Patent ID: 7714526

Claim:
A control device for a closure member of a vehicle that drives the closure member with a DC motor, comprising: rotation speed detection means for detecting a rotation speed of the motor; voltage detection means for detecting a drive voltage of the motor; acceleration calculation means for calculating an acceleration of the motor from the rotation speed of the motor; estimated load calculation means for obtaining an estimated load from the rotation speed, acceleration, and drive voltage of the motor; motor torque calculation means for calculating a motor torque from the rotation speed and drive voltage of the motor; reference torque calculation means for calculating a reference torque based on a stationary state of the motor torque and storing the reference torque in a memory; and pinching determination means for determining a pinching of an object based on the estimated load, the motor torque and the reference torque, wherein the pinching determination means determines that there is no pinching when at least one of the estimated load and the motor torque is below the reference torque even when the estimated load is greater than a prescribed threshold value, wherein the pinching determination means determines that there is a pinching of an object when a duration time during which the estimated load is continuously greater than the prescribed threshold value exceeds a prescribed reference time or when an amount of movement of the closure member during a state where the estimated load is greater than the prescribed threshold value exceeds a prescribed reference amount of movement.