JP7640338B2 - Vehicle opening/closing body control device - Google Patents

Description

The present invention relates to a vehicle opening/closing body control device.

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

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

JP 2018-035584 A

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

One aspect of the present invention provides a vehicle opening/closing body control device comprising: a drive unit having an electric motor as a power source and driving an opening/closing body which opens and closes an opening in a vehicle body; a position detection unit which detects the opening/closing position of the opening/closing body based on the rotational speed of the electric motor; a speed detection unit which detects the opening/closing speed of the opening/closing body based on the rotational speed of the electric motor; and a control unit which controls the electric motor of the drive unit to move the opening/closing body in an opening or closing direction, wherein the control unit controls the electric motor of the drive unit to move the opening/closing body in the closing direction, and when it is determined that the opening/closing body has stopped at a position where the opening/closing body is in an open state based on the opening/closing position detected by the position detection unit, it executes a first brake control to brake the electric motor with a first braking force, and when it is determined that, during the first brake control, the opening/closing speed in the closing direction detected by the speed detection unit has continued for a first predetermined time after becoming equal to or greater than a first predetermined speed and being greater than a second predetermined speed which is less than the first predetermined speed, it executes a second brake control to brake the electric motor with a second braking force which is smaller than the first braking force.

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

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

When the opening/closing speed of the opening/closing body during the second brake control falls below a third predetermined speed which is smaller than the second predetermined speed, for example, when the opening/closing body stops due to the user interrupting manual operation of the opening/closing body and the opening/closing speed falls to zero, the control unit can prevent displacement of the stopped door by executing the first brake control again.

When the control unit determines during the second brake control that the opening/closing speed detected by the speed detection unit has become equal to or greater than a fourth predetermined speed that is greater than the first predetermined speed, the control unit may drive the electric motor of the drive unit to move the opening/closing body in the closing direction.

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

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

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

The control unit may set the duty of the first brake force of the first brake control to 100%.

During the first brake control, that is, when the opening/closing body stops at a position where the force acting on the opening/closing body is large and the opening/closing body is in an open state, the electric motor is braked by the first brake force with a duty ratio set to 100%, which reliably prevents the opening/closing body from moving in the closing direction and ensures the safety of the user.

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

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

The control unit may calculate an average speed, which is the opening/closing speed of the opening/closing body during the first predetermined time, and set the second predetermined time according to the average speed.

By setting the second predetermined time, i.e., the time for gradually decreasing the second braking force, according to the average speed, which is the average value of the opening and closing speed, the second braking force can be weakened in accordance with the opening and closing speed of the opening and closing body by manual operation by the user, allowing the user to manually operate the opening and closing body smoothly.

When the control unit determines that the duty ratio becomes 0% during the second brake control, the control unit may drive the electric motor of the drive unit to move the opening/closing body in the closing direction.

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

The control unit may set the second brake force in the second brake control to a constant value.

The vehicle opening/closing body control device of the present invention can strengthen the holding force when the opening/closing body is in the open state, and can automatically weaken the holding force without the user having to set it when the user manually closes the opening/closing body, thereby improving convenience while ensuring safety.

1 is a perspective view showing a rear part of a vehicle equipped with a vehicle opening/closing body control device according to an embodiment of the present invention; 1 is a block diagram of a vehicle opening/closing member control device according to an embodiment of the present invention; FIG. Schematic diagram of the H-bridge circuit of an electric motor (standby mode). Circuit diagram of an H-bridge circuit of an electric motor (forward rotation mode). Circuit diagram of an H-bridge circuit of an electric motor (reverse rotation mode). FIG. 1 is a circuit diagram of an H-bridge circuit of an electric motor (braking mode). 4 is a flowchart for explaining control of a back door by the vehicle opening/closing body control device according to the embodiment of the present invention. 4 is a flowchart illustrating a braking force reduction control. 4 is a flowchart illustrating a braking force reduction control. 4 is a time chart showing an example of control of a back door by the vehicle opening/closing body control device according to the embodiment of the present invention. 5 is a time chart showing another example of the control of the back door by the vehicle opening/closing body control device according to the embodiment of the present invention. 10 is a flowchart for illustrating a braking force reduction control performed by a vehicle opening/closing body control device according to a modified example. 10 is a flowchart for illustrating braking force reduction control performed by a vehicle opening/closing body control device according to a modified example.

Next, an embodiment of the present invention will be described with reference to the attached drawings.

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

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

The spindle drive mechanism 5 is composed of a first spindle drive mechanism 5A and a second spindle drive mechanism 5B, which are provided on both sides of the back door 3. Each spindle drive mechanism 5A, 5B is connected between the vehicle body 1 and the back door 3.

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

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

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

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

The rotation of the rotating shaft 6a of the electric motor 6 is detected by a rotation speed sensor 16, which is shown only in FIG. 2. The rotation speed of the rotating shaft 6a of the electric motor 6 detected by the rotation speed sensor 16 is input to the control device 17.

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

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

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

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

As shown in FIG. 5B, in the brake state, the open-side high-side switch 18 and the close-side high-side switch 20 are set to OFF, and the open-side low-side switch 21 and the close-side low-side switch 19 are set to ON. The brake state can also be achieved by setting the open-side low-side switch 21 and the close-side low-side switch 19 to OFF, and the open-side high-side switch 18 and the close-side high-side switch 20 to ON. In the brake state, the electric motor 6 is short-circuited, so when the rotating shaft 6a of the electric motor 6 rotates due to an external force, a short brake state is entered.

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

The authentication processing unit 41 communicates with the electronic key 33 via the receiver ECU 32 (Electronic Control Unit) and performs authentication processing.

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

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

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

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

Furthermore, as described below, the motor control unit 44 executes brake control to brake the spindle drive mechanism 5 by shorting both ends of the electric motor 6, i.e., by putting the electric motor 6 into the brake state shown in FIG. 5B.

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

The control of the spindle drive mechanism 5 performed by the control device 17 will be described below with reference to Figures 6 to 7B.

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

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

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

In step S4, braking force reduction control is executed. This braking force reduction control continues until the back door 3 stops at a position where it is in a predetermined closed state (e.g., a fully closed position) in step S5.

Please refer to Figures 7A and 7B below.

First, in step S21, the speed detection unit 43 detects the opening and closing speed of the back door 3.

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

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

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

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

In step S24, the average value (average speed) of the opening and closing speed of the back door 3 during the first specified time is calculated. Next, in step S25, the second specified time is calculated. The second specified time is set longer the greater the average speed of the back door 3 during the first specified time, and shorter the smaller the average speed. The second specified time is set, for example, in the range of 100 to 5000 msec.

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

The processing of steps S27 to S32 is performed during the second brake control.

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

The third predetermined speed is set to be smaller than the second predetermined speed. For example, if the first predetermined speed is set to 10 rps and the second predetermined speed is set to 5 rps, the third predetermined speed is set to 0 rps. The third predetermined speed is set so that the opening and closing speed of the back door 3 becomes slower and it can be determined that the user has stopped manually closing the back door 3. In other words, if it is determined in step S27 that this is the case, the process of step S28 is executed, and if it is not determined that this is the case, the process of step S29 is executed.

In step S28, that is, when it is determined that the user has stopped the operation to manually close the back door 3, the process returns to step S3 in FIG. 6, and the first brake control is executed.

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

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

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

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

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

If the opening/closing speed of the tailgate 3 during the second brake control falls below a third predetermined speed which is lower than the second predetermined speed, for example, if the user interrupts manual operation of the tailgate 3, causing the opening/closing body to stop and the opening/closing speed to become zero, the first brake control is executed again to prevent displacement of the stopped tailgate 3.

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

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

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

By gradually decreasing the duty ratio in the second brake control to 0% over a second predetermined time period and gradually weakening the second brake force, the force required for the user to manually move the back door 3 in the closing direction can be reduced, improving convenience.

By setting the second predetermined time, i.e., the time for gradually decreasing the second braking force, according to the average speed, which is the average value of the opening and closing speed, the second braking force can be weakened according to the opening and closing speed of the back door 3 by the user's manual operation, allowing the user to manually operate the back door 3 smoothly.

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

In one example of control in this embodiment shown in Figure 8, during the first brake control that is started at time t1, the opening and closing speed is equal to or greater than the first predetermined speed between times t2 and t3 (first predetermined time), and the second brake control is started from time t3. After that, at time t4, the duty ratio of the brake period is reduced to 0%, and the auto-close operation is started from time t4.

9, during the first brake control started at time t1', the opening/closing speed becomes equal to or higher than the first predetermined speed during the period from time t2' to t3' (first predetermined time), and the second brake control starts at time t3'. After that, before the duty ratio of the brake period decreases to 0%, the opening/closing speed becomes equal to or higher than the fourth predetermined speed at time t4', and the automatic closing operation starts at time t4'.

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

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

Claims (9)

a drive unit having an electric motor as a power source and driving an opening/closing body that opens and closes an opening in a vehicle body;
a position detection unit that detects an open/close position of the opening/closing body based on the number of revolutions of the electric motor;
a speed detection unit that detects an opening/closing speed of the opening/closing body based on a rotation speed of the electric motor;
a control unit that controls the electric motor of the drive unit so as to move the opening/closing body in an opening direction or a closing direction,
the control unit controls the electric motor of the drive unit to move the opening/closing body in the closing direction, and when it is determined that the opening/closing body has stopped at a position where the opening/closing body is in an open state based on the opening/closing position detected by the position detection unit, executes a first brake control to brake the electric motor with a first brake force;
A control device for a vehicle opening/closing body, wherein when the control unit determines during the first brake control that the opening/closing speed in the closing direction detected by the speed detection unit has continued to be greater than a first predetermined speed and then greater than a second predetermined speed less than the first predetermined speed for a first predetermined time, the control unit executes a second brake control to brake the electric motor with a second brake force smaller than the first brake force. The vehicle opening/closing body control device according to claim 1, wherein the control unit executes the first brake control again when it determines that the opening/closing speed detected by the speed detection unit during the second brake control is equal to or lower than a third predetermined speed that is lower than the second predetermined speed. 3. The vehicle opening/closing body control device as described in claim 1 or 2, wherein when the control unit determines that the opening/ closing speed detected by the speed detection unit during the second brake control has become equal to or greater than a fourth predetermined speed that is greater than the first predetermined speed, the control unit drives the electric motor of the drive unit to move the opening/closing body in the closing direction. The control unit supplies a pulse width modulated signal to the electric motor of the drive unit, and sets the first brake force and the second brake force according to a duty ratio between a brake period in which both ends of the electric motor are short-circuited and a free period in which both ends of the electric motor are open. The vehicle opening/closing body control device according to any one of claims 1 to 3. The control device for an opening/closing member for a vehicle according to claim 4 , wherein the control unit sets the duty ratio of the first braking force of the first brake control to 100%. The vehicle opening/closing body control device according to claim 4 or 5, wherein the control unit, in the second brake control, gradually reduces the duty ratio so that it becomes 0% at a second predetermined time from the start of the second brake control. The control unit of claim 6, wherein the control unit calculates an average speed, which is the opening/closing speed of the opening/closing body during the first predetermined time, and sets the second predetermined time according to the average speed. The vehicle opening/closing body control device according to claim 6 or 7, wherein the control unit, when determining that the duty ratio becomes 0% during the second brake control, drives the electric motor of the drive unit to move the opening/closing body in the closing direction. The control device for a vehicle opening/closing body according to claim 1, wherein the control unit sets the second brake force in the second brake control to a constant value.

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