| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide a door opening/closing assist device which can be properly operated even on a sloped passage by reducing a decrease in the estimated accuracy of the sloped passage, when a speed is estimated and used. <P>SOLUTION: A door opening/closing control computing section 81 includes: a target door speed computing section 811 which performs computing in such a manner that a door speed when a virtual sliding door 6 lighter than an actual sliding door is operated by a detected door opening/closing operating force is set as a target door speed; and a door speed estimation section 812 which computes an estimated value of the door speed from the door opening/closing operating force, an opening/closing position, and a drive command value of a motor 1, on the basis of a state equation which expresses the motion of the sliding door 6 and which has a force, acting on the sliding door 6 by the inclination of a road surface, as one of quantities of state. <P>COPYRIGHT: (C)2010,JPO&INPIT |
