Abstract: A moving body control device includes a pinching detecting unit. The pinching detecting unit is configured to calculate a first difference between physical quantities at a beginning and an end of a first period, calculate a plurality of second differences for respective second periods obtained by dividing the first period, each of the differences being a difference between physical quantities at a beginning and an end of the corresponding second period, and determine that pinching of an object has occurred in a case in which the first difference is equal to or greater than a first threshold value and a ratio of second differences equal to or greater than a second threshold value to the plurality of the second differences is equal to or greater than a third threshold value.

Abstract: An opening and closing body control apparatus includes a motor driving unit and a control unit. The motor driving unit outputs a predetermined application voltage to the motor, based on a control command from the control unit. The control unit is configured to: when an opening and closing body reaches a first position in front of a closing-up position, set a target speed of the motor to a closing-up time target speed at which a torque required for closing-up the opening and closing body is secured, and perform feedback control on the motor driving unit; and when the opening and closing body reaches a second position closer to the closing-up position than the first position, stop the feedback control, and control the motor driving unit so that the application voltage of the motor at the time is held.

Abstract: A moving body control device includes a pinching detecting unit. The pinching detecting unit is configured to calculate a first difference between physical quantities at a beginning and an end of a first period, calculate a plurality of second differences for respective second periods obtained by dividing the first period, each of the differences being a difference between physical quantities at a beginning and an end of the corresponding second period, and determine that pinching of an object has occurred in a case in which the first difference is equal to or greater than a first threshold value and a ratio of second differences equal to or greater than a second threshold value to the plurality of the second differences is equal to or greater than a third threshold value.

Abstract: An opening and closing body control apparatus includes a motor driving unit and a control unit. The motor driving unit outputs a predetermined application voltage to the motor, based on a control command from the control unit. The control unit is configured to: when an opening and closing body reaches a first position in front of a closing-up position, set a target speed of the motor to a closing-up time target speed at which a torque required for closing-up the opening and closing body is secured, and perform feedback control on the motor driving unit; and when the opening and closing body reaches a second position closer to the closing-up position than the first position, stop the feedback control, and control the motor driving unit so that the application voltage of the motor at the time is held.