JP7786290B2 - Vehicle door control device and vehicle door opening and closing device - Google Patents

Description

The present invention relates to a vehicle door control device and a vehicle door opening and closing device.

Patent Document 1 discloses a vehicle equipped with a vehicle body having a door opening, a sliding door that opens and closes the door opening, and an opening/closing device that opens and closes the sliding door. The opening/closing device opens and closes the sliding door between a fully closed position that fully closes the door opening and a fully open position that fully opens the door opening.

JP 2013-220795 A

In vehicles like the one described above, it is desirable to increase the opening and closing speed of the sliding door without causing any sense of danger to the user.

The means for solving the above problems and their effects will be described below.
A vehicle door control device that solves the above problem is a door control device that is applied to a door drive unit that includes a planetary gear mechanism having three rotating elements: a sun gear, a ring gear, and a carrier; a first electric motor that drives one of the three rotating elements; a second electric motor that drives one of the remaining two rotating elements; and an opening/closing mechanism that opens and closes the vehicle door based on power transmitted from the last rotating element.The door control device is equipped with a door control unit that controls the first electric motor and the second electric motor to open and close the vehicle door in a first mode in which the opening/closing speed of the vehicle door is a first speed, or a second mode in which the opening/closing speed of the vehicle door is a second speed that is faster than the first speed.In the first mode, at least the first electric motor of the first electric motor and the second electric motor is driven, and in the second mode, both the first electric motor and the second electric motor are driven, and the rotational speed of the second electric motor is increased compared to the first mode.

In the first mode, the vehicle door control device can open and close the vehicle door at a low first speed by driving at least one of the three rotating elements of the planetary gear mechanism with a first electric motor. In the second mode, the vehicle door control device can open and close the vehicle door at a high second speed by driving two rotating elements of the planetary gear mechanism with the first electric motor and the second electric motor, respectively. The vehicle door control device can select the first mode when it is desired to open and close the vehicle door at a low speed, and the second mode when it is desired to open and close the vehicle door at a high speed. In this way, the vehicle door control device can increase the opening and closing speed of the vehicle door as needed.

In the vehicle door control device, in the first mode, it is preferable that the first electric motor is driven while the second electric motor is stopped.
In the first mode, when the first electric motor and the second electric motor are driven, the total current flowing through the first electric motor and the second electric motor tends to increase when the load on the door drive unit increases. In this regard, the vehicle door control device does not drive the second electric motor in the first mode. Therefore, in the first mode, the vehicle door control device can prevent the total current flowing through the first electric motor and the second electric motor from increasing.

In the above vehicle door control device, it is preferable that the door control unit switches to the second mode after starting the opening/closing operation of the vehicle door in the first mode, and switches from the second mode to the first mode before completing the opening/closing operation of the vehicle door.

When the vehicle door control device starts the opening/closing operation of the vehicle door, in other words, when the load on the door drive unit is large, the vehicle door control device sets the vehicle door operation mode to the first mode. Furthermore, when the vehicle door control device ends the opening/closing operation of the vehicle door, the vehicle door control device sets the vehicle door operation mode to the first mode so that the vehicle door does not suddenly stop. On the other hand, in other cases, the vehicle door control device sets the vehicle door operation mode to the second mode. In this way, the vehicle door control device can appropriately select the opening/closing speed of the vehicle door.

In the above vehicle door control device, it is preferable that the door control unit restricts switching from the first mode to the second mode when the opening/closing speed of the vehicle door is less than a determination speed.

In situations such as when the vehicle is parked on a slope, the load on the door drive unit may not decrease even after some time has passed since the vehicle door was opened or closed. In such a case, switching from first mode to second mode may increase the total current flowing through the first electric motor and the second electric motor. In this regard, the vehicle door control device configured as described above restricts switching from first mode to second mode if the vehicle door opening/closing speed is below the threshold speed, in other words, if the load on the door drive unit does not decrease. Therefore, the vehicle door control device can prevent the total current flowing through the first electric motor and the second electric motor from increasing after switching to second mode.

In the above vehicle door control device, it is preferable that the door control unit gradually changes the rotational speed of the second electric motor when switching from one of the first mode and the second mode to the other.

The vehicle door control device can suppress a sudden change in the opening and closing speed of the vehicle door when switching the operation mode of the vehicle door.
In the above vehicle door control device, it is preferable that the door drive unit has a first sensor that detects the amount of rotation of the first electric motor and a second sensor that detects the amount of rotation of the second electric motor, and is equipped with a position acquisition unit that acquires the position of the vehicle door based on the detection signals of the first sensor and the second sensor, and the door control unit switches between the first mode and the second mode based on the position of the vehicle door.

The vehicle door control device can obtain the position of the vehicle door based on the detection signals from the first sensor and the second sensor. Based on the position of the vehicle door, the vehicle door control device can then appropriately determine the timing to switch the vehicle door's operation mode.

The vehicle door opening and closing device that solves the above problem includes a door drive unit having a planetary gear mechanism with three rotating elements: a sun gear, a ring gear, and a carrier; a first electric motor that drives one of the three rotating elements; a second electric motor that drives one of the remaining two rotating elements; and an opening and closing mechanism that opens and closes the vehicle door based on the power transmitted from the last rotating element; and a door drive unit that controls the first electric motor and the second electric motor to set the opening and closing speed of the vehicle door to a first speed or a second speed that is faster than the first speed. and a door control unit that opens and closes the vehicle door in two modes, wherein the second electric motor is driven by the ring gear, the door drive unit has a worm that transmits power from the second electric motor to the ring gear, and the ring gear includes internal teeth that mesh with a planetary gear rotatably supported on the carrier and external teeth that mesh with the worm, and the door control unit drives the first electric motor while stopping the second electric motor in the first mode, and drives both the first and second electric motors in the second mode.

The vehicle door opening and closing device can achieve the same operational effects as the vehicle door control device described above. Furthermore, when the vehicle door opening and closing device operates to open or close the vehicle door in the first mode, it is necessary to stop the ring gear. In this regard, the vehicle door opening and closing device makes it easy to stop the rotation of the ring gear without adding a new mechanism, thanks to the self-locking properties of the worm gear, which is composed of the worm and the external teeth of the ring gear.

The vehicle door control device can increase the opening and closing speed of vehicle doors.

FIG. 1 is a schematic diagram of a vehicle. FIG. 2 is a schematic diagram of the door locking device when the latch is in the unlatched position. FIG. 3 is a schematic diagram of the door locking device when the latch is in the fully latched position. FIG. 4 is a schematic diagram of a door opening and closing device. FIG. 5 is an exploded perspective view of the transmission mechanism of the door opening and closing device. FIG. 6 is an end view of the transmission mechanism. FIG. 7 is a cross-sectional view of the planetary gear mechanism of the transmission mechanism. FIG. 8 is a collinear diagram of the planetary gear mechanism. FIG. 9 is a map showing the relationship between the position of the sliding door and the opening/closing speed of the sliding door. FIG. 10 is a flowchart illustrating the flow of processing carried out by the door control device to open and close the sliding door.

An embodiment of a vehicle equipped with a vehicle door control device and a vehicle door opening and closing device (hereinafter referred to as the "door control device" and "door opening and closing device") will be described below with reference to the drawings. In some of the drawings, hatching is used to indicate metal materials for plastic parts, and hatching that should be applied to cross sections is omitted, to make the description easier to understand.

<Configuration of this embodiment>
As shown in FIG. 1 , a vehicle 10 includes a vehicle body 20 , a sliding door 30 , and a door opening and closing device 50 .

<Vehicle body 20>
As shown in FIG. 1 , the vehicle body 20 has a door opening 21 that opens to a side, an upper rail 22 disposed above the door opening 21, a center rail 23 disposed rearward of the door opening 21, and a lower rail 24 disposed below the door opening 21. The vehicle body 20 also has a striker 25 disposed at the front end of the door opening 21. The upper rail 22, the center rail 23, and the lower rail 24 are elongated members whose longitudinal direction is the front-to-rear direction. The upper rail 22 is positioned above the center rail 23 and the lower rail 24. The center rail 23 is positioned between the upper rail 22 and the lower rail 24 in the up-down direction. The striker 25 is located at the front end of the door opening 21, in the middle in the up-down direction. The striker 25 is, for example, U-shaped. The striker 25 is a connecting portion with the sliding door 30.

<Sliding door 30>
The sliding door 30 has a door body 31, an upper hinge unit 32 arranged above the front of the door body 31, a center hinge unit 33 arranged at the rear of the door body 31, and a lower hinge unit 34 arranged below the front of the door body 31. The sliding door 30 also has a door lock device 40 that engages with the striker 25. The sliding door 30 corresponds to a "vehicle door."

The upper hinge unit 32 engages with the upper rail 22 so as to move along the upper rail 22. The center hinge unit 33 engages with the center rail 23 so as to move along the center rail 23. The lower hinge unit 34 engages with the lower rail 24 so as to move along the lower rail 24. The upper hinge unit 32, center hinge unit 33, and lower hinge unit 34 move relative to the upper rail 22, center rail 23, and lower rail 24, respectively, causing the sliding door 30 to move relative to the vehicle body 20. In other words, the sliding door 30 slides between a fully closed position in which the door opening 21 is fully closed and a fully open position in which the door opening 21 is fully open.

As shown in FIG. 1, the door locking device 40 is located at the front end of the door body 31, in the vertically middle position. In other words, as shown in FIG. 1, when the sliding door 30 is positioned rearward of the fully closed position, the door locking device 40 faces the striker 25 in the front-to-rear direction.

As shown in FIG. 2, the door lock device 40 has a latch 41 that engages with the striker 25, a latch support shaft 42 that rotatably supports the latch 41, and a latch spring 43 that biases the latch 41. The door lock device 40 also has a pole 44 that engages with the latch 41, a pole support shaft 45 that rotatably supports the pole 44, and a pole spring 46 that biases the pole 44.

The latch 41 has an engagement groove 41a that extends in a direction intersecting the axis of the latch support shaft 42. The latch 41 is rotatable between a fully latched position in which it engages with the striker 25 and an unlatched position in which it is not engaged with the striker 25. A latch spring 43 biases the latch 41 from the fully latched position toward the unlatched position. The pawl 44 is rotatable between a latching position in which it engages with the latch 41 located in the fully latched position and a retracted position in which it retracts from the latch 41 located in the fully latched position. A pawl spring 46 biases the pawl 44 from the retracted position toward the latching position.

When the sliding door 30 is closed toward the fully closed position, the door locking device 40 approaches the striker 25, as shown by the white arrow in FIG. 2. When the door locking device 40 approaches the striker 25, the engagement groove 41a of the latch 41 opens toward the striker 25. When the sliding door 30 subsequently closes near the fully closed position, the striker 25 begins to enter the engagement groove 41a of the latch 41. As the sliding door 30 closes toward the fully closed position, the striker 25 advances toward the bottom of the engagement groove 41a of the latch 41. At this time, the latch 41 rotates toward the fully latched position against the biasing force of the latch spring 43. In this way, by pressing the latch 41 against the striker 25 in the direction shown by the white arrow in FIG. 2, the latch 41 rotates from the unlatched position toward the fully latched position.

As shown in Figure 3, when the striker 25 reaches the bottom of the engagement groove 41a of the latch 41, the latch 41 rotates to the fully latched position. When the latch 41 rotates to the fully latched position, the pawl 44 is positioned at an engagement position where it engages with the latch 41. As a result, the latch 41 cannot rotate from the fully latched position to the unlatched position. In this way, the striker 25 of the vehicle body 20 and the door lock device 40 of the sliding door 30 are connected. In other words, the sliding door 30 is restrained to the vehicle body 20 in the fully closed position.

When the sliding door 30 is opened from the fully closed position, the pole 44 is rotated to the retracted position by an actuator (not shown). In other words, the pole 44 is rotated to a position where it no longer engages with the latch 41. The latch 41 then rotates toward the unlatched position due to the biasing force of the latch spring 43. As a result, the connection between the striker 25 of the vehicle body 20 and the door lock device 40 of the sliding door 30 is released. In other words, the sliding door 30 is no longer restrained against the vehicle body 20.

<Door opening/closing device 50>
As shown in FIGS. 1 and 4 , the door opening and closing device 50 includes a door driving unit 100 that drives the sliding door 30 and a door control device 200 that controls the door driving unit 100 .

<Door driving unit 100>
The door drive unit 100 has a first electric motor 111 and a second electric motor 112 which correspond to the power sources of the door drive unit 100, an opening/closing mechanism 120 which opens and closes the sliding door 30, and a transmission mechanism 130 which transmits power from the first electric motor 111 and the second electric motor 112 to the opening/closing mechanism 120.

As shown in FIG. 4, the first electric motor 111 and the second electric motor 112 transmit power to the transmission mechanism 130. The first electric motor 111 includes a first sensor SE1 that detects the amount of rotation of the first electric motor 111. The second electric motor 112 includes a second sensor SE2 that detects the amount of rotation of the second electric motor 112. The first sensor SE1 and the second sensor SE2 are, for example, Hall ICs. The first sensor SE1 and the second sensor SE2 output detection signals corresponding to the amount of rotation to the door control device 200.

As shown in FIG. 1, the opening/closing mechanism 120 includes a first cable 121 and a second cable 122, a drum 123 that winds up the first cable 121 and the second cable 122, and a relay section 124 and a branch section 125 that guide the first cable 121 and the second cable 122.

The drum 123 is cylindrical. The first cable 121 and the second cable 122 are wound around the drum 123, and therefore the first cable 121 and the second cable 122 extend from the drum 123. The drum 123 is connected to the transmission mechanism 130. The drum 123 rotates based on the power of the first electric motor 111 and the second electric motor 112 transmitted via the transmission mechanism 130.

The relay portion 124 is fixed to the door panel of the door body 31, for example. The relay portion 124 guides the first cable 121 and the second cable 122 extending from the drum 123 toward the branch portion 125. The branch portion 125 is fixed to the center hinge unit 33. The branch portion 125 branches the first cable 121 and the second cable 122 extending together from the relay portion 124. More specifically, the branch portion 125 guides the first cable 121 extending from the relay portion 124 toward the rear end of the center rail 23, and guides the second cable 122 extending from the relay portion 124 toward the front end of the center rail 23. The end of the first cable 121 extending from the relay portion 124 is fixed to the rear end of the center rail 23. On the other hand, the end of the second cable 122 extending from the relay portion 124 is fixed to the front end of the center rail 23.

When the drum 123 rotates in the first rotational direction, the drum 123 winds up the first cable 121 and unwinds the second cable 122. In this case, the drum 123 pulls the first cable 121, causing the center hinge unit 33 and branching portion 125 to move toward the rear end of the center rail 23. In other words, the sliding door 30 moves rearward toward the fully open position. On the other hand, when the drum 123 rotates in the second rotational direction, the drum 123 winds up the second cable 122 and unwinds the first cable 121. In this case, the drum 123 pulls the second cable 122, causing the center hinge unit 33 and branching portion 125 to move toward the front end of the center rail 23. In other words, the sliding door 30 moves forward toward the fully closed position.

As shown in Figures 5 to 7, the transmission mechanism 130 includes a housing 140, a cover 150, a worm 160, a planetary gear mechanism 170, and multiple bearings 181 to 186. In the following description, the direction in which the axis of the rotating element of the planetary gear mechanism 170 in the transmission mechanism 130 extends is referred to as the axial direction.

As shown in Figures 5 and 6, the housing 140 has a bottom wall 141, a peripheral wall 142, a fixed wall 143, and two support walls 144, 145. The bottom wall 141 is plate-shaped with its thickness oriented in the axial direction. The bottom wall 141 is annular when viewed in the axial direction. The peripheral wall 142 is cylindrical. The peripheral wall 142 extends in the axial direction from the outer periphery of the bottom wall 141. The peripheral wall 142 has a notch 146 extending tangentially to the peripheral wall 142. The peripheral wall 142 supports the bearing 181 at a position close to the bottom wall 141. The two support walls 144, 145 extend from the peripheral wall 142 on both sides of the notch 146 in the peripheral wall 142. The extension direction of the two support walls 144, 145 is perpendicular to both the extension direction of the notch 146 and the axial direction. The two support walls 144, 145 are plate-shaped with their thickness direction aligned with the extension direction of the notch 146. The two support walls 144, 145 support bearings 182, 183, respectively. The fixed wall 143 extends from the end of the peripheral wall 142 in a direction perpendicular to the axial direction. Like the bottom wall 141, the fixed wall 143 is plate-shaped with its thickness direction aligned with the axial direction. The fixed wall 143 has a rectangular shape when viewed from the axial direction. The housing 140 houses the components of the planetary gear mechanism 170 in a space surrounded by the bottom wall 141 and the peripheral wall 142.

The cover 150 has a bottom wall 151 and a fixed wall 152. The bottom wall 151 is plate-shaped with its thickness extending in the axial direction. When viewed in the axial direction, the bottom wall 151 is annular. The bottom wall 151 supports the bearing 184. Like the bottom wall 151, the fixed wall 152 is plate-shaped with its thickness extending in the axial direction. When viewed in the axial direction, the fixed wall 152 is rectangular.

The worm 160 is disposed between the two support walls 144, 145 of the housing 140. More specifically, a first axial end of the worm 160 is supported by a bearing 182 on the support wall 144, and a second axial end of the worm 160 is supported by a bearing 183 on the support wall 145. In this way, the worm 160 is rotatably supported on the housing 140. The axial direction of the worm 160 is perpendicular to the axial direction of the transmission mechanism 130.

As shown in Figures 5 to 7, the planetary gear mechanism 170 has a sun gear 171, a ring gear 172, a carrier 173, multiple planetary gears 174, and a support shaft 175. The sun gear 171, ring gear 172, and carrier 173 correspond to the three rotating elements of the planetary gear mechanism 170.

The sun gear 171 is an external gear. The sun gear 171 is fixed to the support shaft 175. Therefore, when the input shaft rotates, the sun gear 171 rotates integrally with the input shaft. The ring gear 172 has external teeth 172a and internal teeth 172b. In other words, the ring gear 172 is both an external gear and an internal gear. The carrier 173 is connected to the drum 123 of the opening/closing mechanism 120. The carrier 173 rotatably supports multiple planetary gears 174. The three planetary gears 174 are external gears. In this embodiment, the sun gear 171 has eight teeth, the internal teeth 172b of the ring gear 172 has 70 teeth, and the planetary gears 174 have 31 teeth.

As shown in FIG. 6, the ring gear 172 is supported by the housing 140 via a bearing 181. Thus, the ring gear 172 is rotatable relative to the housing 140. Furthermore, the external teeth 172a of the ring gear 172 mesh with the worm 160. In this embodiment, the worm 160 and the external teeth 172a of the ring gear 172 form a worm gear mechanism. The worm gear mechanism is self-locking. In other words, the worm gear mechanism is configured so that even if the worm 160 can drive the ring gear 172, the ring gear 172 cannot drive the worm 160. The carrier 173 is supported by the ring gear 172 via a bearing 185. Thus, the carrier 173 is rotatable relative to the ring gear 172. Furthermore, multiple planetary gears 174 supported by the carrier 173 mesh with the internal teeth 172b of the ring gear 172. The support shaft 175 is supported by the carrier 173 and the cover 150 via bearings 184 and 186. In this way, the support shaft 175 is rotatable relative to the carrier 173 and the cover 150. In addition, the sun gear 171 supported by the support shaft 175 meshes with multiple planetary gears 174.

As shown in FIG. 4, the sun gear 171 is connected to the first electric motor 111 via the support shaft 175, so the sun gear 171 rotates when the second electric motor 112 is driven. The worm 160 is connected to the second electric motor 112, so the worm 160 rotates when the second electric motor 112 is driven. When the worm 160 rotates, the ring gear 172 that meshes with the worm 160 rotates. Furthermore, when at least the sun gear 171 of the sun gear 171 and ring gear 172 rotates, the multiple planetary gears 174 rotate, causing the carrier 173 to rotate.

As shown in Figure 8, in the planetary gear mechanism 170, the rotational speed of the sun gear 171, the rotational speed of the ring gear 172, and the rotational speed of the carrier 173 are correlated with each other. In the nomographic diagram shown in Figure 8, the rotational speed of the sun gear 171, the rotational speed of the ring gear 172, and the rotational speed of the carrier 173 are related by a straight line. The faster the rotational speed of the sun gear 171, the faster the rotational speed of the carrier 173, and vice versa. As shown by the solid line in Figure 8, when the rotational speed of the sun gear 171 is speed Vs and the rotational speed of the ring gear 172 is speed Vr1, the rotational speed of the carrier 173 is speed Vc1. Here, speed Vr1 of the ring gear 172 is "0". As shown by the dashed dotted line in Figure 8, if the rotational speed of the ring gear 172 is Vr2, the rotational speed of the carrier 173 becomes Vc2, which is faster than Vc1. Thus, in the planetary gear mechanism 170, if the rotational speed of the ring gear 172 is varied while the rotational speed of the sun gear 171 is maintained constant, the rotational speed of the carrier 173 changes. In other words, the rotational speed of the drum 123 of the opening/closing mechanism 120 changes, and further, the opening/closing speed Vd of the sliding door 30 changes.

<Door control device 200>
As shown in FIG. 4 , the door control device 200 includes a position acquisition unit 201 that acquires the current position of the sliding door 30 , and a door control unit 202 that controls the door driving unit 100 .

The position acquisition unit 201 acquires the current position of the sliding door 30 based on the detection signals of the first sensor SE1 and the second sensor SE2. Here, the amount of movement of the sliding door 30 correlates with the amount of rotation of the drum 123, which correlates with the amount of rotation of the carrier 173, which correlates with the amount of rotation of the sun gear 171 and the amount of rotation of the ring gear 172. Furthermore, the amount of rotation of the sun gear 171 is equal to the amount of rotation of the first electric motor 111, and the amount of rotation of the ring gear 172 correlates with the amount of rotation of the worm 160, i.e., the amount of rotation of the second electric motor 112. Therefore, the position acquisition unit 201 can calculate the amount of movement of the sliding door 30 based on the amount of rotation of the first electric motor 111 and the amount of rotation of the second electric motor 112 and the reduction ratio of the transmission mechanism 130. Furthermore, when the sliding door 30 is opened from the fully closed position, the position acquisition unit 201 acquires the current position of the sliding door 30 by adding the amount of movement of the sliding door 30 in the opening direction to the fully closed position. On the other hand, when the sliding door 30 is closed from the fully open position, the position acquisition unit 201 acquires the current position of the sliding door 30 by adding the amount of movement of the sliding door 30 in the closing direction to the fully open position.

The door control unit 202 opens and closes the sliding door 30 by driving the first electric motor 111 and the second electric motor 112. When opening or closing the sliding door 30, the door control unit 202 selects a first mode in which the opening/closing speed Vd of the sliding door 30 is set to a first speed Vd1, or a second mode in which the opening/closing speed Vd of the sliding door 30 is set to a second speed Vd2 that is faster than the first speed Vd1.

The first mode is a mode in which only the first electric motor 111 is driven out of the first electric motor 111 and the second electric motor 112. In the first mode, the second electric motor 112 is not driven, and the ring gear 172 is locked by the worm 160 so that it cannot rotate. In other words, in the first mode, the rotational speeds of the sun gear 171, the ring gear 172, and the carrier 173 are as shown by the solid lines in Figure 8. On the other hand, the second mode is a mode in which both the first electric motor 111 and the second electric motor 112 are driven. In other words, the rotational speed of the second electric motor 112 in the second mode is increased compared to the rotational speed of the second electric motor 112 in the first mode. In the second mode, unlike the first mode, the ring gear 172 rotates. That is, in the second mode, the rotational speeds of the sun gear 171, ring gear 172, and carrier 173 are as shown by the dashed dotted lines in Figure 8. In this embodiment, the rotational speed of the first electric motor 111 is not changed in the first and second modes.

When the sliding door 30 is opened or closed, the load on the door drive unit 100 changes depending on the position of the sliding door 30. For example, when starting to operate a stopped sliding door 30, the load on the door drive unit 100 is likely to be greater than when continuing to operate a sliding door 30 that is already in the open or closed state. In other words, when starting to move a stopped sliding door 30, the load on the door drive unit 100 is likely to be greater than when moving a sliding door 30 that is already in the open or closed state. Furthermore, when closing the sliding door 30, the latch 41 needs to be rotated from the unlatched position to the fully latched position near the fully closed position. In this regard, the load on the door drive unit 100 is likely to be greater when closing the sliding door 30 near the fully closed position. Furthermore, when the load on the door drive unit 100 is high, if the operation mode of the sliding door 30 is set to the second mode, the load torque of both the first electric motor 111 and the second electric motor 112 increases. In this regard, the total current flowing through the first electric motor 111 and the second electric motor 112 increases. As a result, for example, the charge rate of the vehicle battery that supplies power to the door driver 100 may decrease significantly in a short period of time.

Therefore, in this embodiment, when the load on the door drive unit 100 is heavy, the door control unit 202 sets the operation mode of the sliding door 30 to the first mode, thereby preventing the total current flowing through the first electric motor 111 and the second electric motor 112 from becoming too large. On the other hand, when the load on the door drive unit 100 is not heavy, the door control unit 202 sets the operation mode of the sliding door 30 to the second mode, thereby increasing the opening/closing speed Vd of the sliding door 30. Furthermore, when stopping the sliding door 30, the door control unit 202 sets the operation mode of the sliding door 30 to the first mode so that the sliding door 30 does not stop suddenly. This is explained in detail below.

As shown in FIG. 9 , when the sliding door 30 is closed from the fully open position P4, the door control unit 202 starts the closing operation of the sliding door 30 in the first mode. That is, the sliding door 30 is closed at a first speed Vd1. When starting the closing operation of the sliding door 30, it is preferable to gradually increase the rotational speed of the first electric motor 111 so that the opening/closing speed Vd of the sliding door 30 gradually increases.

Next, when the sliding door 30 reaches the open reference position P3, which is set to a position closer to the fully open position P4 than the fully closed position P1, the door control unit 202 switches the operation mode of the sliding door 30 from the first mode to the second mode. When switching to the second mode, the door control unit 202 gradually increases the rotational speed of the second electric motor 112 while maintaining the rotational speed of the first electric motor 111. After the switch to the second mode is complete, the sliding door 30 is closed at the second speed Vd2.

When the sliding door 30 subsequently reaches the closing reference position P2, which is set to a position closer to the fully closed position P1 than the fully open position P4, the door control unit 202 switches the operation mode of the sliding door 30 from the second mode to the first mode. When switching to the first mode, the door control unit 202 gradually reduces the rotational speed of the second electric motor 112 without changing the rotational speed of the first electric motor 111. Preferably, the door control unit 202 starts switching to the first mode before the sliding door 30 reaches the closing reference position P2, so that the switching to the first mode is completed when the sliding door 30 reaches the closing reference position P2. After the switching to the first mode is completed, the sliding door 30 is closed at the first speed Vd1.

Finally, when the sliding door 30 reaches the fully closed position P1, the door control unit 202 ends the closing operation of the sliding door 30. When ending the closing operation of the sliding door 30, it is preferable to gradually reduce the rotational speed of the first electric motor 111 so that the opening/closing speed Vd of the sliding door 30 gradually decreases.

The opening and closing control of the sliding door 30 described with reference to Figure 9 is generally the same whether the opening operation of the sliding door 30 is initiated from the fully closed position or from an intermediate position between the fully open and fully closed positions. Furthermore, it is preferable that the closing-side reference position and the opening-side reference position are set to appropriate positions when the vehicle 10 is designed.

When the vehicle 10 is parked on an inclined road surface, a force corresponding to the weight of the sliding door 30 and the inclination of the road surface acts on the sliding door 30. Therefore, when the vehicle 10 is parked on an inclined road surface, the load on the door drive unit 100 during the opening and closing operations of the sliding door 30 may be greater than when the vehicle 10 is parked on a level road surface. Therefore, in this case, when the sliding door 30 is being closed, it is preferable not to change the operation mode of the sliding door 30 from the first mode to the second mode even if the sliding door 30 reaches the open reference position. Similarly, when the sliding door 30 is being opened, it is preferable not to change the operation mode of the sliding door 30 from the first mode to the second mode even if the sliding door 30 reaches the closed reference position.

Therefore, when the opening/closing operation of the sliding door 30 is initiated in the first mode, the door control unit 202 restricts switching from the first mode to the second mode if the load on the first electric motor 111 is heavy. In other words, the door control unit 202 restricts switching from the first mode to the second mode if the opening/closing speed Vd of the sliding door 30 does not increase normally. On the other hand, under the same circumstances, the door control unit 202 allows switching from the first mode to the second mode if the load on the first electric motor 111 is not heavy, in other words, if the opening/closing speed Vd of the sliding door 30 increases normally.

Next, with reference to Figure 10, the flow of processing performed by the door control device 200 to close the sliding door 30 will be described. This processing is performed when a user requests the sliding door 30 to be closed. The user requests the sliding door 30 to be closed, for example, by operating the door handle of the sliding door 30 or a switch provided on a portable device. The processing flow for opening the sliding door 30 is the same as the processing flow for closing the sliding door 30, so it will not be described here.

As shown in FIG. 10 , when a user requests the sliding door 30 to close, the door control device 200 drives the first electric motor 111 (S11). That is, the door control device 200 starts the closing operation of the sliding door 30 in the first mode. Next, the door control device 200 determines whether the sliding door 30 has reached the open-side reference position (S12). If the sliding door 30 has not reached the open-side reference position (S12: NO), the door control device 200 proceeds to step S12. On the other hand, if the sliding door 30 has reached the open-side reference position (S12: YES), the door control device 200 determines whether the opening/closing speed Vd of the sliding door 30 is equal to or greater than the judgment speed Vdth (S13). In step S13, the judgment speed Vdth is a value used to determine whether the opening/closing speed Vd of the sliding door 30 has increased to the expected opening/closing speed Vd. In other words, if the opening/closing speed Vd of the sliding door 30 is less than the judgment speed Vdth, this indicates that the sliding door 30 is not able to increase its speed properly due to a large load on the door drive unit 100. The judgment speed Vdth is set to be less than the first speed Vd1.

If the opening/closing speed Vd of the sliding door 30 is equal to or greater than the threshold speed Vdth (S13: YES), in other words, if the load torque of the first electric motor 111 is not large, the door control device 200 drives the second electric motor 112 (S14). That is, the door control device 200 switches from the first mode to the second mode. Next, the door control device 200 determines whether the sliding door 30 has reached the closed reference position (S15). If the sliding door 30 has not reached the closed reference position (S15: NO), the door control device 200 proceeds to step S15. On the other hand, if the sliding door 30 has reached the closed reference position (S15: YES), the door control device 200 stops the second electric motor 112 (S16). That is, the door control device 200 switches from the second mode to the first mode.

Next, the door control device 200 determines whether the sliding door 30 has reached the fully closed position (S17). Here, the door control device 200 may determine whether the sliding door 30 has reached the fully closed position based on the detection signals of the first sensor SE1 and the second sensor SE2. Alternatively, the door control device 200 may determine whether the sliding door 30 has reached the fully closed position based on whether the latch 41 of the door lock device 40 has rotated to the fully latched position. In the latter case, the door lock device 40 preferably has a switch that outputs different signals to the door lock device 40 depending on whether the latch 41 is in the fully latched position. If the sliding door 30 has not reached the fully closed position (S17: NO), the door control device 200 proceeds to step S17. On the other hand, if the sliding door 30 has reached the fully closed position (S17: YES), the door control device 200 stops the first electric motor 111 (S18). The door control device 200 then terminates this process.

On the other hand, if the opening/closing speed Vd of the sliding door 30 is less than the determination speed Vdth in step S13 (S13: NO), in other words, if the load torque of the first electric motor 111 is large, the door control device 200 proceeds to step S17. In other words, in this case, the sliding door 30 is closed without switching from the first mode to the second mode.

In the process described above, it is preferable that the door control unit 202 executes a process to prevent the user or foreign objects from getting caught. Specifically, it is preferable that the door control unit 202 halt the opening and closing operation of the sliding door 30 if the load torque of the first electric motor 111 suddenly increases, in other words, if the opening and closing speed Vd of the sliding door 30 suddenly decreases.

<Actions and Effects of This Embodiment>
(1) In the first mode, the door control device 200 can open and close the sliding door 30 at a low first speed Vd1 by driving the sun gear 171 of the planetary gear mechanism 170 with the first electric motor 111 while keeping the ring gear 172 of the planetary gear mechanism 170 stopped. In the second mode, the door control device 200 can open and close the sliding door 30 at a high second speed Vd2 by driving the sun gear 171 and ring gear 172 of the planetary gear mechanism 170 with the first electric motor 111 and the second electric motor 112, respectively. In other words, the door control device 200 can select the first mode when it is desired to open and close the sliding door 30 at a low speed, and can select the second mode when it is desired to open and close the sliding door 30 at a high speed. In this way, the door control device 200 can increase the opening and closing speed Vd of the sliding door 30 as needed.

(2) For example, consider a comparative example in which the first electric motor 111 and the second electric motor 112 are driven in the first mode, and the second electric motor 112 is driven at a lower rotational speed than in the second mode. In this comparative example, if the load on the door drive unit 100 increases when the sliding door 30 is opened or closed in the first mode, the total current flowing through the first electric motor 111 and the second electric motor 112 may increase. In this regard, the door control device 200 does not drive the second electric motor 112 in the first mode. Therefore, even if the load on the door drive unit 100 increases when the sliding door 30 is opened or closed in the first mode, no current flows through the second electric motor 112. Therefore, the door control device 200 can prevent the total current flowing through the first electric motor 111 and the second electric motor 112 from increasing in the first mode.

(3) In situations such as when the vehicle 10 is parked on a slope, the load on the door driver 100 may not decrease even after some time has passed since the opening or closing operation of the sliding door 30 began. In such a case, when the first mode is switched to the second mode, the load torque of both the first electric motor 111 and the second electric motor 112 increases, which may increase the total current flowing through the first electric motor 111 and the second electric motor 112. In this regard, the door control device 200 restricts switching from the first mode to the second mode when the opening or closing speed Vd of the sliding door 30 is less than the threshold speed Vdth—in other words, when the load on the door driver 100 does not decrease. Therefore, the door control device 200 can prevent the total current flowing through the first electric motor 111 and the second electric motor 112 from increasing after switching to the second mode.

(4) When the load on the door drive unit 100 increases, the door control device 200 opens and closes the sliding door 30 in the first mode. On the other hand, when the load on the door drive unit 100 does not increase, the door control device 200 opens and closes the sliding door 30 in the second mode. This allows the door control device 200 to appropriately select the opening and closing speed Vd of the sliding door 30. As a result, the time required to open and close the sliding door 30 is reduced compared to a comparative example in which the sliding door 30 is opened and closed only in the first mode. Furthermore, compared to a comparative example in which the sliding door 30 is opened and closed only in the second mode, the total value of the current flowing through the first electric motor 111 and the second electric motor 112 is less likely to increase when the load on the door drive unit 100 increases.

(5) When switching from one of the first mode and the second mode to the other, the door control device 200 gradually changes the rotational speed of the second electric motor 112. As a result, the door control device 200 can prevent a sudden change in the opening/closing speed Vd of the sliding door 30 when switching modes.

(6) The door control device 200 can acquire the position of the sliding door 30 based on the detection signals of the first sensor SE1 and the second sensor SE2. Based on the position of the sliding door 30, the door control device 200 can then appropriately determine the timing to switch the operation mode of the sliding door 30.

(7) In the first mode, the door opening/closing device 50 needs to lock the ring gear 172 of the planetary gear mechanism 170. In this regard, the external teeth 172a of the ring gear 172 and the worm 160 form a worm gear mechanism with self-locking properties. Therefore, the door opening/closing device 50 can lock the ring gear 172 of the planetary gear mechanism 170 in the first mode without providing any additional configuration.

(8) When the sliding door 30 is closed near the fully closed position, the door opening/closing device 50 switches the operation mode of the sliding door 30 to the first mode. Therefore, the door opening/closing device 50 can rotate the latch 41 from the unlatched position to the fully latched position while suppressing an increase in the current flowing through the first electric motor 111 and the second electric motor 112 of the door drive unit 100. In other words, the door opening/closing device 50 does not need to be provided with a separate close actuator for rotating the latch 41 from the unlatched position to the fully latched position.

(9) For example, consider a comparative example in which the drum 123 is driven by a single electric motor and a general transmission. In this case, impacts may be applied to the drum 123 when shifting gears, which could prevent the sliding door 30 from opening and closing smoothly. In this regard, the door opening and closing device 50 of this embodiment changes gears by adjusting the rotational speed of the ring gear 172 of the planetary gear mechanism 170, thereby preventing impacts from being applied to the drum 123 when shifting gears.

<Example of change>
This embodiment can be modified as follows: This embodiment and the following modifications can be combined and implemented within the scope of technical compatibility.

- If the load on the door drive unit 100 becomes large while the sliding door 30 is being opened or closed in the second mode, the door control device 200 may switch the operating mode of the sliding door 30 from the second mode to the first mode.

- During the closing operation of the sliding door 30, even if the opening/closing speed Vd when the sliding door 30 reaches the open-side reference position is less than the judgment speed Vdth (S13: NO), the door control device 200 does not have to maintain the operation mode of the sliding door 30 in the first mode. For example, even in the above case, if the opening/closing speed Vd of the sliding door 30 becomes equal to or greater than the judgment speed Vdth before the sliding door 30 reaches the closed-side reference position, the operation mode of the sliding door 30 may be switched to the second mode.

- The timing for switching between the first mode and the second mode in the door control device 200 can be changed as appropriate. For example, if the vehicle 10 is equipped with a sensor that outputs a signal when the sliding door 30 passes a predetermined position, the door control device 200 may switch the operation mode of the sliding door 30 based on the signal output by the sensor.

- The door control device 200 may drive the second electric motor 112 in the first mode. However, the rotational speed of the second electric motor 112 in the first mode is set to be slower than the rotational speed of the second electric motor 112 in the second mode.

- The door control device 200 may increase the rotational speed of the first electric motor 111 when switching from the first mode to the second mode. Similarly, the door control device 200 may decrease the rotational speed of the first electric motor 111 when switching from the second mode to the first mode.

- The door control device 200 does not need to determine whether to switch from the first mode to the second mode by comparing the opening/closing speed Vd of the sliding door 30 with the determination speed Vdth. For example, the door control device 200 may determine whether to switch from the first mode to the second mode based on the magnitude of the current flowing through the first electric motor 111.

- In Figure 9, the opening/closing speed Vd when the sliding door 30 is opened or closed near the fully open position P4 does not have to be the same as the opening/closing speed Vd when the sliding door 30 is opened or closed near the fully closed position P1.

- In FIG. 9, the opening/closing speed Vd when the sliding door 30 is opened or closed near the fully open position P4 does not have to be the same when the sliding door 30 is opened and when the sliding door 30 is closed. Similarly, the opening/closing speed Vd when the sliding door 30 is opened or closed near the fully closed position P1 does not have to be the same when the sliding door 30 is opened and when the sliding door 30 is closed.

The door driving unit 100 may include a reducer between the first electric motor 111 and the support shaft 175 , or may include a reducer between the carrier 173 and the drum 123 .
The opening/closing mechanism 120 may be a belt-driven mechanism instead of a cable-driven mechanism. In this case, the opening/closing mechanism 120 preferably has a drive pulley, a driven pulley, and a belt wound around the drive pulley and the driven pulley. The carrier 173 of the transmission mechanism 130 is preferably connected to the drive pulley.

- Of the three rotating elements of the planetary gear mechanism 170, the sun gear 171, the ring gear 172, and the carrier 173, the rotating element that is driven by the first electric motor 111 may be the ring gear 172 or the carrier 173. Similarly, the rotating element that is driven by the second electric motor 112 may be the sun gear 171 or the carrier 173. Similarly, the rotating element that transmits power to the drum 123 of the opening/closing mechanism 120 may be the sun gear 171 or the ring gear 172.

The planetary gear mechanism 170 in the above embodiment is a so-called 2K-H type. In other embodiments, the planetary gear mechanism 170 may be a 3K type or a KHV type.
The sliding door 30 may be a swing door or a back door, which are examples of a “vehicle door.” In other words, the vehicle door to be driven by the door drive unit 100 does not have to be the sliding door 30.

- The phrase "at least one" as used herein means "one or more" of the desired options. As an example, the phrase "at least one" as used herein means "only one option" or "both of two options" if the number of options is two. As another example, the phrase "at least one" as used herein means "only one option" or "any combination of two or more options" if the number of options is three or more.

DESCRIPTION OF SYMBOLS 10... Vehicle 20... Vehicle body 21... Door opening 25... Striker 30... Sliding door 40... Door lock device 50... Door opening/closing device 100... Door drive unit 111... First electric motor 112... Second electric motor 120... Opening/closing mechanism 130... Transmission mechanism 160... Worm 170... Planetary gear mechanism 171... Sun gear (rotating element)
172...Ring gear (rotating element)
173...Carrier (rotating element)
174... Planetary gear 200... Door control device 201... Position acquisition unit 202... Door control unit SE1... First sensor SE2... Second sensor

Claims (7)

A door control device applied to a door drive unit including a planetary gear mechanism having three rotating elements, namely, a sun gear, a ring gear, and a carrier; a first electric motor that drives one of the three rotating elements; a second electric motor that drives one of the remaining two rotating elements; and an opening/closing mechanism that opens and closes a vehicle door based on power transmitted from the last one of the rotating elements,
a door control unit that controls the first electric motor and the second electric motor to open and close the vehicle door in a first mode in which the opening and closing speed of the vehicle door is a first speed or in a second mode in which the opening and closing speed of the vehicle door is a second speed that is faster than the first speed;
In the first mode, at least the first electric motor of the first electric motor and the second electric motor is driven;
In the second mode, both the first electric motor and the second electric motor are driven, and the rotation speed of the second electric motor is increased compared to the first mode. The vehicle door control device according to claim 1 , wherein in the first mode, the first electric motor is driven while the second electric motor is stopped. 3. The vehicle door control device according to claim 1, wherein the door control unit switches the vehicle door opening/closing operation to the second mode after starting the vehicle door opening/closing operation in the first mode, and switches the vehicle door opening/closing operation from the second mode to the first mode before completing the vehicle door opening/closing operation. The vehicle door control device according to claim 3 , wherein the door control unit restricts switching from the first mode to the second mode when an opening/closing speed of the vehicle door is less than a determination speed. The vehicle door control device according to claim 3 , wherein the door control unit gradually changes the rotation speed of the second electric motor when switching from one of the first mode and the second mode to the other. the door driving unit includes a first sensor that detects the amount of rotation of the first electric motor and a second sensor that detects the amount of rotation of the second electric motor,
a position acquisition unit that acquires a position of the vehicle door based on detection signals from the first sensor and the second sensor;
The vehicle door control device according to claim 3 , wherein the door control unit switches between the first mode and the second mode based on a position of the vehicle door. a door drive unit including a planetary gear mechanism having three rotating elements, i.e., a sun gear, a ring gear, and a carrier; a first electric motor that drives one of the three rotating elements; a second electric motor that drives one of the remaining two rotating elements; and an opening/closing mechanism that opens and closes a vehicle door based on power transmitted from the last one of the rotating elements;
a door control unit that controls the first electric motor and the second electric motor to open and close the vehicle door in a first mode in which the opening and closing speed of the vehicle door is a first speed or in a second mode in which the opening and closing speed of the vehicle door is a second speed that is faster than the first speed,
a drive target of the second electric motor is the ring gear,
the door drive unit has a worm that transmits power of the second electric motor to the ring gear,
the ring gear includes internal teeth that mesh with the planetary gears rotatably supported by the carrier, and external teeth that mesh with the worm,
In the first mode, the door control unit drives the first electric motor while stopping the second electric motor, and in the second mode, drives both the first electric motor and the second electric motor.