the timer counts the time T1, a proximity output is provided. The value of the signal is compared with the first threshold value, and if the proximity output signal does not reach the first threshold value, a permission signal for permitting resumption of driving of the opening / closing body is generated, and the proximity output signal is set to the first threshold value. And a third comparison means for generating a second reversal instruction signal for performing a reversal control for opening the opening when the opening / closing body reaches the opening, and the control means receives the permission signal and then the driving means Moves the opening / closing body in the direction of closing the opening Performs control to, when the second inversion command signal is supplied, and performs control for moving the closing member in the direction in which the opening is opened by said driving means.

  According to the first invention, it is determined whether the cause of the increase in the proximity output signal is due to the fact that the object has approached the sensor unit or a temporary increase due to a disturbance such as water crossing. can do. FIG. 5 is a graph showing the transition of the proximity output signal due to the approach of the object and the transition of the proximity output signal due to water crossing. When an object exists in the vicinity of the sensor unit, the proximity output signal rises little by little as the object approaches the sensor unit as indicated by the one-dot chain line in FIG. The first threshold value is reached at point (A) via point (C). On the other hand, in the case of an increase in the sensor value due to water crossing, as shown by the solid line in FIG. 5, the proximity output signal rises rapidly at the moment when the water crossing occurs and passes through the point (B). The first threshold is reached at point (A). Therefore, the proximity output is compared by comparing the value (B · C) of the proximity output signal a predetermined time (t1) before the proximity output signal reaches the first threshold with the second threshold for water crossing detection. The cause of the signal rise can be estimated. That is, the cause of the rise in the proximity output signal can be estimated by comparing the slope of the rise in the proximity output signal during the predetermined time (t1) from when the proximity output signal reaches the first threshold. The predetermined time (t1) is set to the time required for the proximity output signal to rise from the reference voltage to the first threshold after the occurrence of water crossing. The second threshold value is set to a value smaller than the value of the proximity output signal that can be taken a predetermined time (t1) before the proximity output signal actually reaches the first threshold value due to the approach of the object. Therefore, when an object is present in the vicinity of the sensor 4, the value (C) of the proximity output signal before the predetermined time (t1) from when the proximity output signal reaches the first threshold value is equal to or greater than the second threshold value. When a disturbance such as a water droplet is present in the vicinity, the proximity output signal rises rapidly for the above-described reason, and the value of the proximity output signal a predetermined time (t1) before the proximity output signal reaches the first threshold value. (B) is below the second threshold. Therefore, when the proximity output signal reaches the first threshold, it can be determined whether the change in the proximity output signal is due to a disturbance such as a water drop or an object is present.

  When it is determined that the proximity output signal has reached the first threshold value due to the approach of the object, the door 3 is operated to reverse the driving means to stop the closing operation of the opening / closing body and open the opening / closing body. It is possible to eliminate the object pinching caused by.

  In addition, according to the present invention, an instantaneous increase in the proximity output signal generated by an object passing through the detection region of the sensor instantaneously is also regarded as a disturbance as in the case of waterwalking by comparison with the second threshold value. Can be recognized.

  According to the second or third invention, when it is determined that the proximity output signal has reached the first threshold value due to disturbance such as water crossing, it is determined again whether it is caused by the disturbance. The reliability of the sensor can be improved. FIG. 6 is a graph showing the transition of the proximity output signal due to the approach of an object or water crossing. According to the first aspect of the present invention, when it is determined that the increase in the proximity output signal is due to disturbance, the operation of the door 3 is performed for a predetermined stop time (t2) from when the proximity output signal becomes equal to or greater than the first threshold value. Can be determined again by comparing the value of the proximity output signal with the first threshold value after the elapse of the stop time (t2). In the case of water crossing, since the water flows down and the rise of the proximity output signal disappears, the value of the proximity output signal is almost restored to the value (B) before the disturbance occurs after the specified stop time (FIG. 6). Solid line inside). For this reason, it is determined that the cause of the increase in sensor output is due to water crossing, and the closing operation of the door 3 can be continued. On the other hand, when the object actually exists, the value of the proximity output signal is maintained unless the object is removed, and therefore the value (C) equal to or higher than the first threshold value is expressed even after the specified stop time (see FIG. 1 dash line in 6). For this reason, it is determined that the cause of the sensor output increase is due to the approach of the object, and the reversing operation is performed to prevent the door 3 from being caught. Even if the disturbance is a momentary rise in the proximity output signal that occurs when the object instantaneously passes through the detection area of the sensor, the water is removed if the object leaves the sensor during the specified stop time (t2). It can be recognized in the same way as crossing.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 is a schematic side view of a vehicle provided with a drive control device for a vehicle opening / closing body according to an embodiment of the present invention. The vehicle body 1 is provided with an entrance 2 as an opening for getting in and out of the rear seat, and a door 3 as an opening / closing body for opening and closing the entrance 2. The door 3 is provided as a sliding door that is driven to open and close through a wire 71 by an electric motor 7 provided in the vehicle body 1 as a door opening / closing drive device, and is slidably moved in the front-rear direction of the vehicle body 1 by being guided by a rail 72. ing.

  A sensor unit 4 of a capacitive sensor 100 which is a non-contact type sensor shown in FIG. 2 is provided on the end surface 3 a on the fully closed side of the door 3. The sensor unit 4 is provided from the upper end to the lower end of the end surface 3a on the fully closed side of the door 3, and is attached so that the detection direction faces the pillar (B pillar) 1a that forms the entrance 2 of the vehicle body 1. 2 and 3 are schematic diagrams showing the configuration of the drive control device for a vehicle opening / closing body according to the embodiment of the present invention. As shown in FIG. 2, the capacitive sensor 100 includes a sensor unit 4, a charge supply unit 101, a proximity detection unit 102 that generates a proximity output signal indicating an approach of an object to the sensor unit, and a sensor unit. And a contact detection unit 103 that generates a contact output signal indicating the contact of the object. The charge supply unit 101, the proximity detection unit 102, and the contact detection unit 103 are provided in an ECU (electronic control unit) 5.

  The ECU 5 is provided with a drive control unit 6 as a control unit that controls the drive of the electric motor 7. The drive control unit 6 includes proximity output signals and contact output signals from the proximity detection unit 102 and the contact detection unit 103. An open / close signal is input from an open / close switch (not shown) as an open / close switch means. The open / close signal may be a signal from an open / close switch provided in the vehicle body 1 or a radio wave signal from a portable key (not shown). Further, the drive control unit 6 receives door position information from the door position detection unit 23 that detects the opening / closing position of the door 3.

  Further, the proximity detection unit 102 includes a memory 60 as a storage unit therein, and stores a proximity output signal value input from the capacitive sensor 100.

  In FIG. 2, the sensor unit 4 of the capacitive sensor 100 is shown as a schematic cross-sectional view. The sensor unit 4 has insulation and flexibility, a covering member 13 formed in a hollow cylindrical shape, a detection electrode unit 16 fixedly disposed inside the covering member 13 and having a plurality of electrodes, and a conductive member And a GND electrode 12 that is electrically grounded. The GND electrode 12 is fixedly disposed at a position inside the covering member 13 and facing the detection electrode portion 16.

  The detection electrode unit 16 further includes two detection electrodes 8 and 9 that face each other in parallel, a shield electrode 11 that surrounds the detection electrodes 8 and 9 in a U-shape, and an insulating member 10. The insulating member 10 is disposed between the detection electrode 8 and the detection electrode 9 and between the shield electrode 11, the detection electrode 8, and the detection electrode 9.

  The detection electrode 8 and the detection electrode 9 are connected to the charge supply circuit 14 of the charge supply unit 101 via the first reference capacitor 18 and the second reference capacitor 19. The charge supply circuit 14 supplies a voltage having an equal magnitude to the first reference capacitor 18 and the second reference capacitor 19. The voltage supplied from the charge supply circuit 14 to the first reference capacitor 18 is divided by the detection electrode 8 and the first reference capacitor 18. The voltage supplied from the charge supply circuit 14 to the second reference capacitor 19 is divided by the detection electrode 9 and the second reference capacitor 19. The divided voltages are input to the sensor output detection circuit 15 of the proximity detection unit 102, respectively. When an object approaches the detection electrode 8 and the detection electrode 9, electrostatic capacitance is generated between the object and each of the detection electrode 8 and the detection electrode 9. The capacitance changes according to the distance between the object and each detection electrode 8 and detection electrode 9. As a result, the voltage input to the sensor output detection circuit 15 changes according to the capacitance generated between the object and the detection electrodes 8 and 9. The sensor output detection circuit 15 detects the difference between the input voltages, and uses the difference value signal as a proximity output signal via the offset unit 33 and supplies it to the comparison circuit 20. When the comparison circuit 20 determines that the value of the proximity output signal is greater than the first threshold value, the comparison circuit 20 supplies a determination command signal to the water crossing determination unit 32, and the water crossing determination unit determines whether or not water crossing has occurred. . With this configuration, the capacitive sensor 100 can detect the proximity of an object in a non-contact manner when an object approaches the vicinity of the sensor unit 4 while preventing erroneous detection of proximity due to the occurrence of water crossing.

  The comparison circuit 20 is connected to a door position detection unit 23 that detects the position of the door 3 and outputs a door position signal, and a memory 21 in which a proximity detection threshold (first threshold) is stored in advance as a map. The proximity detection threshold value is a determination value for determining whether the electrostatic capacitance sensor 100 is caught, and is a value that changes according to the position of the door 3. The comparison circuit 20 obtains a first threshold value corresponding to the door position signal from the memory 21 based on the door position signal supplied from the door position detection unit 23, and compares the proximity detection threshold value with the proximity output signal.

  As described above, the shield electrode 11 is disposed so as to surround the detection electrode 8 and the detection electrode 9 in a U-shape. Further, the same voltage as the voltage applied to the detection electrode 8 and the detection electrode 9 from the charge supply circuit 14 is applied to the shield electrode 11. The shield electrode 11 is connected to the comparison circuit 30.

  Since the covering member 13 has flexibility, when an external force is applied to the sensor unit 4, the covering member 13 bends, and the shield electrode 11 disposed inside the covering member 13 comes into contact with the GND electrode 12. When the shield electrode 11 contacts the GND electrode 12, the voltage value input to the comparison circuit 30 of the contact detection unit 103 decreases. The comparison circuit 30 compares the voltage value applied to the shield electrode 11 with a third threshold value stored in the memory 22 as a threshold value for detecting contact between the shield electrode 11 and the GND electrode 12. When the comparison circuit 30 determines that the voltage value of the shield electrode 11 is smaller than the third threshold value, the comparison circuit 30 outputs a contact detection signal to the drive control unit 6. With this configuration, the capacitive sensor 100 can detect contact of an object with the sensor unit 4.

  FIG. 3 is a diagram showing details of a portion of the proximity detector 102 in FIG. The sensor output detection circuit 15 detects the difference between the voltages of the detection electrode 8 and the detection electrode 9 as a difference value signal, and supplies the difference value signal to the comparison circuit 20 via the comparison circuit 37 and the offset unit 33, respectively.

  The offset unit 33 calculates a difference between a memory 36 in which a predetermined reference value is stored, a reference value stored in the memory 36 and a difference value signal supplied from the sensor output detection circuit 15, and an offset signal The difference detection circuit 35 for generating the signal and the addition circuit 34 are provided. The addition circuit 34 is connected to the comparison circuit 37. When the offset command signal is received from the comparison circuit 37, the addition circuit 34 adds the offset signal calculated by the difference detection circuit 35 and the difference value signal, and outputs a proximity output signal. The proximity output signal is supplied to the comparison circuit 20 and the memory 60 as the first comparison circuit, and the comparison circuit 64 as the third comparison circuit. When the offset command signal is not received from the determination circuit 39, the addition circuit 34 does not add the offset signal calculated by the difference detection circuit 35 and the difference value signal, and uses the difference value signal as a proximity output signal as it is. This is supplied to the memory 60 and the comparison circuit 64.

  The electric motor 7 is provided with a rotation sensor 42 that outputs a pulse signal according to the rotation of the electric motor 7. The pulse signal output from the rotation sensor 42 is supplied to the position detection circuit 40. The position detection circuit 40 detects the position of the door 3 based on the pulse signal supplied from the rotation sensor 42 and supplies the door position signal to the comparison circuit 20 and the comparison circuit 44. The comparison circuit 44 is connected to the memory 41. The memory 41 stores a movement amount threshold value for detecting that the door 3 has moved by a predetermined distance L. The comparison circuit 44 compares the door position signal supplied from the position detection circuit 40 with the movement amount threshold value stored in the memory 41. When the door position signal reaches the movement amount threshold value, the comparison circuit 44 outputs the movement amount arrival signal to the comparison circuit 37.

  The comparison circuit 20 reads the first threshold value from the memory 21 based on the door position signal supplied from the position detection circuit 40, and uses the proximity output signal supplied via the addition circuit 34 and the first threshold value. Compare. When the comparison circuit 20 determines that the proximity output signal is larger than the first threshold, the comparison circuit 20 supplies a determination command signal to the comparison circuit 62 of the water transfer determination unit 32.

  The comparison circuit 62 is connected to the comparison circuit 20, the memory 60, the memory 61, the timer unit 63, the stop signal generation circuit 65, and the inverted signal generation circuit 43. The memory 60 is a memory for storing the proximity output signal every predetermined time Δt. The memory 61 stores a water migration determination threshold (second threshold) for water migration detection that is set in advance to a value lower than the proximity detection threshold (first threshold).

  When the determination command signal is supplied from the comparison circuit 20, the comparison circuit 62 compares the storage proximity output signal stored in the memory 60 with the water crossing determination threshold value stored in the memory 61. When the comparison circuit 62 determines that the stored proximity output signal is larger than the water crossing determination threshold value stored in the memory 61, the first inversion instruction signal is supplied to the inversion signal generation circuit 43. When it is determined that the stored proximity output signal is smaller than the water transfer determination threshold value of the memory 61, the water transfer detection signal is supplied to the timer unit 63 and the stop signal generation circuit 65. The stop signal generation circuit 65 supplies a stop signal for stopping the drive of the motor 7 to the drive control unit 6 when the water crossing detection signal is supplied from the comparison circuit 62. When the water crossing detection signal is supplied from the comparison circuit 62, the timer unit 63 performs counting for a predetermined time t2. When the time t <b> 2 elapses, the timer unit 63 supplies a count completion signal to the comparison circuit 64 and the reset circuit 69.

  The comparison circuit 64 is connected to the offset unit 33, the memory 21, the timer unit 63, the inverted signal generation circuit 43, and the closing operation signal generation circuit 66. When the comparison circuit 64 is supplied with the count completion signal from the timer unit 63, the comparison circuit 64 compares the proximity output signal supplied from the offset unit 33 with the proximity detection threshold value (first threshold value) stored in the memory 21. The comparison circuit 64 supplies a signal to the closing operation continuation signal generation circuit 66 when the proximity output signal is smaller than the first threshold, and the inverted signal when the proximity output signal is larger than the first threshold. A second inversion instruction signal is supplied to the generation circuit 43.

  When the signal is supplied from the determination circuit 64, the closing operation signal generation circuit 66 supplies a closing operation continuation signal for continuing the closing operation of the door 3 to the drive control unit 6.

  The inversion signal generation circuit 43 receives the first inversion instruction signal from the comparison circuit 62 or the second inversion instruction signal from the comparison circuit 64, and the sandwiching inversion signal for causing the drive control unit 6 to invert the door 3. Is output.

  When the water movement detection signal is supplied from the comparison circuit 62, the stop signal generation circuit 65 supplies a stop signal for stopping the closing operation of the door 3 to the drive control unit 6. When the timer unit 63 generates a count completion signal, the stop signal generation circuit 65 is reset by the reset circuit 69 and stops supplying the stop signal.

  The comparison circuit 37 is connected to a memory 38 in which a predetermined value is stored as a value smaller than the proximity detection threshold (first threshold) as an offset determination threshold. When the movement amount arrival signal is supplied from the comparison circuit 44, the comparison circuit 37 compares the difference value signal output from the sensor output detection circuit 15 with the fourth threshold value stored in the memory 38. When the comparison circuit 37 determines that the difference value signal is smaller than the fourth threshold value, the comparison circuit 37 outputs an offset command signal to the addition circuit 34.

  With this configuration, when it is determined that the difference value signal between the detection electrode 8 and the detection electrode 9 is greater than a predetermined proximity detection threshold (first threshold) as a sandwiching detection threshold, the comparison circuit 62 stores the memory 60. In order to compare the stored proximity output signal before the time Δt stored in the memory with the second threshold value stored in the memory 61 and to reversely control the door 3 when the stored proximity output signal is larger than the second threshold value. A timer unit 63 is provided for stopping the door 3 for a specified time when the first inversion instruction signal is supplied to the inversion signal generation circuit 43 and the stored proximity output signal is smaller than the threshold value for water crossing determination (second threshold value). Operate. When the count completion signal is supplied from the timer unit 63 after the door 3 is stopped by the timer unit 63 for a specified time, the determination circuit 64 determines whether the determination command signal is supplied from the comparison circuit 20. When the determination command signal is not supplied from the comparison circuit 20, it is estimated that the environmental influence has been removed during the counting of the timer unit 63, the stop of the door 3 is released, and the closing operation is continued as it is. When the determination command signal is continuously supplied from the comparison circuit 20, it is estimated that the environmental influence has not been removed during the counting of the timer unit 63, that is, it is estimated that the object continues to exist in the vicinity of the sensor 4. Then, the determination circuit 64 supplies the second inversion instruction signal to the inversion signal generation circuit 43 to enable the inversion control of the door 3.

  Each of the detection electrodes 8 and 9 forms a grounding capacitance with a ground potential (GND) (not shown), and the grounding capacitance of each of the detection electrodes 8 and 9 changes when an object approaches. By inputting the respective potentials divided by the respective grounding capacitances of the detection electrodes 8 and 9 and the reference capacitors 18 and 19 to the sensor output detection circuit 15, the respective grounding capacitances of the detection electrodes 8 and 9 are determined. The approach of the object can be detected from the change without contact. The proximity output signal that is the potential difference between the detection electrode 8 and the detection electrode 9 detected by the sensor output detection circuit 15 rises in accordance with the approach of the object, and therefore the first that defines the approach of the object to the sensor unit 4. By comparing the HI threshold value provided as the threshold value with the proximity output signal by the comparison circuit 20, a state where the proximity output signal value is equal to or higher than the HI threshold value can be detected as an object approaching, that is, occurrence of pinching.

In the present embodiment, the door 3 is controlled by the drive control unit 6 so as to change the closing speed according to the position of the door 3 during the automatic closing operation. FIG. 9 is a graph showing a change in the closing speed of the door 3 in accordance with the door position in the automatic closing operation by the drive control device for the vehicle opening / closing body according to the present embodiment, which is stored in a memory mounted on the drive control unit 6. It is what. The door closing speed (v ₁ (x)) represented by the solid line in FIG. 9 represents the target door speed set by the door position (x), and the closing speed decreases as the door 3 approaches the fully closed position. Is set to let Numerical values and the like shown in the graph are examples and are not limited.

  Next, the control procedure of the drive control device for a vehicle opening / closing body configured as described above will be described below with reference to the flowcharts of FIGS. FIG. 7 shows the closing operation control of the opening / closing body by the drive control device for the vehicle opening / closing body.

  Starting from the start step ST0, it is determined in step ST1 whether or not a closing signal for closing the door 3 is input from an unillustrated opening / closing switch. When the close signal from the open / close switch is input, the process proceeds to step ST2, and when the close signal is not input, step ST1 is repeated until the close signal is input.

  In step ST2, it is determined whether the door 3 is in the fully closed position. The position of the door 3 is determined by a door position detection circuit such as a door position detection device. The automatic closing operation of the door 3 can be performed when the door 3 is in an arbitrary position other than the fully closed position. Therefore, when the door 3 is in the fully closed position, the closing operation cannot be performed, so that the process proceeds to the end and the control is terminated. If the door 3 is not in the fully closed position, the process proceeds to step ST3.

  In step ST3, the proximity output signal of the offset unit 33 and the capacitance sensor pinching determination value (HI threshold value) as the proximity detection threshold value (first threshold value) corresponding to the door position stored in the memory 21 are used. Compare. If the proximity output signal is larger than the proximity detection threshold (first threshold), it is determined that an object is present near the sensor 4 and the process returns to step ST1, and the proximity output signal is returned to the proximity detection threshold (first threshold). If it is equal to or less than (threshold), the process proceeds to step ST4.

In step ST4, the voltage of the shield electrode 11 is compared with a contact detection threshold value which is a reference signal as a touch detection threshold value. If the voltage of the shield electrode 11 is smaller than the contact detection threshold value, it is determined that an object is in contact with the sensor 4 and the process returns to step ST1. If the voltage of the shield electrode 11 is larger than the contact detection threshold value, step ST5 is performed. Proceed to In step ST5, the door closing operation is started. Then, it progresses to step ST6.
In step ST6, as in step ST4, the value of the proximity output signal is compared with the contact detection threshold value. If the value of the proximity output signal is smaller than the contact detection threshold value, it is estimated that the object is in contact with the sensor 4, and it is determined that the object is caught. Is solved. When the value of the proximity output signal is larger than the contact detection threshold value, the process proceeds to step ST7.

  In step ST7, as in step ST3, the proximity output signal and the proximity detection threshold (first threshold) are compared. If the proximity output signal is larger than the proximity detection threshold (first threshold), the process proceeds to step ST8 as pinching detection. If the proximity output signal is smaller than the proximity detection threshold (first threshold), the process proceeds to step ST15.

  In step ST <b> 8, the comparison circuit 62 compares the storage proximity output signal previous by the time difference Δt stored in the memory 60 with the threshold for water migration determination (second threshold) stored in the memory 61. When the stored proximity output signal before the time Δt is larger than the threshold value for water crossing determination (second threshold value), the cause of the change in the difference value signal as the proximity output signal is that an object exists in the vicinity of the sensor 4. It is estimated that there is, and the process proceeds to step ST14, and an operation for eliminating the pinching is performed. When the stored proximity output signal before the time Δt is smaller than the threshold value for water crossing determination (second threshold value), the cause of the change in the difference value signal as the proximity output signal is due to water droplets or the like attached to the sensor 4, Presuming that it is a temporary thing, it progresses to step ST9.

  In step ST9, the closing operation of the door 3 is stopped, and the process proceeds to step ST10. In step ST10, the timer unit 63 that defines the time t2 for stopping the closing operation of the door 3 is started, and the process proceeds to step ST11.

  In step ST11, it is determined whether or not the count value of the timer unit 63 has reached time t2. If reached, the process proceeds to step ST12. If not reached, the process returns to step ST9, and steps ST9 to ST11 are repeated until the count value of the timer unit 63 reaches t2.

  In step ST12, the proximity output signal and the contact detection threshold (first threshold) are compared as in step ST3. If the proximity output signal is larger than the contact detection threshold value (first threshold value), it is estimated that an object continues to exist in the vicinity of the sensor 4 even after the time t2 from step ST9 to step ST11 has elapsed, and the process returns to step ST14. Go ahead and perform the action to eliminate the pinching. When the proximity output signal is smaller than the contact detection threshold value (first threshold value), it is estimated that the cause of the increase in the differential value signal as the proximity output signal has been eliminated during the time t2 from step ST9 to step ST11. Then, the process proceeds to step ST13 and the closing operation of the door 3 is resumed. After the process in step ST13 is completed, the process proceeds to step ST15.

  In step ST15, it is determined whether or not the door 3 has reached the fully closed position. When the door 3 has reached the fully closed position, the process proceeds to step ST16, the closing operation of the door 3 is completed, and the control ends. If the door 3 has not reached the fully closed position, the process returns to step ST6 and is repeated until the door 3 reaches the fully closed position.

  FIG. 8 shows the interrupt control during the closing operation control of the opening / closing body by the drive control device for the vehicle opening / closing body. The control content described in the flowchart of FIG. 8 is control that is simultaneously performed as interrupt control when the control described in the flowchart of FIG. 7 is being performed. Specifically, the sensor output detection circuit The difference value signal output from 15 is stored in the memory 60.

  When the difference value signal storage flow is started in step ST100, the process proceeds to step ST101, and it is determined whether the specified time Δt has elapsed. If it is determined that the time Δt has elapsed, the process proceeds to step ST102.

  If it is determined in step ST101 that the time Δt has elapsed, in step ST102, the proximity output signal supplied from the offset unit 33 is stored in the memory 60, and the process returns to step ST101.

  A block diagram of an embodiment different from the embodiment of FIGS. 3 and 7 is shown in FIG. In FIG. 4, the same structures as those in FIG. In FIG. 4, the determination command signal supplied from the comparison circuit 20 is input to the determination circuit 68. The determination circuit 68 is connected to the timer unit 63, the inverted signal generation circuit 43, the closing operation continuation signal generation circuit 66, and the comparison circuit 20 described above. When the coefficient completion signal is supplied from the timer unit 63, the comparison circuit 20 is connected. It is determined whether or not an inversion command signal is supplied from. When the inversion command signal is supplied from the comparison circuit 20, the determination circuit 68 supplies the second inversion instruction signal to the inversion signal generation circuit 43, and when the inversion command signal is not supplied from the comparison circuit 20. Is supplied to the closing operation continuation signal generating circuit 66.

  The drive control device for a vehicle opening / closing body having the above-described control includes a proximity output signal rise due to a disturbance such as water crossing or an instantaneous sensor passing through a sensor detection area, and a proximity output signal due to an object approaching the sensor. Therefore, it is possible to reduce erroneous detection of pinching due to an increase in the proximity output signal. Therefore, the reliability of the sensor can be improved, and the automatic closing operation of the door can be smoothly performed, so that the merchantability can be improved.

  In the present embodiment, the slide door provided in the vehicle is described as an example, but the present invention can be similarly applied to other vehicle opening / closing bodies such as a power window and a roof window.

1 is a schematic side view of a vehicle provided with a drive control device for a vehicle opening / closing body according to an embodiment of the present invention. It is a schematic diagram which shows the structure of the drive control apparatus of the vehicle opening / closing body which concerns on embodiment of this invention. It is a schematic diagram which shows the structure of the drive control apparatus of the vehicle opening / closing body which concerns on embodiment of this invention. It is a schematic diagram which shows the structure of the drive control apparatus of the vehicle opening / closing body which concerns on other embodiment of this invention. It is a graph which shows transition of the proximity | contact output signal by the approach of an object or water crossing. It is a graph which shows transition of the proximity | contact output signal by the approach of an object or water crossing. It is a flowchart shown about the control point of the drive control apparatus of the vehicle opening / closing body which concerns on this embodiment. It is a flowchart shown about the control point of the drive control apparatus of the vehicle opening / closing body which concerns on this embodiment. It is a graph which shows the door closing speed change according to the door position in the automatic closing operation | movement by the drive control apparatus of the vehicle opening / closing body which concerns on this embodiment.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Vehicle body 2 Entrance / exit 3 Door 4 Sensor part 5 ECU
6 Drive control unit 7 Electric motor 8, 9 Detection electrode 11 Shield electrode 12 GND electrode 14 Charge supply circuit 15 Sensor output detection circuit 18, 19 Reference capacitor 23 Door position detection unit 30 Comparison circuit 32 Water transfer determination unit 33 Offset unit 100 Static Capacitive sensor

Claims (3)

An opening and closing body for opening and closing an opening provided in the vehicle;
Driving means for driving the opening and closing body;
Control means for controlling the drive means;
When an object approaches an area located at an end of the opening / closing body and separated from the end of the opening / closing body by a predetermined distance, the capacitance value changes according to the distance, and the capacitance value changes. A vehicle opening / closing body drive device comprising a capacitive sensor that generates a proximity output signal in response to
A value of the proximity output signal generated by the capacitive sensor is compared with a predetermined first threshold, and a first comparison signal is generated when the proximity output signal reaches the first threshold. A comparison means;
Signal storage means for storing the value of the proximity output signal generated by the capacitance type sensor for each predetermined time difference ΔT;
When the control means controls the driving means, the opening / closing body is moving in the direction of closing the opening,
When the first comparison signal is supplied from the first comparison means, the value of the proximity output signal stored in the signal storage means is compared with the second threshold value which is lower than the first threshold value. When the proximity output signal stored in the signal storage means reaches the second threshold value, the opening / closing body generates a first inversion instruction signal for opening the opening, and the control means is informed with the first inversion instruction. Second comparing means for supplying a signal,
When the first inversion instruction signal is supplied to the control means, the drive means moves the opening / closing body in a direction in which the opening is opened, and performs control. The control means stops the driving of the opening / closing body if the second comparison means does not generate the first inversion instruction signal when the first comparison means generates the first comparison signal. A stop signal generating means for generating a signal, and a timer for starting counting a predetermined time T1,
When the timer counts the time T1, it is determined whether or not the first comparison means outputs a first comparison signal. If the first comparison signal is not output, the driving of the opening / closing body is resumed. A determination means for generating a permission signal to be permitted and generating a second reversal instruction signal for performing reversal control for opening and closing the opening when the first comparison signal is output;
When the permission signal is supplied, the control means performs control to move the opening / closing body in the direction in which the opening is closed by the driving means,
2. The vehicle opening / closing body driving device according to claim 1, wherein when the second inversion instruction signal is supplied, the driving unit performs control to move the opening / closing body in a direction in which an opening portion is opened. When the first comparison means generates the first comparison signal, the control device stops the driving of the opening / closing body if the second comparison means does not generate the first inversion instruction signal. A stop signal generating means for generating a signal, and a timer for starting counting a predetermined time T1,
When the timer counts the time T1, the value of the proximity output signal is compared with the first threshold value, and if the proximity output signal does not reach the first threshold value, a permission signal for permitting resumption of driving of the opening / closing body is provided. And a third comparison means for generating a second inversion instruction signal for performing reversal control in which the opening / closing body opens the opening when the proximity output signal reaches a first threshold value,
When the permission signal is supplied, the control means performs control to move the opening / closing body in the direction in which the opening is closed by the driving means,
2. The vehicle opening / closing body driving device according to claim 1, wherein when the second inversion instruction signal is supplied, the driving unit performs control to move the opening / closing body in a direction in which an opening portion is opened.

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