Opening and closing body control apparatus for a vehicle

An opening and closing body control apparatus for a vehicle includes an assist control portion configured to detect an operation of an opening and closing body of the vehicle by an operator or a user and control voltage applied to a motor serving as a drive source which applies a drive force to the opening and closing body during the operation of the opening and closing body by the operator or the user. The assist control portion applies an assist voltage and an offset voltage alternately to the motor to operate an assist control for applying the drive force to the opening and closing body. The assist voltage for rotating the motor at a rotation speed which corresponds to an operation speed of the opening and closing body and the offset voltage being lower than the assist voltage.

CROSS REFERENCE TO RELATED APPLICATIONS

This application is based on and claims priority under 35 U.S.C. § 119 to Japanese Patent Application 2019-007623, filed on Jan. 21, 2019, the entire content of which is incorporated herein by reference.

TECHNICAL FIELD

This disclosure generally relates to an opening and closing body control apparatus for a vehicle.

BACKGROUND DISCUSSION

An opening and closing body control apparatus applying drive force to an opening and closing body of a vehicle by employing a motor as a drive source is known in JP6145444B (hereinafter referred to as Patent reference 1). According to Patent reference 1, for example, the opening and closing body control apparatus determines that the opening and closing body is operated by an operator or a user in a case where the opening and closing body operates in operation speed which exceeds a predetermined threshold value. In a case where the opening and closing body control apparatus detects the operation of the opening and closing body, the drive force in an operation direction is applied relative to the opening and closing body. Accordingly, the opening and closing body may be opened and closed by the motor drive system.

Furthermore, when employed in the vehicle, because the opening and closing body is required to be stopped at a position between a fully-closed position and a fully-open position, the drive force relative to the opening and closing body is required to be applied so as to assist the user who opens and closes the opening and closing body. Since the followability relative to the operation of the opening and closing body is an important issue for the assist control described above, further enhancement is required.

A need thus exists for an opening and closing body control apparatus for a vehicle which is not susceptible to the drawback mentioned above.

SUMMARY

According to an aspect of this disclosure, an opening and closing body control apparatus for a vehicle includes an assist control portion detecting an operation of an opening and closing body configured to be provided at the vehicle, controlling voltage applied to a motor serving as a drive source, and applying a drive force to the opening and closing body in a direction in which the operation of the opening and closing body is assisted. The assist control portion applies an assist voltage and an offset voltage alternately to the motor to operate an assist control for applying the drive force to the opening and closing body, the assist voltage for rotating the motor at a rotation speed which corresponds to an operation speed of the opening and closing body, the offset voltage which is lower than the assist voltage.

DETAILED DESCRIPTION

Hereinafter, an embodiment of an opening and closing body control apparatus for a vehicle will be explained with reference to drawings.

As illustrated inFIG.1, a vehicle1of the embodiment includes a backdoor10which is a so-called flap door at a door opening portion5provided at a rear end portion2rof a vehicle body2. That is, the backdoor10opens upwardly by employing an upper end part of the door opening portion5as a rotation fulcrum. A pair of support devices20is provided at opposite end portions of the door opening portion5in a width direction, the support devices20each including an extendable-and-retractable axial shape and each including opposing end portions in an axial direction, the opposing end portions being connected to the vehicle body2and the backdoor10, respectively, so as to be rotatable therewith. Because the support devices20support the backdoor10, the backdoor10may be maintained at any operation position X which is between a fully-closed position X0and a fully-open position X1.

According to the embodiment, the vehicle1includes drive devices30driving the backdoor10as the opening and closing body by employing a motor25as a drive source. Specifically, the vehicle1of the embodiment includes the drive devices30which each is integrally provided with each of the support devices20. That is, the drive device30converts the rotation of the motor25into the extending and retracting movement of the support device20. The vehicle1of the embodiment includes a power backdoor device40which opens and closes the backdoor10based on or in response to the drive force of the motor25.

In particular, as shown inFIG.2, the power backdoor device40of the embodiment includes an inner tube41and an outer tube42. The inner tube41includes a first end that is rotatably connected to one of the vehicle body2and the back door10. The outer tube42includes a first end that is rotatably connected to the other of the vehicle body2and the backdoor10in a state of fitting onto the inner tube41. The power backdoor device40includes a spindle screw43which is provided within the inner tube41and the outer tube42so as to be coaxial therewith. In the power backdoor device40of the embodiment, the spindle screw43is axially and rotatably supported by a bearing44fixed inside the outer tube42. The power backdoor device40includes a spindle nut45fixed inside the inner tube41so as to be threaded to the spindle screw43. In the power backdoor device40of the embodiment, the inner tube41and the outer tube42are relatively displaced from each other in an axial direction in accordance with the rotation of the spindle screw43.

The power backdoor device40of the embodiment includes a compression coil spring46which is provided between the inner tube41and the outer tube42in a state where a first end of the compression coil spring46fits onto the inner tube41and a second end of the compression coil spring46is disposed inside the outer tube42. That is, the power backdoor device40of the embodiment biases the inner tube41and the outer tube42in a direction in which the inner tube41and the outer tube42that are concentrically provided with each other extend, that is, in which the backdoor10opens, based on or in response to the elastic force of the compression coil spring46. The power backdoor device40in the embodiment functions as the support devices20supporting the backdoor10in the open state.

The power backdoor device40of the embodiment includes, at the first end of the outer tube42, an accommodation chamber47for the motor25which serves as the drive source. That is, the power backdoor device40of the embodiment relatively moves the inner tube41and the outer tube42in the axial direction, the inner tube41and the outer tube42that are concentrically provided with each other by rotating the spindle screw43by employing the motor25as the drive source. The power backdoor device40of the embodiment generates the drive force for opening and closing the backdoor10.

In particular, as illustrated inFIG.1, a door Electric Control Unit50or a door ECU50controls the operation of the power backdoor device40of the embodiment, the door ECU50serving as a control device. The vehicle1of the embodiment includes an opening and closing body control apparatus51which controls the opening and closing operation of the backdoor10.

Specifically, the door ECU50of the embodiment controls voltage V applied to the motor25serving as the drive source. The power backdoor device40of the embodiment outputs pulse signals Sp synchronized with the rotation of the motor25. The door ECU50detects an operation position X and an operation speed N of the backdoor10by counting edges of the pulse signals Sp. In the embodiment, the operation speed N of the backdoor10is expressed by a rotation speed of the motor per unit time which is rotations per minute or rpm. The door ECU50of the embodiment controls the operation of the power backdoor device40serving as the drive device30, that is, the application of the drive force relative to the back door10in response to the detection of the operation position X and the operation speed N.

The assist control of the backdoor10operated by the door ECU50of the embodiment will hereunder be explained.

As illustrated in a flowchart inFIG.3, in a case of detecting the operation position X and the operation speed N of the back door10(Step S101), the door ECU50of the embodiment determines whether the opening or closing operation of the backdoor10by an operator or a user is performed based on the operation position X and the operation speed N of the back door10(Step S102). Accordingly, in a case of detecting the operation of the backdoor10(Step S103: YES), the door ECU50of the embodiment operates the assist control for applying the drive force, that is, the assist force, in a direction in which the operation of the backdoor10is assisted (Step S104to Step S106).

Specifically, as illustrated in a flowchart inFIG.4, the door ECU50of the embodiment determines whether the operation position X of the backdoor10changes by a predetermined amount, that is, whether the backdoor10operates equal to or greater than a predetermined operation determination distance (Step S201), when a backdoor operation is determined in Step S102. In a case of detecting that the backdoor10operates equal to or greater than the predetermined operation determination distance in Step S201(Step S201: YES), the door ECU50determines whether the operation speed N is equal to or greater than a predetermined speed N1(Step S202). In a case of detecting the operation speed N which is equal to or greater than the predetermined speed N1(N≥N1, Step S202: YES), the door ECU50determines that the backdoor10is operated (Step S203).

As shown in a flowchart inFIG.3, in a case of detecting the operation of the backdoor10by the process from Step S101to Step S103, the door ECU50of the embodiment detects the operation position X and the operation speed N of the backdoor10(Step S104). The door ECU50calculates an assist voltage Va for applying the assist force to the backdoor10in response to the operation speed N of the backdoor10(Step S105). The door ECU50of the embodiment controls a voltage V applied to the motor25serving as the drive source of the power backdoor device40based on the assist voltage Va calculated in Step S105(Step S106).

In particular, as shown inFIG.5, the door ECU50of the embodiment calculates the assist voltage Va including greater value as the operation speed N of the backdoor10expressed by the motor rotation speed increases. That is, the higher the voltage V applied to the motor25is, the faster the motor24rotates. Based on this point, as described above, the door ECU50calculates the assist voltage Va for rotating the motor25at a rotation speed that corresponds to or supports the operation speed N of the backdoor10. The door ECU50of the embodiment applies the appropriate assist force to the backdoor10which is opened and closed by the operation of the user.

In the embodiment, the voltage V applied to the motor25is expressed by a duty ratio of pulse width modulation control or PWM control operated by the door ECU50. The door ECU50of the embodiment calculates the assist voltage Va which corresponds to or supports the operation speed N of the backdoor10by maintaining a control map shown inFIG.5or a calculation table in a storage region55.

As illustrated in the flowchart inFIG.3, the door ECU50of the embodiment operates the speed decrease determination of the back door10during the operation of the assist control (Step S107). In a state of detecting a decrease of the operation speed N indicating the stop of the operation relative to the back door10as a result of the speed decrease determination in Step S107(Step S108: YES), the door ECU50of the embodiment stops the operation of the assist control of the application of the voltage to the motor25which serves as the drive source (Step S109).

Specifically, the door ECU50of the embodiment maintains the operation speed N of the back door10to the storage region55at a time point whenever the operation position X of the back door10changes (seeFIG.1). The door ECU50operates the speed decrease determination in Step S107in response to the comparison between an operation speed Nb which is immediately before being stored in the storage region55and the current operation speed N.

In particular, as illustrated in a flowchart inFIG.6, in the speed decrease determination in Step S107, the door ECU50of the embodiment reads out an operation speed which is before the back door10moves by a predetermined stop determination distance as the operation speed Nb which is immediately before being stored in the storage region55(Step S301). Next, the door ECU50compares a value which is summed by the subtraction of the operation speed N from the operation speed Nb which is immediately before being stored in the storage region55with a predetermined decreased speed threshold value N2(Step S302). In Step S302, in a case where a value summed by the subtraction of the current operation speed N from the immediately-before operation speed Nb is equal to or greater than the predetermined decreased speed threshold value N2(Step S302: YES, (Nb−N)≥N2), the door ECU50determines that the decrease of the operation speed N of the back door10indicating the stop of the operation is detected (Step S303).

That is, the operation speed N of the back door10decreases as the operation force by the user decreases. As the operation speed N decreases, the assist voltage Va calculated in Step S105decreases. Accordingly, the operation speed N of the backdoor10further decreases as the voltage V applied to the motor25serving as the drive source decreases.

The door ECU50of the embodiment detects the decrease of the operation speed N caused by the stop of the operation of the back door10by the user in Step S107. Accordingly, the operation of the assist control is stopped so that the application of the drive force relative to the back door10is operated after the operation of the back door10by the user.

Further in detail, as illustrated inFIG.7, the door ECU50of the embodiment calculates an assist voltage Va and an offset voltage Vb. The assist voltage Va corresponds to a voltage for rotating the motor25at the rotation speed which corresponds to or supports the operation speed N of the hack door10, The offset voltage Vb is lower than the assist voltage Va. The assist voltage Va and the offset voltage Vb include the same reference numeral V. The door ECU50of the embodiment alternately applies the assist voltage Va and the offset voltage Vb to the motor25when the voltage control is operated in Step S106.

Specifically, the door ECU50of the embodiment calculates the offset voltage Vb by subtracting a predetermined offset value α from the assist voltage Va calculated in Step S105(Vb=Va−α). An application time tb of the offset voltage Vb is set shorter than an application time ta of the assist voltage Va. For example, the application time ta of the assist voltage Va is set approximately several hundred millimeter seconds, whereas the application time tb of the offset voltage Vb is set from a fraction of, to one-tenth of the application time ta. The door ECU50of the embodiment may apply the appropriate assist force to the back door10by following the operation of the user, and may stop the operation of the assist control speedily or promptly after the user stops the operation.

That is, the operation speed N of the opening and closing body of the vehicle1such as the back door10may be difficult to decrease even after the user stops the operation. In this case, the assist voltage Va calculated in response to the operation speed N of the back door10may be difficult to be decreased. Accordingly, because the decrease of the operation speed N is delayed, the followability relative to the operation of the user may be decreased.

For example, as shown inFIG.8, in a case where, for example, the vehicle1is on an inclined path60, the backdoor10may be biased in the operation direction due to the inclination of the vehicle1. That is, the vehicle1shown inFIG.8is in an inclined state in the front-rear direction and has a rear end portion2rwhich is disposed downward, the rear end portion2rwhere the backdoor10is provided. Further, the backdoor10is in a biased state in an opening direction by gravity due to the inclination of the vehicle1. In the vehicle1, the biasing action by the inclination tends to be remarkable in a case where the backdoor10is disposed close to the fully-closed position X0due to such inclination.

That is, in a state where the user stops the opening operation at the operation position X which is close to the fully-closed position X0, the operation speed N of the backdoor10of the vehicle1shown in this example is difficult to be decreased. In this case, because the timing to stop the assist control is delayed due to the delay of the speed decrease, the backdoor10may be operated in the opening direction relative to a desired stop position.

Based on this point, the door ECU50of the embodiment applies the assist voltage Va and the offset voltage Vb alternately relative to the motor25, the assist voltage Va for rotating the motor25at the rotation speed which corresponds to or supports the operation speed N of the backdoor10, the offset voltage Vb that is lower than the assist voltage Va. Accordingly, because a voltage decrease area where the rotation speed of the motor25decreases is periodically provided, the operation speed N of the backdoor10may speedily decrease after the user stops the operation.

That is, the user of the backdoor10applies the operation force to the backdoor10as complimenting the decrease of the assist force due to the application of the offset voltage Vb to the motor25, the offset voltage Vb which is lower than the assist voltage Va. Accordingly, the backdoor10may be operated with the desired operation speed N.

Meanwhile, after the user stops the operation of the backdoor10, the assist force which decreases due to the application of the offset voltage Vb is not complemented so that the operation speed N of the backdoor10is decreased at the voltage decrease area based on the offset voltage Vb. Then, the smaller assist voltage Va and the offset voltage Vb are calculated based on the decreased operation speed N. The door ECU50of the embodiment may stop the operation of the assist control speedily by the further decrease of the operation speed N of the backdoor10.

Next, according to the aforementioned embodiment, following effects may be attained.

(1) The door ECU50serving as an assist control portion50adetects the operation of the backdoor10which serves as the opening and closing body of the vehicle1, and controls the voltage V applied to the motor25serving as the drive source of the backdoor10to apply the drive force in a direction in which the operation is complemented. The door ECU50alternately applies the assist voltage Va and the offset voltage Vb to the motor25to operate the assist control for applying the drive force to the back door10, the assist voltage Va for rotating the motor25at the rotation speed which corresponds to or supports the operation speed N of the backdoor10, the offset voltage Vb which is lower than the assist voltage Va.

According to the aforementioned configuration, by applying the assist voltage Va for rotating the motor25at the rotation speed which corresponds to or supports the operation speed N of the backdoor10opened and closed by the operation of the user, the door ECU50may appropriately apply the assist force relative to the backdoor10so as to follow the operation. Because the door ECU50applies alternately the assist voltage Va and the offset voltage Vb which is lower than the assist voltage Va, the voltage decrease area where the rotation speed of the motor25decreases is formed periodically. Thus, after the user stops the operation, the operation speed N of the backdoor10may speedily decrease. As a result, the followability relative to the operation of the backdoor10may be enhanced.

(2) The application time tb of the offset voltage Vb is set shorter than the application time to of the assist voltage Va.

According to the aforementioned configuration, the assist force may be appropriately applied without making the user who operates the backdoor10uncomfortable, and at the same time, and the operation speed N of the backdoor10may speedily decrease after the user stops the operation.

(3) The door ECU50serving as an assist stop portion50bstops the operation of the assist control after detecting the decrease of the operation speed N of the back door10, the operation speed indicating the stop of the operation.

That is, by monitoring the decrease of the operation speed N, the door ECU50may detect that the operation of the back door10is stopped with a simple configuration. The door ECU50stops the operation of the assist control in accordance with the detection so that the followability relative to the operation of the back door10may be enhanced.

The operation speed N of the opening and closing body of the vehicle1, which is as the back door10, the operation speed N may be difficult to decrease even after the user stops operation. However, even in this case, according to the configuration shown in (1), the operation speed N of the back door10may speedily decrease after the user stops the operation. Accordingly, the assist control may be stopped speedily.

The above described embodiment may be modified as follows;

In the embodiment, the support devices20supporting the back door10and the drive devices30applying the drive force to the back door10which has the motor25as the drive source are integrally provided as the power backdoor device40. Alternatively, the support devices20and the drive devices30may be separately provided. Each of the configurations of the support devices20and the drive devices30may be freely changed.

According to the aforementioned embodiment, in a case of detecting that the back door10operates equal to or greater than a predetermined operation determination distance, and in a case where the operation speed N is equal to or greater than the predetermined speed N1, the door ECU50determines that the operation of the backdoor10is detected and operates the assist control. Alternatively, the operation determination method may be freely changed.

In the aforementioned embodiment, in a case where a value calculated by the subtraction of the current operation speed N from the immediately-before operation speed Nb corresponds to equal to or greater than the predetermined decreased speed threshold value N2, the door ECU50determines that the decrease of the operation speed N indicating the stop of the operation relative to the backdoor10is detected, and stops the operation of the assist control. Alternatively, for example, in a case where the operation speed N of the backdoor10corresponds to equal to or lower than a predetermined threshold value, the door ECU50may determine that the decrease of the operation speed N indicating the stop of the operation is detected. The door ECU50may employ a method other than monitoring the decrease of the operation speed of the backdoor10, the method stopping the operation of the assist control after detecting the stop of the operation of the user.

According to the aforementioned embodiment, the offset voltage Vb is calculated by the subtraction of the predetermined offset value α from the assist voltage Va (Vb=Va−α). Alternatively, for example, the door ECU50may employ other methods, for example, multiplying a predetermined coefficient, to calculate the offset voltage Vb which is lower than the assist voltage Va.

As shown in a flowchart inFIG.9, the door ECU50serving as a special state detection portion50coperates the special state determination whether the operation speed N of the backdoor10is difficult to decrease even after the user stops the operation (Step S401). In a state of determining this special state (Step S402: YES), the door ECU50calculates the offset voltage Vb (Step S403), and applies, as in the embodiment, the assist voltage Va and the offset voltage Vb alternately to the motor25(Step S404). As a result of the special state determination in Step S401, in a state where the door ECU50determines that the operation speed N of the backdoor10is difficult to decrease after the operation of the user (Step S402: NO), the door ECU50may operate the assist control by the application of the assist voltage Va relative to the motor25.

According to the aforementioned embodiment, even in the special state where the operation speed N of the backdoor10is difficult to decrease, the operation speed N may speedily decrease after the user stops the operation. Then, in a normal state, the appropriate assist force may be applied to the back door10.

In particular, for example, as illustrated in a flowchart inFIG.10, the door ECU50detects an inclination θ of the vehicle1(seeFIG.8), and operates the special state determination in response to the inclination θ of the vehicle1(Step S501). In a case of determining that the inclination θ of the vehicle1leads to or results in the biasing of the backdoor10in the operation direction (Step S502: YES), the door ECU50may determine that the backdoor10is in the special state in which the operation speed N is difficult to decrease even after the user stops the operation (Step S503).

The inclination θ of the vehicle1may be detected by, for example, an acceleration sensor, provided at the vehicle1. It is favorable that the operation position X of the backdoor10is employed in accordance with the inclination θ for the special state determination in response to the inclination θ of the vehicle1. Accordingly, the accuracy of the special state determination may be further enhanced.

Alternatively, the door ECU50may detect an environment temperature Tmp of the vehicle1to operate the special state determination in response to the environment temperature Tmp. That is, in the vehicle1, the operation resistance of the backdoor10may be changed in response to a temperature environment. For example, the viscosity of lubricant may decrease in high temperature. The sliding resistance of a resin material employed at a sliding part may decrease in low temperature. Accordingly, the operation resistance of the backdoor10decreases so that the operation speed N of the backdoor10is difficult to decrease even after the user stops the operation.

Based on this point, as illustrated inFIG.10, the door ECU50operates the special state determination based on the environment temperature Tmp (Step S504). In a case of determining that the backdoor10is in the temperature environment causing the operation resistance of the backdoor10to be decreased (Step S505: YES), the door ECU50may determine that the backdoor10is in the special state in which the operation speed N is difficult to decrease even after the user stops the operation (Step S503).

Alternatively, the door ECU50may operate the special state determination based on the operation position X of the backdoor10. That is, the backdoor10of the vehicle1may include the operation position X in which the backdoor10is biased in the operation direction in response to the support force of the support device20supporting the backdoor10. For example, according to the power backdoor device40of the aforementioned embodiment, in a case where the operation position X of the backdoor10includes a position in which the elastic force of the compression coil spring46generating the support force as the support device20is greater than the internal resistance, the backdoor10may be biased in the operating direction in response to the support force of the support device20.

Based on this point, as shown inFIG.10, the door ECU50determines the special state based on the operation position X of the backdoor10(Step S506). Since the characteristic of the support force of the back door10generated by the support device20depends on, for example, a type or a position of the support device20, it is favorable that the determination method which supports or corresponds to the individual vehicle1is operated. As mentioned above, in a case where the door ECU50determines that the backdoor10is disposed at the operation position X so as to be biased in the operating direction based on the support force of the support device20(Step S507), the door ECU50may determine that the backdoor10is in a special state in which the operation speed N of the backdoor10is difficult to decrease even after the user stops the operation (Step S503).

Furthermore, the disclosure may include the configuration in which the special state is determined with a method other than the method shown inFIG.10. Plural special state determination methods including the example shown inFIG.10may be freely combined.

In the aforementioned embodiment, the vehicle1includes the backdoor10serving as the opening and closing body at the rear end portion2rof the vehicle body2. Alternatively, the disclosure may be applied to other types of doors of the vehicle, for example, side doors so-called gull-wing doors or vertical flip doors. In addition, the disclosure may be applied to an opening and closing body of the vehicle, the opening and closing body which opens and closes in the direction other than the upward-downward direction.

According to the aforementioned embodiment, the opening and closing body control apparatus51for the vehicle1includes the assist control portion50adetecting an operation of the backdoor10configured to be provided at the vehicle1, controlling voltage applied to the motor25serving as the drive source, and applying the drive force to the backdoor10in a direction in which the operation of the backdoor10is assisted. The assist control portion50aapplies the assist voltage Va and the offset voltage Vb alternately to the motor25to operate the assist control for applying the drive force to the backdoor10, the assist voltage Va for rotating the motor25at the rotation speed which corresponds to the operation speed of the backdoor10, the offset voltage Vb which is lower than the assist voltage Va.

According to the aforementioned configuration, by applying the assist voltage Va for rotating the motor25at the rotation speed which supports or corresponds to the operation speed of the back door10(the opening and closing body) which is operated by the user, the door ECU50may apply the drive force, that is, the assist force, to the back door10appropriately in the direction in which the operation is assisted, by following the operation of the back door10. Furthermore, because the door ECU50applies the assist voltage Va and the offset voltage Vb which is lower than the assist voltage Va alternately, the voltage decrease area where the rotation speed of the motor25decreases is generated periodically. Accordingly, the operation speed of the back door10may decrease speedily after the user stops the operation. As a result, the followability relative to the operation of the back door10may be enhanced.

That is, the user of the back door10operates the back door10so as to complement the decrease of the assist force even in a case where the voltage decrease area is generated. Accordingly, the back door10may be operated at desired operation speed.

On the other hand, the operation speed of the back door10may decrease because the assist force is not complemented, the assist force which decreases due to the generation of the voltage decrease area, after the operation of the back door10is stopped. Because the assist voltage Va and the offset voltage Vb both including smaller value are calculated based on the decreased operation speed, the speedy speed decrease may be secured after the user stops the operation.

According to the aforementioned embodiment, the application time tb of the offset voltage is shorter than the application time to of the assist voltage.

According to the aforementioned configuration, the assist force may be appropriately applied without making the user operating the back door10uncomfortable. At the same time, the operation speed of the back door10may decrease speedily after the user stops the operation.

According to the aforementioned embodiment, the opening and closing body control apparatus51for the vehicle1further includes the assist stop portion50bstopping the operation of the assist control when detecting decrease of the operation speed indicating the stop of the operation relative to the back door10.

That is, the assist stop portion50bmay detect that the operation of the back door10is stopped with a simple configuration by monitoring the decrease of the operation speed. The assist stop portion50bstops the assist control in accordance with the detection so that the followability relative to the operation of the back door10may be enhanced.

The back door10of the vehicle1may be put in a state in which the operation speed thereof is difficult to decrease even after the user stops the operation. However, even in this case, because the assist voltage Va and the offset voltage Vb which is lower than the assist voltage Va are applied alternately, the operation speed of the back door10may speedily decrease after the user stops the operation. Accordingly, the assist control may be speedily stopped.

According to the aforementioned embodiment, the opening and closing body control apparatus51for the vehicle1further includes the special state detection portion50cdetecting that the back door10is in the special state in which the operation speed is difficult to decrease after the user stops the operation. The assist control portion50aapplies the offset voltage Vb and the assist voltage Va alternately by calculating the offset voltage Vb in a case where the special state is detected.

According to the aforementioned embodiment, even in a case where the operation speed of the back door10is difficult to decrease, that is, even in a case where the back door10is in the special state, the operation speed may speedily decrease after the user stops the operation. In the normal mode, the appropriate assist force may be applied to the back door10.

According to the aforementioned embodiment, the special state detection portion50cdetermines that the back door10is in the special state in a case where the inclination of the vehicle1is detected, the inclination causing the back door10to be biased in the operation direction thereof.

That is, for example, in a case where the vehicle1is on the inclined path60, the operation speed of the back door10may be difficult to decrease even after the user stops the operation because the back door10is biased in the opening direction due to the inclination of the vehicle. However, according to the aforementioned embodiment, even in the special state, the operation speed may speedily decrease after the user stops the operation.

According to the aforementioned embodiment, the special state detection portion50cdetermines that the back door10is in the special state in a case where the back door10is in the temperature environment where the operation resistance of the back door10decreases.

That is, the operation speed of the back door10may be difficult to decrease even after the user stops the operation because the operation resistance of the back door10decreases due to the change of the temperature environment. However, according to the aforementioned configuration, even in this special state, the operation speed may speedily decrease after the user stops the operation.

According to the aforementioned embodiment, the opening and closing body control apparatus51for the vehicle1further includes the support device20supporting the back door10. The special state detection portion50cdetermines that the backdoor10is in the special state in a case where the backdoor10is disposed at the operation position where the backdoor10is biased in the operation direction thereof in response to the support force of the support device20.

That is, the back door10of the vehicle1may include the operation position where the back door10is biased in the operation direction in response to the support force of the support device20. Accordingly, the operation speed of the back door10may be difficult to decrease even after the user stops the operation. However, according to the aforementioned configuration, even in this special state, the operation speed may speedily decrease after the user stops the operation.

According to the disclosure, the drive force which follows the operation of the back door10may be applied thereto.