DE102007062473A1 - Door i.e. vehicle door, has actuators provided in operative connection with sensor devices, and kinematics degrees of freedom assigned to actuators for motor support of opening and/or closing motion and/or unlocking-or locking process - Google Patents

Abstract

The door (10) has actuators (18, 20) provided in operative connection with sensor devices (24, 26, 28). Two kinematics degrees of freedom (alpha, X) are assigned to the actuators for a motor support of an opening and/or a closing motion and/or an unlocking-or locking process. The sensor devices are provided for detecting movement characteristic values of the door. The sensor devices are provided for detecting an operating force between the door and a person operating the door and for detecting a kinetic quantity e.g. speed, of the door. An independent claim is also included for a method for operating a door or a flap.

Description

The The present invention relates to a door, in particular a Vehicle door, with at least two kinematic degrees of freedom and a method of operating such a door or vehicle door.

Known Door leaves such as. Open vehicle doors usually by a vertical swivel angle laterally forward, where the pivot axis in the direction of travel in front of the door located. In addition, there are numerous variants of sliding doors, which can open forwards or backwards in the direction of travel. Furthermore, there are tailgates and bonnets that are different Way can be opened. Especially with lateral Sliding doors and tailgates are electric motor supported systems known that open and Close facilitates and partially automatic opening and closing the doors or flaps allow.

in the A desire to increase the ease of use can be a control the doors based on the required operating forces respectively. This is a capture of the interaction between Operator and a control for the movement of the vehicle door required. For capturing the interaction power A vehicle door has several options to disposal. For example, local deformations which are based on a force application. The capture can, for example, by means of strain gauges or acceleration sensors respectively.

That's how it describes DE 600 15 524 T2 a pressure-sensitive sensor, an object detection device, and an opening-and-closing device usable for preventing an object from being caught in electrically operated vehicle windows, power sliding doors, motorized sunroofs, automatic building doors, etc. The pressure-sensitive sensor comprises a pressure-sensitive device for generating a deformation-dependent output signal.

A device for detecting a force applied to a door handle of a vehicle door and the speed of movement of the door for controlling a door operating device goes out of US 58 04 937 A out. The control of a drive unit of the door operating direction takes place on the basis of the determined measured values.

The However, known systems do not allow individual Adjustment of the actuating forces to the outside Environmental conditions and the most diverse possibilities, to handle a vehicle door.

moreover the known systems do not allow universal handling and movement of the doors depending on the current environmental situation be perceived by a user as more or less cumbersome can.

The The aim of the present invention is therefore seen in a door with at least two degrees of freedom and a method of operation to provide such a door, which avoid the disadvantages of the prior art and the user offer increased operating and operating convenience. In particular, the object of the present invention is a vehicle door with at least two degrees of freedom and a method of operation to provide such a vehicle door.

This The aim of the invention is with the objects of the independent Claims reached. Features of advantageous developments The invention will become apparent from the dependent claims.

The The invention relates generally to doors having at least two kinematic degrees of freedom, which, for example, a translational and rotationally opening vehicle door, the at least one actuator for motor support an opening and / or closing movement and / or associated with a locking or unlocking operation. The least an actuator is in operative connection with at least one sensor device.

It It should be emphasized at this point that the invention in principle for all types of doors, flaps o. The like. In the stationary Range, in vehicles, aircraft etc. is suitable. If in the present context mostly of vehicle doors the Speech is, so this is not meant to be limiting but primarily serves for better understanding the essential aspects of the invention, since these are just in vehicle doors and flaps (eg tailgate, boot lid etc.) especially clearly come to light.

In a simplest embodiment is only one of several degrees of freedom the door is actuated while the other degree of freedom or the plurality of other degrees of freedom are not aktuiert, but only by the operating force of the user and / or by Coupling forces of each actuated degree of freedom are actuated. In contrast to known doors and vehicle doors with only one degree of freedom describes the present invention a door or vehicle door with more than one degree of freedom, For example, a so-called "sliding door" Doors or vehicle doors with more than one degree of freedom basically can not have one, one or more have actuated degrees of freedom. If no degree of freedom is actuated, so can be from an unactuated door or Vehicle door with more than one degree of freedom speak. Are not all, but at least one degree of freedom actuated, so is in the present context of a unteraktuierten door or Vehicle door talked. Are all degrees of freedom actuated, so can of a fully actuated door or vehicle door be spoken with more than one degree of freedom.

A Door or vehicle door according to the invention with more than one degree of freedom, either underactivated or fully actuated, d. H. having at least one actuator, can offer several advantages. Compared to conventional Doors with only one degree of freedom offer underactivated Doors with two or more degrees of freedom considerably more Movement possibilities. Opposite not actuated Doors with more than one degree of freedom can to assist the user in moving the door and used to automatically move the door. Opposite fully actuated doors or vehicle doors with more than one degree of freedom results from the use Of fewer actuators, a number of advantages, such as the low Space required, the relatively low total weight the arrangement, the relatively low cost due to the few Actuators etc.

For the control of such unteraktuierten door or Vehicle door with two or more kinematic degrees of freedom Certain tax and / or regulatory strategies make sense. So can the control, for example, optimized in terms of collision avoidance be. Other control parameters may be the most possible extensive reduction of operating forces for the user or enabling a large manhole while minimizing the opening angle of Be a door.

Of the At least one existing sensor can optionally be used for determination and / or derivation of an interaction force between one's door or vehicle door operator and the door Serve and with the at least one actuator in operative connection. This way is an indirect determination that of a human operator on the door or vehicle door exerted forces. Especially are taken into account by considering different operating and environmental parameters and their weighting actually at the place of touch of the door by the user acting resistance forces can be determined, so that of the actuator mechanism applied servo forces very precise to the individual expectations and needs of different Users can be customized.

The at least one sensor device can in particular by an optical Detecting device for detecting a contact situation between the person and the door or vehicle door formed be. This optical detection device can, for example, a camera be with downstream image evaluation, so that detected and can evaluate whether a contact between user and Door or vehicle door takes place. In contact case can be done by image processing based on the geometric and kinematic conditions of the door or vehicle door the distance between the contact point and the axis of rotation or the shift plane are determined. It is pointed out that the generation of control signals for one or multiple actuators on doors with more than one degree of freedom of movement more complex than described. The following description however, refers to the special case of a door with only a degree of freedom. This distance between the contact point and the axis of rotation corresponds to the effective lever arm, i. H. the projection of the contact point to the pivot axis whose value sent as information to a computing and evaluation unit or this is provided as a signal value. For the case that there is no contact or comes about, this is Value set to zero; through the algorithms used can thus the interaction power can be defined as zero.

Optional the at least one sensor device can be a mechanical sensor and / or at least one pressure-sensitive area for detection a contact situation between the person and the door or Vehicle door include. Such a sensor can detect whether a touch takes place and / or how strong the user is pulls or pushes on the door when moving it want. Depending on the measured and evaluated sensor values, a more or less strong support from the actuator to be provided. This support can be called as. Servo support act. It can also be used for the automatic activation of the door or vehicle door to care.

According to one preferred embodiment of the invention comprises at least a sensor device a Vorfeldfassung immediately before a Contacting. The concept of apron detection means in the present Related recognition of an impending interaction and ideally an anticipation of a probable touch or force applied by the user on the door. So can, for example, by means of a suitable apron detection a preselection are taken from several typical interaction patterns, since when approaching a person from outside Unoccupied vehicle a door opening from the inside excluded as an unlikely interaction case can.

A Such apron detection can in turn be camera-assisted or sensor-assisted, for example by means of inductive Sensors that can detect an approach of a person. Another preferred embodiment of the invention can be a coupling with an existing transponder device Provide an approach of a transponder is recorded and analyzed to the effect that, for example. the door locks are activated. In connection With the present invention, such a signal may additionally used for the door opening parameters as the power assistance to the respective recognized person or adapt their individual transponder device.

Preferably is at least one further sensor device for detecting the Movement state of the door or vehicle door, d. H. of position, movement and / or acceleration values of Door or vehicle door provided so that out of the entire sensor data meaningful control variables for Activation of a servo-assisted or automatic Door movement can be won. At least Such a sensor is used in most applications be indispensable and is particularly useful to use, since such Sensors are available very inexpensively.

additionally can be another sensor device for detecting on the door or vehicle door acting outer Environmental influences may be provided. Hereby can For example, wind speeds and slope conditions due considered a position of the vehicle on an inclined roadway become. In particular, the vehicle inclination has a strong influence on the door or vehicle door acting Forces, should usefully a vehicle inclination sensor value to be taken into account the vehicle door acting gravitational force in the determination take into account the control signal necessary for the actuator. Since the gravitational force acting on the vehicle door in the present context as a disturbance To look at, it must be useful for generating a meaningful Control signal for controlling the actuator computationally compensated become. In addition, with such sensor devices moving objects like pedestrians, cyclists or other vehicles are recorded, as well as such objects for the actuated vehicle door as outer Environmental influences can be understood.

The at least one sensor device is provided with an evaluation device coupled, from the sensor data, a control signal for driving of the at least one actuator generated. The evaluation device sees preferably a calculation rule for the derivation of control parameters for the actuation of the actuator on the basis of door and / or vehicle and / or user and / or environment specific Characteristics before, as in the swivel joint of the door at higher Temperatures eg. Other resistances may be present. In this way it is possible to use a universally usable Control for many different applications use. But it is also possible Anticipate aging or wear processes and store corresponding map data, the example. A slight modification the control data depending on the detected number to provide for the load cycles. So can the resistors or the friction in the door hinge after a high number of opening and closing movements of the door vary according to a typical course, which means a appropriate map or a mathematical description the activation of the actuator can be considered. In this way, the users can assist Servo forces are adjusted so that the characteristic the operation largely preserves the door, too when changing the physical parameters. The goal here is the largely constant the characteristic of the door for the user. Alternatively, part of the mentioned Characteristics should be stored in suitable maps, which in particular may be useful in such characteristics, the specific laws obey, for example, have a typical aging process.

Furthermore, it may be advantageous to monitor the vicinity of the door or vehicle door in such a way that collisions with objects can be prevented, which are located in the pivoting and / or sliding area of the door or vehicle door according to the invention. Thus, such a collision avoidance, for example, by a change in the speed of movement, in particular by a slowing down of the door or vehicle door before contacting with an object, so that before a collision, first the speed of movement of the door is reduced, before this possibly brought to a standstill becomes. In this way For example, a user of the door or vehicle door may be prevented from damaging or injuring the door or vehicle door and / or other objects and / or other people.

A Such collision detection and / or avoidance can also in a stationary door be useful, for example, in the industrial Use or in hospitals o. The like. In this way can cause a collision of the door during its opening movement with other people, with objects or with vehicles - eg. with the goods passing through the door - prevented become.

by virtue of the two or more available degrees of freedom for pivoting and / or displacement of the door can a threatening collision can also be prevented by the direction of movement the door is changed by, for example, one of the degrees of freedom is blocked. Thus, for example, in the case of an impending collision pivoting about a pivot axis door this pivot axis be set so that the door only along one Move direction can be opened. This can, for example. in relatively narrow parking situations with only little space to an adjacent one Vehicle or a fixed object be useful.

The targeted restrictions on the directions of movement of the door or vehicle door can be with the available standing actuator for moving the door or vehicle door support, for example, by the actuator a certain Swivel and / or sliding movement supported and a suppressed to a collision pivoting movement, by increasing the resistance or even one degree of freedom is blocked. The described movements can through an automatic opening and / or closing movement of Door or vehicle door are supported.

A particularly advantageous further variant of the present invention can be a meaningful path planning of all movement components of the door or vehicle door provide. So can by means of at least one sensor, preferably by means of several sensors, Gained information about the working space of the door become. Furthermore, there are sensor values for current movement states the door itself available. After all can in a central control unit more information about the kinematics of the door, about the geometry of the Door or vehicle door and the vehicle body be available. In addition, there are more Information sources conceivable, for example the data of a vehicle navigation, with which, for example, can be detected, whether the vehicle is in a Building like a parking garage is located where typically little space to neighboring vehicles and thus a reduced Working space for the doors available stands. Furthermore, if necessary, static and / or dynamic Sensor data from other vehicles are available provided by radio transmission can be. Such systems are being tested and should have a better traffic flow and safer traffic by communicating the vehicles among each other in a particular Enable close range.

On Basis of this available and by means of sensors Data collected can be used for any conceivable constellation suitable movement path for the opening and Closing movement of the door or vehicle door be generated on the basis of which control signals for the at least one actuator can be generated. Optionally, information about one or more several current or future movements of objects in the working space of the door or vehicle door in the Include calculation of the movement path. So this can be Path planning in a meaningful way with algorithms for collision avoidance be linked.

The determined paths can also be beneficial for automatic movement, especially for automatic opening and closing the door or vehicle door be used. The path planning according to the invention thus makes it possible from a crowd through the kinematic Properties of the door or vehicle door given possible motion paths one or more suitable paths to determine the movement of a door or vehicle door so as to be able to control that there is no collision of the door or vehicle door comes with objects or people. So can for example, favorable paths can be found in case that one or more objects are currently or in the near future move in the working space of the door or vehicle door. For example, the speed of a pedestrian, which approaches the door or vehicle door, be included in the path planning. With that you can Paths to be ruled out in the near future by the pedestrian could be blocked.

The path planning can also be used to assist people in the operation of the door or vehicle door in an appropriate manner, in particular by an auxiliary force generated by the actuator of the door or vehicle door. Preferably, care is also taken here to avoid collision. Optionally, the path planning can also be combined with an automatic door control, so that a secure automatic opening and closing can be initiated by a user initiated signal.

According to one further advantageous embodiment of the invention can be a by the path planning as favorably classified path as a reference path for the movement of the door or vehicle door to be used by the user. By deviating from the reference path by actuating and / or holding forces generated by the acoustics is counteracted, the user can assist be the door or vehicle door on a particular to move appropriate path. Instead of a supporting one Power can also be acoustic, optical and / or tactile Signals are generated which can signal the user whether he is on the considered as favorable reference path or not.

A further advantageous embodiment of the invention can provide the possible paths examined by path planning restrict those that are not unlikely be selected by the user desired paths. If, for example it is expected that the user wants to open the door, by tending to move it to the left, the one of the Path planning to be examined workspace usually severely limited Be there paths that are out of the possible Movement space are as improbable or not possible can be classified. This leads to a significant acceleration of the calculation of a suitable path, so that the path planning with given computer equipment in the same Periods are executed more frequently can.

at The path planning calculation can optionally also contain information about the human user of the door or vehicle door, in particular, his intention regarding the movement of the door or about his physical constitution, with be used for the calculation. So can the physical Constitution, in particular the physical strength of the user be included in the path planning. For example assumed that the user is above average is, so this can at one the dynamics of the moving door or vehicle door considering path planning to be used, a greater external acceleration capacity to accept.

A Further advantageous embodiment may provide that the path planning is combined with an interaction recognition such that the Intentions of the user regarding the movements of the door or vehicle door are taken into account, for example. by the variety of possible paths of the door or vehicle door in preferred and non-preferred differences becomes. In this context, it may be beneficial if not preferred railways are only tracked in certain cases, For example, when changing between different preferred tracks. Thus, it is possible to change from a preferred path to another preferred path when it is detected that the user is the first one pursued track no longer wants to pursue. In this change The door describes a movement along a non-preferred Train. Examples of preferred webs can, for example. an approximate trajectory of a hinged door, a sliding door or a hinged door be. Depending on the algorithm, the user may prefer these Diverge tracks or leave them altogether by a movement takes place on a non-preferred web. However, should the non-preferred tracks should be designed so that they are on one lead the preferred tracks. But to recognize which ones preferred path the user wants to dial is one Intentional recognition indispensable.

For the recognition of the intentions of the user, the various sensor values are used, the information about the condition of the vehicle, the door or vehicle door, contain the user or the immediate vicinity of the vehicle, such as the position, the orientation, the speed, the Acceleration of each door or door handle. It can also be an external on the door or vehicle door acting force and / or an external, on the door or Vehicle door acting torque can be evaluated. Nearly Any combination of the mentioned sensor values can are evaluated for detection of intent. In a meaningful way Continuing the Intention Detection can also be a suitable algorithm be used, in particular a probabilistic algorithm.

An advantageous application combines intent detection with collision avoidance, which limits a preferred path when a door or vehicle door collides with an object or a person. To detect such an imminent collision, various sensor values can be evaluated. In order to avoid the collision, it is possible to switch from the initially preferred path, which however is limited due to a detected imminent collision, to an alternative preferred path. However, such a collision detection is not absolutely necessary, since the operation of the user can be understood and sensed that the user on his own from any collision with an external object or a person seeks to avoid, so that in such a case a changed movement request to the door or vehicle door sets, by changing an alternative preferred trajectory can be accommodated.

Especially advantageous in the interaction recognition is the full Waiver of mechanical limitations or other mechanical Institutions. The entire web guide of the door based on the evaluation of different sensor values and the selection different meaningful tracks from an almost unlimited size Variety of possible web guides based on the movements, which the user performs and / or based on further sensor values. The actual web guide is by means of at least one Actuator, but sensibly controlled by multiple actuators or supported. By means of the door according to the invention or vehicle door, it is possible to smaller obstacles to avoid, by briefly deviated from the preferred tracks becomes. It is also possible to encounter dynamically occurring obstacles dodge by leaving a preferred track entirely.

at the interaction detection according to the invention should the user when opening and closing the door or vehicle door to find optimal support. Since the door is actuated, this can be done by means of a suitable metered power assistance done. Therefor can the user z. B. guided along a preferred path become. If the user follows one of these paths, then behaves the door like a normal door or vehicle door, For example, by a user familiar trajectory of a lateral swing door follows. For the user This results in a familiar handling of the door. The Leaving a preferred train is at the expense of an additional Force possible, for example to avoid obstacles. If the user leaves a preferred lane, so does assumed that he wants to follow a new path. He follows initially a non-preferred train, whose goal but a new preferred web is. To get out of the majority of possible or meaningful preferred tracks to choose the right one, the respective intention of the user must be detected and recognized. In particular, the position and the orientation the door handle (inside and / or outside), the direction of movement the door handle and the forces and torques, which are applied by the user to be used as sensor data.

According to one possible embodiment variant may be the user For example, an assistant can be provided to to realize the power assistance. From this assistant and the actuating force can then a Target position for the door or vehicle door be calculated. This is a so-called admittance regulation. However, it should be noted at this point that such Admittance control only one of several possible control strategies represents. Such admittance regulation is by no means mandatory necessary, but there are other strategies with or without Inclusion of force measurement (interaction force determination) possible. The determination of force on the door or vehicle door is relatively complex due to the necessary sensor technology. Cost-effective, therefore, for example, an impedance control be feasible.

For Intention recognition can also use alternative algorithms used, for example, so-called. Hidden Markov models for detection of movement patterns of the user. From recognized patterns can on a Intention to be closed. Another alternative is the Use of Bayesian networks. These serve for representation of uncertain knowledge and provide a probability distribution over a certain group of observable events. In the present It is necessary to relate these events first define. Subsequently, a group of events must be assigned a specific intention of the user.

According to one Further embodiment of the invention may be desirable be, the door according to the invention or Vehicle door with two or more kinematic degrees of freedom determined by suitable sensors and actuators certain dynamic To give properties adapted to specific situations. In this way, the dynamic properties by means of adaptive parameter varies and adapted to different circumstances become. The aim here is to control and regulate the Door or vehicle door the comfort of the door operation to increase. First, as described above, an external, interaction force exerted by the user on the door measured. From this force will - in the case of so-called admittance regulation - via one or more Parameter a target size for a downstream Position or velocity loop calculated. Optional An impedance control can also be used. Possibly. can Other control concepts are used. Over a specific adaptation of one parameter or several parameters of the based on the measured force working control loop can the dynamic properties perceived by the user of the door be selectively changed, creating a higher Ease of use can be achieved. For the user has such a aktuierte door or vehicle door a seemingly smaller or larger mass and / or a seemingly smaller or greater inertia on. Other effects are z. B. a compensation of friction effects, a compensated damping, gravity, etc.

The Choice of parameter values can be particularly dependent from known, from estimated and / or by means of sensors recorded, person-specific values. Such person-specific Values may, for example, be the position of the user relative to Door or vehicle door, the physical and / or emotional constitution of the user or the intention of the user be in terms of door movement. That way is it is possible to control the control parameters the door actuators to adapt so that the user perceived dynamic properties of the controlled door or vehicle door to his current position, to his mental and physical constitution or to his Fit for movement. Through such an individualization of Parameter is a further increase in operating comfort achievable.

According to one In another embodiment, the parameter values can be dependent from current climatic conditions such. B. temperature, rain or wind to be adjusted. By an additional consideration The climatic conditions can be the control of the door or vehicle door even better to current needs be adjusted. So can the door or vehicle door eg in case of adverse conditions (heavy rain or snowfall) by a very low perceived mass and / or inertia be made very easily and quickly openable. This can also apply if this is not normally the case is because the door or vehicle door then not more like the user may feel this way expected. In the interest of a high level of user-friendliness should such a mismatch between on the basis of experience expected and actually felt dynamics avoided become. Nevertheless, a changed dynamic for some cases make sense.

A Another variant may provide that the choice the parameter values as a function of in a past Time interval executed movement of the door or Vehicle door done. Such a variant allows the Adaptation of the control parameters depending on the movement the door or vehicle door in the past make. This can be z. B. be used for online adaptation, so to adapt the control parameters in real time during the operation of the door or vehicle door.

Also in the variants mentioned above, an additional Adaptation of the parameter values depending on relative movements between door or vehicle door and external objects be provided.

The The present invention further relates to a method for translational and / or rotary, supported by at least one actuator Operation of a door or vehicle door, which has two or more kinematic degrees of freedom, in particular for motor assisting an opening and / or closing movement and / or a locking or unlocking operation. By means of sensors movement quantities and / or an actuation and / or an actuation force between a door or vehicle door actuated Person and the door or vehicle door itself measured. The at least one actuator is based on these measured values driven. It is provided that the at least one actuator based on a measured or derived interaction and / or a resulting interaction between the door or vehicle door operator and the door or vehicle door itself is controlled. Especially can be an optical detection of a contact situation between the Person and the door or vehicle door provided be.

Optional or additionally, a mechanical detection of a contact situation between the person and the door or vehicle door be provided. It may also be advantageous, a Vorfeldfassung immediately before contacting the door or vehicle door to be provided by the person. Furthermore, a detection of position, Movement and / or acceleration parameters of the door or Vehicle door and possibly on the door or vehicle door acting external environmental influences be provided. The sensor data becomes a control signal for activation of the at least one actuator generated. In addition, you can from the sensor data and / or from the map data values for an effective on the door or vehicle door effective Lever arm to be won. For the generation of tax or control parameters for the control of the actuator can In addition, other door and / or vehicle and / or user-specific characteristics become.

Further Aspects of the method according to the invention for the control the door or vehicle door were already related with the actuator-assisted door or vehicle door called. These aspects also apply in the same way the control procedure.

If, in the present context, controls of the door or vehicle door and of a controlled actuator system for movement of the door or vehicle door are mentioned, then reference is made to the terminology of the control technology according to which a control loop with feedback elements is present must be able to speak of a regulation. In the use of the concept of control, the activation of an actuator by means of previously generated control signals is generally meant. However, if it is said that the actuator is controlled in such a way, this in no way excludes the presence of a control loop, which can be formed, for example, by the movements influenced by the actuator being detected by at least one sensor and the sensor signals from a control unit for the formation and / or processed to modify the control signals for the actuator.

If moreover, in the present context, there is talk of an under-utilized one Door or vehicle door is the question, so is it also the term teilaktuierten door or vehicle door includes. From a partially-actuated or under-actuated door or vehicle door can always be spoken, if the door has several kinematic degrees of freedom, However, these kinematic degrees of freedom are not all actuated. A door with two degrees of freedom is, for example, then underactivated or teilaktuiert, if only one actuator is present, the example. allows a rotational pivotal movement of the door, while a translational motion component over has no actuators.

Further Features, objects and advantages of the present invention will be apparent The following detailed description of a preferred embodiment of the invention, as a non-limiting example serves and refers to the accompanying drawings. Identical components basically have the same reference numerals on and are sometimes not explained several times.

1 shows in a simplified schematic representation of an embodiment of an actuated vehicle door with two kinematic degrees of freedom.

2 shows in a schematic block diagram an overview of the interconnection and signal processing of a vehicle door according to 1 ,

3 shows in a simplified schematic representation of an embodiment of a unteraktuierten vehicle door with two kinematic degrees of freedom.

4 shows in a schematic block diagram an overview of the interconnection and signal processing of a vehicle door according to 3 ,

5 shows a schematic block diagram of a variant of a door control with a path planning.

6 shows in a schematic block diagram an overview of the program flow and the signal processing of a door control according to 5 ,

7 shows in a simplified schematic representation of the components of a door control with adaptive parameters.

8th shows in a schematic block diagram an overview of the interconnection and signal processing of a door control according to 7 ,

9 shows in a schematic block diagram an overview of the program flow and the signal processing of a door control according to 7 ,

In the embodiments explained in more detail below is basically related to a vehicle door However, that does not mean that the invention applies to vehicle doors is limited. The invention Principles can be based on many different designs and variants apply and transfer from flaps and doors. The embodiments are therefore not limiting To understand that only vehicle doors on the described manner can be moved and controlled.

The simplified schematic representation of 1 shows a first embodiment of an actuated vehicle door 10 with two kinematic degrees of freedom. A first kinematic degree of freedom is a rotational degree of freedom α (pivot angle α), while the second kinematic degree of freedom is a translatory degree of freedom x (displacement x). It is a so-called serial kinematic chain consisting of vehicle 8th , Sliding joint 12 , Connecting element 14 , Swivel joint 16 and vehicle door 10 because the vehicle door 10 over the swivel joint 16 and the rigid connection element 14 with the sliding joint 12 communicates. The sliding joint 12 forms the translatory opposite the vehicle 8th ver slidable connection to the vehicle 8th ,

The sliding joint 12 is a first actuator 18 assigned, which can provide for the controlled displacement along the horizontal or slightly inclined to the horizontal displacement x. The swivel joint 16 is a second actuator 20 assigned to pivoting the door 10 around the vertical or slightly inclined to the vertical pivot axis 22 can provide. The sliding joint 12 is still a first sensor 24 assigned, which detects the thrust movements and possibly other values such as a mechanical resistance, an adjustment speed, acceleration, etc. The swivel joint 16 is a second sensor 26 assigned, which detects the pivoting movements and possibly other values such as a mechanical resistance, a rotational speed, acceleration, etc.

A third sensor 28 can serve for object recognition, allowing objects 30 in the workspace of the door 10 For example, can be detected by optical means. Depending on the resolution, the touch points closest to the door may also be possible 32 of such an object 30 be recorded.

The swivel joint 16 is considered as the center of a coordinate system with the orthogonal axes x 'and y', where x 'is parallel to the translational degree of freedom x. As in 1 indicated, located in the workspace of the door 10 the object 30 whose, the door 10 nearest point 32 has the coordinates x ' _Obj and y' _Obj .

As with the block diagram of 2 clarifies, becomes a control unit 34 used to for the two actuators 18 and 20 based on the signals from the sensors 24 . 26 and 28 to calculate suitable drive signals and the actuators 18 and 20 head for. Possibly. can the control unit 34 via an additional activation signal 36 be initiated. Possibly. In addition, further sensor signals can be evaluated, for example, those with a door handle 38 (see. 1 ) and, for example, detect an actuation by a user and / or the operating forces applied by the user.

So now at one through the sensors 28 As soon as an imminent collision of the two available degrees of freedom has been recognized, it is possible to use an algorithm which, in the event of an impending collision, determines the current kinematic and dynamic conditions of the vehicle door 10 and the relevant objects 30 considered. That way the actors can 18 and 20 differentiated and appropriate to the situation, which usually means that the two actors 18 and 20 not be operated in a similar way.

begrenzt wird, um ein Berühren der Fahrzeugtür 10 mit dem Objekt 30 zu vermeiden. Der translatorische Freiheitsgrad muss hingegen nicht eingeschränkt werden, sofern das Objekt 30 parallel zur x'-Richtung steht. Es wird also im Bedarfsfall nur die rotatorische Bewegung gebremst und blockiert, so dass der Benutzer die Fahrzeugtür 10 weiterhin translatorisch bewegen und damit aus dem unmittelbaren Ein-/Ausstiegsbereich entfernen kann.So it is with a sliding door 10 corresponding 1 conceivable that in an orthogonal distance y ' _Obj with a smaller distance than the maximum door length L an external object 30 located, which may be, for example, a neighboring parked vehicle. In this case, it is important that the rotational degree of freedom to a value

is limited to touching the vehicle door 10 with the object 30 to avoid. The translatory degree of freedom, on the other hand, does not have to be limited, provided that the object 30 parallel to the x 'direction. Thus, if necessary, only the rotational movement is braked and blocked, so that the user can open the vehicle door 10 continue to move translatorily and thus can remove from the immediate entry / exit area.

festgelegt werden, wobei Δα die Differenz zwischen dem tatsächlichen Winkel und dem Mindestwinkel bezeichnet, und die Sicherheiten α_Sicherheit und x_Sicherheit berücksichtigt werden.However, it is conceivable that an object 30 so in the workspace of the vehicle door 10 is located that from a certain door position, both a translational and a rotational movement to a collision of the vehicle door 10 with the object 30 would lead. In this case, both movements must be limited. Since the two boundaries are kinematically dependent on each other, one of the boundaries can be selected specifically. This can be used to achieve a final configuration that can ensure the highest level of entry / exit comfort. If, for example, a minimum opening angle of α _{Open_min is} desirable, and the translational opening plays a minor role, then the translational limitation can occur

where Δα denotes the difference between the actual angle and the minimum angle and the collateral α _safety and x _{safety are} taken into account.

For a fully actuated vehicle door 10 with two or more kinematic degrees of freedom theoretically infinitely many different trajectories are possible. Under certain circumstances, this can lead to mental stress and excessive demands on the user. In order to prevent this, an assisting door control can be used, which supports the user via the actuators by auxiliary forces on the basis of reference tracks which are classified as favorable, the vehicle door 10 to move on one of the reference tracks.

A special case of this is to use exactly one reference orbit. This can be chosen so that the path runs from the zero point to the point of the maximum translational and rotational opening, wherein a linear relationship exists between the rotational and the translatory motion:

errechnet werden. Werden die Verstärkungsfaktoren K_P, K_I, K_D geeignet gewählt, so erfährt der Benutzer eine Hilfskraft, die ihn beim Bewegen der Fahrzeugtür auf dem Referenzpfad unterstützt, es ihm gleichzeitig aber auch ermöglicht, diese Hilfskraft relativ leicht zu überwinden und die Tür auf einem anderen, von ihm präferierten Pfad zu bewegen. Der Benutzer hat damit einerseits die Möglichkeit einer komfortablen Bedienung der Fahrzeugtür 10, behält aber andererseits die volle Kontrolle über deren Bewegung. Dies ist besonders dann sinnvoll, wenn der Referenzpfad durch ein Hindernis blockiert ist, aber andere Pfade möglich sind, auf denen der Benutzer die Fahrzeugtür 10 kollisionsfrei öffnen kann.This can be used to achieve a virtual kinematic coupling of the two degrees of freedom. Thus, for example, on the basis of the opening angle α on via the first actuator 18 a power-generating drive signal according to the context

be calculated. If the gains K _P, K _I, K _D suitably selected, the user experiences an auxiliary force that assists him in moving the vehicle door on the reference path, at the same time but also enables it relatively easy to overcome these auxiliary force and the door on a to move other, preferred by him path. The user has on the one hand the possibility of a comfortable operation of the vehicle door 10 on the other hand, it retains full control over its movement. This is particularly useful if the reference path is blocked by an obstacle, but other paths are possible on which the user opens the vehicle door 10 can open collision-free.

The schematic representation of 3 shows an embodiment of a unteraktuierten vehicle door 10 with two kinematic degrees of freedom. Same parts already in 1 have been designated are basically provided with the same reference numerals. In the illustrated embodiment, the first actuator for moving the vehicle door is missing 10 along the displacement path x, while the second actuator 20 for pivoting the vehicle door 10 around the pivot axis 22 is available. The translational degree of freedom is therefore not aktuiert, but is influenced by external forces, including the operating force of the user. Such unteraktuierte vehicle doors can be used meaningfully for several reasons. Compared to conventional doors with one degree of freedom, they offer more possibilities for movement. Unlike unactuated doors with more than one degree of freedom, they can be used to help the user move the door and automatically move the door. Compared to fully actuated vehicle doors with more than one degree of freedom, the use of fewer actuators results in a number of advantages, since less space is required, the total weight is lower and actuator costs can be saved.

According to 3 includes the underactuated vehicle door 10 one opposite the vehicle 8th over the pusher joint 12 translationally displaceable in the x direction connecting element 14 , at the end of the swivel joint 16 is articulated. About the first sensor 24 at the push joint 12 the deflection x and / or the deflection speed dx / dt can be determined. The swivel joint 16 has the second sensor 26 on, which serves to determine the pivot angle α and / or the angular velocity dα / dt. At the swivel joint 16 is the vehicle door 10 with the door handle 38 attached. The between vehicle door 10 and connector 14 arranged actuator 20 serves to pivot the vehicle door 10 , This is a serial kinematics with a non-actuated translatory and an actuated rotational degree of freedom. The value range of the variable is [0 ... x _max ] or [0 ... α _max ], whereby the zero position of the closed vehicle door 10 equivalent.

The schematic block diagram of 4 shows an overview of the interconnection and signal processing of unteraktuierten vehicle door 10 according to 3 , The control unit 34 receives the signals from the sensors 24 and 26 , Another input signal is the activation 36 that is an opening or closing of the drive vehicle door 10 should cause. The only output signal is the manipulated variable for the actuator 20 , For automatic opening, the vehicle door 10 first by the actuator 20 rotationally accelerated, causing a movement of the door 10 around the pivot axis 22 of the swivel joint 16 comes. Initially, this leads to no movement in the sliding joint 12 since the drag force caused by the acceleration in the x-direction is absorbed by the mechanical construction: x = 0, x. = 0

der gesamten Türkonstruktion erreicht. Als idealisierte Annahme werden die Massen und Trägheiten des Aktuators 20, des Sensors 26 und der Drehachse 22 vernachlässigt, wobei

m₁

= Masse der gesamten Türkonstruktion inkl. Aktor 20 und Drehgelenk 16;

m₂

= Masse des rotatorisch bewegten Türflügels;

l

= Abstand des Schwerpunkts des Türflügels zur Drehachse 22;

J

= Trägheitsmoment des rotatorisch bewegten Türflügels bezüglich der Drehachse 22 gilt, unter der idealisierten Annahme, dass die Masse und das Trägheitsmoment des Aktuators 20, des Sensors 24 und der Drehachse 22 sowie des Sensors 26 jeweils gleich Null sind.

Increasing the rotational speed dα / dt increases the kinetic energy

reached the entire door construction. An idealized assumption is the mass and inertia of the actuator 20 , the sensor 26 and the axis of rotation 22 neglected, being

m ₁

= Mass of the entire door construction incl. Actuator 20 and swivel 16 ;

m ₂

= Mass of the rotationally moving door leaf;

l

= Distance of the center of gravity of the door leaf to the axis of rotation 22 ;

J

= Moment of inertia of the rotationally moving door leaf with respect to the axis of rotation 22 applies, under the idealized assumption that the mass and the moment of inertia of the actuator 20 , the sensor 24 and the axis of rotation 22 as well as the sensor 26 each equal to zero.

With the above equation, for the initial motion, the kinetic energy becomes: T = c 2 α. 2

If the rotational movement is now completely prevented, for example by the actuator 20 or alternatively by a brake (not shown), the component of the kinetic energy acting in the x-direction will lead to a movement of the entire door construction in the x-direction:

By a suitable choice of the deceleration time and the kinetic energy generated, a movement of the entire door construction in the x-direction from 0 to x _max can be achieved via this connection. The ideal angle for the beginning of deceleration would be approximately α = 90 °.

The schematic block diagram of 5 shows a variant of a door control with a path planning. This is again on a fully actuated vehicle door 10 corresponding to two degrees of freedom 1 Referenced. In addition, one is the working space of the door 10 capturing camera 40 intended. The control unit 34 for the door control is also with the generally as a sensor 42 linked sensor equipment linked. The control unit 34 controls the actuators 44 on, all the actuators of the door 10 includes. The door control 34 is coupled with a path planning module 46 that continues with a memory module 48 is coupled. The path planner 46 provides a tool for door control 34 by accurately calculating from a set of motion possibilities a path suitable for the movement of the vehicle door 10 is.

The schematic block diagram of 6 shows an overview of the program flow and the signal processing of such a door control with path planning according to 5 , First, in a first step S1, the position and shape of the camera 40 entered obstacles in the working space of the door and this data processed if necessary. The output signal is obstacle data 50 won. At the same time, in step S2 on the basis of the previous course of movement of the door and of the force impressed by the operator of the door (user data 52 ) determines the area currently relevant to the door movement. The calculated workspace data 54 be together with the obstacle data 50 in egg nem third step S3 for selecting the relevant for the current door movement obstacles processed. Taking into account additional model data 56 takes place in the next step 84 a scene representation in which all irrelevant obstacles have already been eliminated. On this data base, collision-free paths can be determined in step S5, which in the next step S6 taking into account additional user data 58 can be used to select the most suitable path for the current door movement. The result is a control signal for the actuators for a suitable path 60 , This opening path 60 is from the door control 34 used as a reference for the movement of the vehicle door. The door control, if necessary, helps the user to follow the best path by means of suitable auxiliary forces applied by the actuators.

at This algorithm assumes that the detected obstacles can be considered static. This is exclusive those obstacles to path planning of interest that lie in the previously determined working space. From the data of these obstacles as well as from known data of vehicle and vehicle door Then a scene is created that serves as the basis for the Path planning is used.

The simplified schematic representation of 7 shows the components of a door control with adaptive parameters. It becomes a vehicle 8th considered that via an actuated vehicle door 10 with a force measuring device 62 as well as with a sensor 64 for anthropometry detection and with a weather sensor 66 equipped to record the current weather condition. The vehicle door 10 is by a human user 68 actuated.

The schematic block diagram of 8th shows an overview of the interconnection and signal processing of a door control according to 7 , The control unit 34 determined on the basis of the weather sensor data 66 Whether there is a critical weather condition, which may be the case, for example, in heavy rain or snowfall. The door 10 should be opened with the least possible force. If this is the case, then the parameters of the virtual model in the force control loop (vg. 9 ) adapted so that the lowest possible perceived mass and damping of the controlled door 10 results and the user is thus able to open the door quickly. If, on the other hand, no critical weather state is detected, an adaptation of the parameters of the virtual model takes place as a function of the anthropometric data 64 the user 68 , To do this, the signals of the anthropometry sensors 64 determines the body size and proportions of the body parts. On this basis, the calculation of additional intermediate variables, such as the estimated body weight.

From one in the store 48 deposited relation between antropometric data and favorable parameters of the virtual model are read out or calculated the most suitable settings for each user. These replace the virtual model of the force control loop ( 9 ) the default parameters. This results in a change in the characteristic of the force control loop, which results in a changed perceived dynamics of the controlled door and thus in an increase in the subjective ease of use for the user.

8th

vehicle

10

vehicle door

12

sliding joint

14

connecting element

16

pivot

18

first actuator

20

second actuator

22

swivel axis

24

first sensor

26

second sensor

28

third sensor

30

object

32

contact point

34

control unit

36

activation signal

38

door handle

40

camera

42

sensors

44

actuators

46

Path planning module

48

memory module

50

obstacle data

52

user data

54

Workspace data

56

model data

58

additional user data

60

suitable path

62

Force measuring device

64

Anthropometry sensors

66

Weather sensors

68

user

QUOTES INCLUDE IN THE DESCRIPTION

This list The documents listed by the applicant have been automated generated and is solely for better information recorded by the reader. The list is not part of the German Patent or utility model application. The DPMA takes over no liability for any errors or omissions.

Cited patent literature

• - DE 60015524 T2 [0004]
• - US 5804937 A [0005]

Claims (32)

Door or flap, in particular vehicle door ( 10 ), with at least two kinematic degrees of freedom (x, α), the at least one actuator ( 18 . 20 ) is associated with the motor assisting an opening and / or closing movement and / or a locking or unlocking operation, characterized in that the at least one actuator ( 18 . 20 ) with at least one sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) is in operative connection. Door according to claim 1, characterized in that the at least one sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) for detecting movement characteristics of the door or vehicle door ( 10 ) is provided. Door according to claim 1 or 2, characterized in that the at least one sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) for detecting environmental parameters of the door or vehicle door ( 10 ) is provided. Door according to claim 3, characterized in that the at least one sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) for detecting an immediate environment of the door or vehicle door ( 10 ) is provided. Door according to one of claims 1 to 4, characterized in that the sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) for detecting an actuation and / or an actuating force between a door or vehicle door ( 10 ) actuating person ( 68 ) and the door or vehicle door ( 10 ) is provided. Door according to one of claims 1 to 5, characterized in that at least one further sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) for detecting at least one movement variable (eg speed, acceleration, location) of the door or vehicle door ( 10 ) is provided. Door according to one of claims 1 to 6, characterized in that the at least one sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) an optical detection device ( 40 ) for recording a contact situation between the person ( 68 ) and the door or vehicle door ( 10 ). Door according to one of claims 1 to 7, characterized in that the at least one sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) a mechanical sensor and / or at least one pressure-sensitive surface for detecting a contact situation between the person ( 68 ) and the door or vehicle door ( 10 ). Door according to one of claims 1 to 8, characterized in that at least one further sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) for detecting on the door or vehicle door ( 10 ) is provided external environmental influences acting. Door according to one of claims 1 to 9, characterized in that at least one further sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) is provided for detecting a vehicle inclination. Door according to one of claims 1 to 10, characterized in that the at least one sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) with an information processing unit ( 34 ) is coupled, which from the sensor data, a control signal for controlling the at least one actuator ( 18 . 20 ) generated. Door according to claim 11, characterized in that the information processing unit or the evaluation device ( 34 ) at least one calculation rule for the selection of control parameters for the control of the actuator ( 18 . 20 ) based on door and / or vehicle and / or user and / or environment specific characteristics. Door according to one of claims 1 to 12, characterized in that the evaluation device ( 34 ) Values for a door or vehicle door ( 10 ) effective force from the sensor data and / or from a calculation rule based on the sensed operator interaction and the state of the door ( 10 ) wins. Method for actuating a door or flap, in particular a vehicle door ( 10 ) with at least two kinematic degrees of freedom (x, α), the at least one actuator ( 18 . 20 ) is associated with the motor support of an opening and / or closing movement and / or a disengaging or locking operation, characterized in that for controlling the at least one actuator ( 18 . 20 ) the signals are little least one sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) be evaluated. A method according to claim 14, characterized in that the at least one sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) Movement characteristics of the door or vehicle door ( 10 ) detected. Method according to claim 14 or 15, characterized in that the at least one sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) Environmental parameters of the door or vehicle door ( 10 ) detected. Method according to claim 16, characterized in that the at least one sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) an immediate environment of the door ( 10 ) detected. Method according to one of claims 14 to 17, characterized in that the sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) an actuation and / or an actuation force between a person actuating the door or vehicle door ( 68 ) and the door or vehicle door ( 10 ) detected. Method according to one of claims 14 to 18, characterized in that at least one further sensor device, the state of movement of the door or vehicle door ( 10 ) detected. Method according to one of claims 14 to 19, characterized in that the at least one sensor device ( 24 . 26 . 28 . 40 . 42 . 62 . 64 . 66 ) by optical means a contact situation between the person ( 68 ) and the door or vehicle door ( 10 ) detected. Method according to one of claims 14 to 19, characterized in that the at least one sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) by mechanical means a contact situation between the person ( 68 ) and the door or vehicle door ( 10 ) detected. Method according to one of claims 14 to 21, characterized in that at least one further sensor device on the door or vehicle door ( 10 ) detected external environmental influences. Method according to one of claims 14 to 22, characterized in that a vehicle inclination is detected. Method according to one of claims 14 to 23, characterized in that the at least one sensor device ( 24 . 26 . 28 . 42 . 62 . 64 . 66 ) with an evaluation device ( 34 ) is coupled, which from the sensor data, a control signal for controlling the at least one actuator ( 18 . 20 ) generated. Method according to claim 24, characterized in that the evaluation device ( 34 ) at least one calculation rule for the derivation of control parameters for the control of the actuator ( 18 . 20 ) based on door and / or vehicle and / or user and / or environment specific characteristics. Method according to one of claims 14 to 25, characterized in that for the movement of the door or vehicle door ( 10 ) at least one preferred path is definable. Method according to claim 26, characterized in that that the at least one preferred path of sensor values via an environmental and / or environmental situation and / or user-specific Characteristic values is determined. Method according to claim 26 or 27, characterized in that the at least one preferred path is based on the kinematic properties of the door ( 10 ) and / or from sensor values about current movement states of the door ( 10 ) is determined. Method according to one of claims 26 to 28, characterized in that the at least one determined path for the automatic movement, in particular for the automatic opening and closing of the door or vehicle door ( 10 ) is used. Method according to one of claims 26 to 29, characterized in that from an amount of the kinematic properties of the door or vehicle door ( 10 ) given possible motion paths a suitable path or more suitable paths are determined. Method according to claim 30, characterized in that during path planning the door or vehicle door ( 10 ) is controlled such that there is no collision of the door or vehicle door with objects ( 30 ) or people is coming. A method according to claim 30 or 31, characterized in that the possible paths examined by the path planning are restricted to those which are not unlikely to be used by the user ( 68 ) desired paths are classified.