Opening and closing body control device for vehicle
An opening and closing body control device for a vehicle includes: a control unit configured to control an opening and closing body drive device driving an opening and closing body of a vehicle to open and close the opening and closing body based on an operation request; and a detection unit configured to detect an obstacle present around the opening and closing body based on a detection result of an obstacle sensor. The control unit sets an operation speed of the opening and closing body to a first speed when the obstacle is not detected during an operation of the opening and closing body, and sets the operation speed to a second speed or less and causes the opening and closing body to stop at a position where the opening and closing body is close to the obstacle, when the obstacle is detected during the operation.
1. An opening and closing body control device for a vehicle, comprising:
a control unit configured to control an opening and closing body drive device that drives an opening and closing body of a vehicle to open and close the opening and closing body based on an operation request; and
a detection unit configured to detect an obstacle present around the opening and closing body based on a detection result of an obstacle sensor, wherein
the control unit is configured to:
set an operation speed of the opening and closing body to a first speed when the obstacle is not detected during an operation of the opening and closing body, and
determine a first measurement distance from the opening and closing body to the obstacle when the obstacle is detected,
set the operation speed of the opening and closing body to a second speed or less, the second speed being lower than the first speed, and causes the opening and closing body to stop at a position where the opening and closing body is equal to or less than a predetermined distance from the obstacle, when the obstacle is detected during the operation of the opening and closing body,
restrict an opening operation of the opening and closing body when the first measurement distance is less than a predetermined restriction measurement distance, and
control the drive device to unlatch a lock device for the opening and closing body when the obstacle is not detected by the detection unit, and control the drive device to unlatch the lock device when the obstacle is detected by the detection unit and the opening operation of the opening and closing body is restricted.
2. The opening and closing body control device for a vehicle according to claim 1 , wherein
when a distance from the opening and closing body to the obstacle when the control unit causes the opening and closing body to stop is set as the first determination distance,
the control unit is configured to, in a situation where the obstacle is detected during the operation of the opening and closing body,
set the operation speed of the opening and closing body to the second speed when the distance from the opening and closing body to the obstacle is equal to or greater than a second determination distance which is longer than the first determination distance, and
decrease the operation speed of the opening and closing body as the distance decreases when the distance from the opening and closing body to the obstacle is less than the second determination distance.
3. The opening and closing body control device for a vehicle according to claim 2 , wherein
the control unit is configured to, in the situation where the obstacle is detected during the operation of the opening and closing body,
increase the operation speed of the opening and closing body when the obstacle is no longer present, when the distance from the opening and closing body to the obstacle was less than the second determination distance.
4. The opening and closing body control device for a vehicle according to claim 1 , wherein when the obstacle is present around the back door, the control unit is further configured to set a target stop position, which is a position equal to or less than a predetermined distance from the obstacle, before the operation of the back door is started.
5. The opening and closing body control device for a vehicle according to claim 3 , wherein the control unit is further configured to set an upper limit of the operation speed to the second speed when increasing the operation speed of the opening and closing body.