Door opening/closing control device
A control device controls opening/closing of a sliding door of a vehicle by a motor in cooperation with a drive device that opens and closes the sliding door, and applies proportional plus integral plus differential control to motor speed based on a driving pattern of the sliding door. When a difference between a door speed and a motor speed exceeds a threshold, the control device judges that the vehicle is parked in a tilted state, and adjusts a sum of a proportional element, an integral element, and a differential element of a proportional plus integral plus differential control to a vehicle-tilted time element.
1. A control device for controlling opening/closing of a sliding door of a vehicle by a motor in cooperation with a drive device that opens and closes the sliding door, comprising:
a detecting unit that detects door speed of the sliding door;
an applying unit that controls a speed of the sliding door, based on a control pattern of the sliding door set in advance, by controlling a speed of the motor with proportional-integral-derivative control;
a tilt-judging unit that judges, when a difference between the door speed and the motor speed exceeds a threshold within a first predetermined time from when the sliding door starts to open/close, that the vehicle is parked in a tilted state; and
an adjusting unit that adjusts a sum of a proportional element, an integral element, and a derivative element of the proportional-integral-derivative control to a vehicle-tilted time element.
2. The control device according to claim 1 , wherein the vehicle-tilted time element limits the sum of the proportional element, the integral element, and the derivative element.
3. The control device according to claim 1 , further comprising:
a calculating unit that calculates a hunting judgment position after elapse of a second predetermined time from when the tilt-judging unit judges that the vehicle is parked in a tilted state,
wherein when the sliding door does not reach the hunting judgment position after the elapse of the second predetermined time, the tilt-judging unit does not perform judgment of whether the vehicle is parked in a tilted state and the adjusting unit does not perform adjustment of the vehicle-tilted time element.