EP1552973B1 - Control unit for a regulating device in a vehicle, specially for a window opener - Google Patents

Abstract

Control device for a motor vehicle actuator, especially a motor vehicle window lever has a computer unit for controlling the drive of the actuator. The computer unit is configured so that it will stop the actuator drive or start a process for stopping it if a signal corresponding to the drive torque exceeds a response threshold. It also designed to change the response threshold in response to a temporal or spatial change in the signal, i.e. if the rate of change of the signal increases, the response threshold will be reduced. The invention also relates to a window lever with a drive and an actuator mechanism, a digital storage medium and a computer program product.

Description

The invention relates to a window regulator, and a control device of a window regulator and a method for controlling a window regulator according to the preamble of claims 1 and 10. Such a device for such a method is for example from US 2002/0190680 A1 known.

From the DE 197 45 597 A1 is a method for controlling and regulating the adjustment of a translationally adjustable component, in particular a window in motor vehicles known. In this method for controlling and regulating the adjustment movement of the translationally adjustable component, with an adjusting device, a drive device and a control and electronic control is effective anti-trap protection taking into account a sufficiently large adjustment in Schwergängigkeitsbereichen and acting on the vehicle body, caused by external influences Ensures forces. For this purpose, the drive means exerts an adjusting force equal to the sum of the adjustment of the Component is necessary force and an excess force, the sum is less than or equal to a permissible pinching force. The adjusting force or the excess force is additionally regulated as a function of forces acting on the vehicle body or parts thereof.

The solution ensures anti-pinch protection over the entire adjustment range, which also meets very high safety requirements. In addition, it is ensured that the adjusting force is sufficiently large, even in the areas of stiffness, and that an adjusting device adjusts a translationally displaceable component taking into account the external influences acting on the vehicle body in accordance with the operator's material. External influences are here understood to mean the forces acting on the vehicle body or acceleration forces which are not directly caused by the adjusting device or by a drive device, but occur, for example, because of the poor condition of the driving route (driving through a pothole) or when closing a vehicle door.

The regulation of the adjustment force or the excess force is preferably carried out as a function of the direction of movement of the translationally adjustable component and of the predominant direction of action occurring acceleration forces such that the adjusting force is always less than or equal to the permissible pinching force. If, for example, an acceleration force acts on the vehicle body, which supports the closing movement of a translationally adjustable component, the threshold value is preferably reduced. In the case of occurrence of the closing movement opposing acceleration force, the threshold is increased. In this way, the adjusting force is always sufficiently large, so that the closing movement continues safely and an anti-trap protection is ensured.

It is further provided that upon the occurrence of acceleration forces acting on the vehicle body within a predetermined period of time, a regulation of the adjustment force or the excess force is interrupted and a threshold value is predetermined such that the adjustment force is always less than or equal to the permissible pinching force. The time span is for example 100 ms. This embodiment takes into account that with constantly changing, acting on the vehicle body acceleration forces the threshold is not constantly changed within a short period of time, which could lead to an impairment of the movement of the translationally adjustable component. By the Presetting a fixed threshold, which is always less than or equal to the permissible pinching force, both a safe movement of the translationally adjustable component and a anti-trap protection is ensured.

The acceleration forces acting on the vehicle body are preferably detected by a sensor, for example by a digital signal providing sensor. Digital signals can be processed easily in a control electronics. To set the control can be evaluated by the control and electronic control single or multiple, temporally one behind the other signals of the sensor. The repeated evaluation of the signals of the sensor makes it possible to reliably identify a simultaneous occurrence of the acceleration forces caused by external influences and the forces caused by a trapping case.

From the DE 195 17 958 a motor drive device for a motor vehicle is known. In the motor driving apparatus for a power window, the rotation of the motor is stopped immediately when the movement of the window with an engine turned obstructs an obstacle. The motor drive device serves to open and close the movable part (window) and can be selectively operated and stopped.

An electrical current measuring device measures the magnitude of the current flowing through the motor in a start-up compensation time, a current magnitude change detector detects an amperage increment from the detected current at each constant time interval, and a motor controller supplies a first or a second control signal to the motor drive device the first signal depending on the polarity of the Stromstrkeninkrements the engine operation continues and with the second signal, the engine is stopped immediately.

Two selector switches indicate the direction of rotation of the motor, a pair of key switches for the respective motor directions and two self-holding circuits for the two directions of rotation of the motor allow rotation of the motor upon actuation of one of the key switches.

From the DE 196 49 698 A1 a control device for a powered barrier is known, which is independent of their configuration and can be remotely operated and directly operated in various ways. Security measures use an adaptation strategy to provide highly sensitive obstacle detection by learning the power requirements of the system and providing it with a safety margin. The control system allows completely manual handling of the barrier.

Information is stored about the actuation force needed at each point of the tailgate trajectory along its predetermined trajectory to close the tailgate. Values are stored in four multidimensional arrays. The dimensions of the arrangement are direction of movement and position. The direction of movement is opening or closing. The position is any number of divisions of the prescribed course. The actuation force (fmem), the time derivative of the actuation force (dfmem), the fluctuation of the actuation force measurements (vfmem) and the fluctuation of the measurements of the derivation of the actuation force according to time (vdfmem) are determined. Other stored values include the number of tailgate opening and closing operations, without the detection of an obstacle, the number of obstacles detected, and the average operating force over the last n minutes.

The operation of the tailgate takes place at time t, at which the tailgate is in the partial area p of their path along the predetermined path, and the direction of movement of the tailgate is d. The memory values are used to determine an obstacle as follows:

• Die gegenwärtige Kraft (f(d,t)) ist größer als die im Speicher gespeicherte Kraft für diese Heckklappenposition (fmem[d,p]), und zwar um eine Abweichung (fmargin(d)).
• Die gegenwärtige Ableitung der Kraft nach der Zeit (df/dt(d,t)) ist größer als die Zeitableitung der Kraft, die für diese Heckklappenposition im Speicher gespeichert ist (dfmem(d,p)), und zwar um eine Abweichung (dfmargin(d)).
• Die gegenwärtige Kraft (f(d,t)) ist größer als eine vorbestimmte absolute Maximalkraft (fmax(d)). Diese Maximalkraft ist ein Maximum, das in keinem Fall überschritten werden darf.

The measured force of the first actuator is compared with the force arrangement for the present tailgate position and direction, with a system-dependent combination of the following conditions:

• The current force (f (d, t)) is greater than the stored force in memory for this tailgate position (fmem [d, p]) by one deviation (fmargin (d)).
• The current derivative of the force after time (df / dt (d, t)) is greater than the time derivative of the force stored in memory for that tailgate position (dfmem (d, p)) by one deviation (dfmargin (d)).
• The present force (f (d, t)) is greater than a predetermined absolute maximum force (fmax (d)). This maximum force is a maximum that must never be exceeded.

The deviation is adjustable. In addition, the deviations (both fmargin and dfmargin) can be constructed as a function of vfmem [d, p] and vdfmem [d, p]. This means that the deviation itself is a function of the position and varies with each position over time as the force varies. As a result, with an increase in the temporal or local change of the force, the deviation is also increased .

If the force at position d, p is the same at each cycle, the deviation becomes smaller and the system more sensitive. Therefore, if the force at the position d, p is significantly different at each pass, the drift will tend to remain large. The deviation is limited so that it can not grow beyond a certain point, and the pursuit of its magnification beyond this point indicates a system error.

A further extension is to modify the stored forces (either one or both of fmem (p) and dfmem (p)) as a function of any external sensor (eg, a temperature sensor) to account for known and predictable environmental influences.

$$\mathrm{dfmem}\left[\mathrm{d},,\mathrm{p}\right]\mathrm{=}\left(\mathrm{k}3\mathrm{\times }\mathrm{df}/\mathrm{dt}\left(\mathrm{d},,\mathrm{p}\right)\right)\mathrm{+}\mathrm{k}4\mathrm{\times }\mathrm{dfmem}\left[\mathrm{d},,\mathrm{p}\right]\mathrm{)}\mathrm{/}\mathrm{k}3\mathrm{+}\mathrm{k}4$$

$$\mathrm{vfmem}\left[\mathrm{d},,\mathrm{p}\right]\mathrm{=}\mathrm{(}\mathrm{k}5\mathrm{\times }(\mathrm{f}\left(\mathrm{d},,\mathrm{p}\right)-\mathrm{fmem}\left[\mathrm{d},,\mathrm{p}\right]+\mathrm{k}6\mathrm{\times }\mathrm{vfmem}\left[\mathrm{d},,\mathrm{p}\right]/\mathrm{k}5\mathrm{+}\mathrm{k}6$$

$$\mathrm{vfmem}\left[\mathrm{d},,\mathrm{p}\right]\mathrm{=}\mathrm{(}\mathrm{k}7\mathrm{\times }(\mathrm{f}\left(\mathrm{d},,\mathrm{p}\right)-\mathrm{fmem}\left[\mathrm{d},,\mathrm{p}\right]+\mathrm{k}8\mathrm{\times }\mathrm{vfmem}\left[\mathrm{d},,\mathrm{p}\right]/\mathrm{k}7\mathrm{+}\mathrm{k}8$$

wobei k1, k2, k3, k4, k5, k6, k7 und k8 empirisch bestimmt werden in Abhängigkeit von der Dynamik des Systems. Demgemäß führt eine zunehmende zeitliche Änderung zum bisherigen dfmem[d,p] zu einer Erhöhung des neuen, aktuellen dfmem[d,p]. k1, k2, k3, k4, k5, k6, k7 und k8 beeinflussen die Geschwindigkeit, mit welcher das System lernt und daher, wie das System auf eine sich ändernde Umgebung anspricht. Typischerweise sind diese Werte so gewählt, dass k1, k3, k5 und k7 sehr viel kleiner sind als k2, k4, k6 und k8.If the arrangements contain valid data and the controller does not detect an obstacle during tailgate movement, the values are changed according to the following formulas: $$\mathrm{FMEM}\left[\mathrm{d},,\mathrm{p}\right]\mathrm{=}\left(\mathrm{k}\mathrm{1}\mathrm{\times }\mathrm{f}\left(\mathrm{d},,\mathrm{p}\right)\right)\mathrm{+}\mathrm{k}\mathrm{2}\mathrm{\times }\mathrm{FMEM}\left[\mathrm{d},,\mathrm{p}\right]\mathrm{)}\mathrm{/}\mathrm{k}\mathrm{1}\mathrm{+}\mathrm{k}\mathrm{2}$$

$$\mathrm{dfmem}\left[\mathrm{d},,\mathrm{p}\right]\mathrm{=}\left(\mathrm{k}3\mathrm{\times }\mathrm{df}/\mathrm{dt}\left(\mathrm{d},,\mathrm{p}\right)\right)\mathrm{+}\mathrm{k}4\mathrm{\times }\mathrm{dfmem}\left[\mathrm{d},,\mathrm{p}\right]\mathrm{)}\mathrm{/}\mathrm{k}3\mathrm{+}\mathrm{k}4$$

$$\mathrm{vfmem}\left[\mathrm{d},,\mathrm{p}\right]\mathrm{=}\mathrm{(}\mathrm{k}5\mathrm{\times }(\mathrm{f}\left(\mathrm{d},,\mathrm{p}\right)-\mathrm{FMEM}\left[\mathrm{d},,\mathrm{p}\right]+\mathrm{k}6\mathrm{\times }\mathrm{vfmem}\left[\mathrm{d},,\mathrm{p}\right]/\mathrm{k}5\mathrm{+}\mathrm{k}6$$

$$\mathrm{vfmem}\left[\mathrm{d},,\mathrm{p}\right]\mathrm{=}\mathrm{(}\mathrm{k}7\mathrm{\times }(\mathrm{f}\left(\mathrm{d},,\mathrm{p}\right)-\mathrm{FMEM}\left[\mathrm{d},,\mathrm{p}\right]+\mathrm{k}\mathrm{8th}\mathrm{\times }\mathrm{vfmem}\left[\mathrm{d},,\mathrm{p}\right]/\mathrm{k}7\mathrm{+}\mathrm{k}\mathrm{8th}$$

where k1, k2, k3, k4, k5, k6, k7 and k8 are determined empirically depending on the dynamics of the system. Accordingly, an increasing temporal change to the previous dfmem [d, p] leads to an increase of the new, current dfmem [d, p]. k1, k2, k3, k4, k5, k6, k7 and k8 affect the speed with which the system learns and therefore how the system responds to a changing environment. Typically these values are chosen so that k1, k3, k5 and k7 are much smaller than k2, k4, k6 and k8.

The object of the present invention is to further develop a control device of an adjusting device of a motor vehicle. This task is done by the control device with the features of claim 1 and the window with the features of claim 19 and by the computer program product with the features of claim 21 solved. Advantageous developments of the invention are specified in the subclaims. For further development of the invention, in addition, the features of the subclaims are particularly advantageously combined with one another and with features of the cited prior art.

Accordingly, a control device of an adjusting device of a motor vehicle is provided. The adjusting device is preferably a motor vehicle window lifter. The control device may be formed on a semiconductor chip, as a so-called "smart power solution", ie as integrated, intelligent power electronics, or consist of a plurality of electronic and / or electro-optical components. The control device has at least one arithmetic unit for controlling a drive of the adjusting device, which consists for example of pure hardware in the form of a hardwired program structure and / or is freely programmable. This arithmetic unit is for example a microcontroller.

The arithmetic unit is set up to stop an adjustment movement of the drive or to start a process for stopping the adjustment movement of the drive when a signal correlating to the torque of the drive exceeds an actual response threshold. This function may also be referred to as an anti-trapping function of an adjusting device. The signal correlating with the torque of the drive is, for example, the drive current and / or its time change, the speed of the drive and / or its time change and / or a force acting on the drive and / or its change. Apart from these enumerated examples, alternatively or in combination, other torque correlating signals may be evaluated. The correlation is understood to mean any form of dependence on the speed. The type of correlation is dependent on the size to be evaluated. For example, if the speed is evaluated, the correlation is a speed-torque characteristic of the drive, in particular an electric motor. The threshold is then exactly when it is compared to the anti-trap function with the measured signal for the same adjustment position. Furthermore, an adapted threshold is determined for a subsequent adjustment by evaluating the current threshold together with the current signal and, if appropriate, further influencing factors.

Therefore, the threshold is not a fixed threshold, but a variable value that is changeable by the arithmetic unit. With this current threshold, the torque correlating signal is compared and controlled in case of exceeding the current threshold of the drive in response to the comparison result. This current threshold is preferably adjusted during the adjustment by the current threshold is changed in response to the temporal and / or local change of the signal such that with increasing temporal or spatial change of the signal, the current threshold is reduced. For a reduction of the current threshold, this is brought closer to the signal to be compared, so that the distance between the signal and the current threshold is reduced. If, for example, the drive current or a force is evaluated as a signal, the value of the same is increased to reduce the current threshold. For example, if the reciprocal of the speed is evaluated as a signal to reduce the current threshold, the value of the same lowered.

The current amount of the value of the current response threshold is preferably changed here. The temporal or spatial change of the signal means both the first and any further derivation of the signal by location and / or time. The temporal and / or spatial change of the signal also includes differences of the successive values of the signal, if this is time-discontinuous or location-discontinuous due to the measurement resolution.

The computing unit can be set up, for example, by a program that is recorded in the arithmetic unit and with which the arithmetic unit is correspondingly configured. Alternatively or in combination, this program can also be hardwired (ROM) integrated in the arithmetic unit. This program executes a procedure that allows the evaluation of the correlating signal. This program can be stored in a digital storage medium, for example a floppy disk or a non-volatile memory (EEPROM).

A particularly advantageous embodiment of the invention provides that the arithmetic unit is set up to change the current threshold only under the condition that the temporal or spatial change of the signal exceeds a minimum change value. Below this minimum change value, therefore, there is no change in the current response threshold as a function of the temporal or local change of the signal. However, this is a change the threshold, which is due to other dependencies, not excluded.

For example, the threshold can be adapted depending on other values. For adaptation, in an advantageous embodiment of the invention, it is provided that values of the signal from at least one previous adjustment for the adaptation of the response threshold are evaluated and stored. Preferably, the respective current value of the signal is weighted by a factor and averaged with values of previous displacements, which are all assigned to the same adjustment location. Another type of averaging can be done by averaging previous values of the signal of the same adjustment and using the determination of the current response threshold, in particular using an offset.

In a further advantageous development of the invention, the arithmetic unit is set up to additionally change the threshold as a function of the course of the average amount of the signal. As a result, the threshold is changed depending on the amount. As noted above, this can also be done by averaging the signal with equal or different weighting factors for the individual values of the signal. The adapted threshold is hereby adapted to slow changes in the magnitude of the signal over the displacement and, for these slow changes in magnitude, advantageously set at a substantially constant distance from the mean of the signal. Slow changes in magnitude can be caused, for example, by changes in the mechanical stiffness caused by changes in temperature compared with previous adjustments, so that an adaptation of the adapted response threshold for a respective adjustment position associated with the binding is advantageous.

The averaging can take place, for example, over the last 4 to 8 values of the same adjustment or over 2 to 6 values of preceding adjustments, which relate in each case to the same adjustment locations. As a result, short-term, insignificant changes do not significantly affect this mean. If the correlating signal is a rotational speed of the drive, it is therefore advantageously provided that the arithmetic unit for changing the threshold is additionally set up as a function of an absolute rotational speed of the adjusting device.

According to a further advantageous embodiment of the invention, the arithmetic unit is set up to change the current or the adapted threshold in addition to a stiffness of the adjustment. The rigidity of the adjusting device can advantageously have been determined by the arithmetic unit or this is loaded before commissioning as a parameter set in the arithmetic unit. The rigidity can be composed of different individual stiffnesses of the adjustment system.

A preferred development of the invention provides that the arithmetic unit is set up to mathematically correlate the change of the current response threshold to the temporal or local change of the signal. In this case, the change of the signal is not just a trigger to change the current threshold, but the value of the change of the current threshold is also related to the value of the change of the signal.

In a first embodiment variant of this development of the invention, the correlation is the change of the current response threshold as a function of a characteristic field. This map is preferably stored in the arithmetic unit and in particular adaptable by the arithmetic unit. In the map, the change values of the current response threshold are assigned to the temporal or local change of the signal. In addition, the map can take into account further dependencies of further measured values or control signals and provide several sets of map values for this purpose.

In a second embodiment variant of this development of the invention, the correlation is the change of the current response threshold as a function of a mathematical function. The mathematical function outputs the required change value of the current response threshold as the output variable. The temporal or local change of the signal serves as input of the function. In addition, other input variables can be evaluated by the function. Also possible parameters of the function are changeable, in particular, by the arithmetic unit or by other electronics.

Preferably, the mathematical function is a continuous function. A particularly simple embodiment of this embodiment variant provides that, for the lowering of the current response threshold, the change value of the current response threshold is proportional to the temporal or local change of the signal. These Design variant can be particularly advantageous combined with the minimum change value. Alternatively, the mathematical function can also be a step function which enables a simplified calculation of the current response threshold.

In addition to the control device, the invention also relates to a window with a drive and an adjustment mechanism for adjusting the position of the window. In addition, this window has the previously described control device for controlling the drive.

Furthermore, the invention relates to a digital storage medium, in particular a floppy disk, with electronically readable control signals, which can cooperate with a programmable arithmetic unit, that a method is performed by stopping an adjustment of a drive of the adjustment or started a process for stopping the adjustment of the drive when a signal correlating to the torque of the drive exceeds an actual threshold. In a further method component, the current response threshold is changed as a function of the temporal or spatial change of the signal by lowering the current response threshold with increasing positive temporal or spatial change of the signal.

Moreover, the invention relates to a computer program product with program code stored on a machine-readable carrier for carrying out a method by stopping an adjusting movement of a drive of the adjusting device or starting a method for stopping the adjusting movement of the drive if a torque correlating to the drive signal Current threshold exceeds and by the current threshold is changed depending on the temporal or spatial change of the signal, if the program product runs on a computing unit.

In addition, the invention relates to a computer program with a program code for performing a method by an adjustment movement of a drive of the adjustment stopped or a method for stopping the adjustment of the drive is started when a correlated to the torque of the drive signal exceeds a current threshold and by the current threshold is changed as a function of the temporal or spatial change of the signal, provided that the program product runs on a computing unit.

In the following the invention will be explained in more detail by means of exemplary embodiments with reference to drawings.

FIG 1

eine schematische Darstellung des Verlaufs eines zu einem Antriebsmoment eines Fensterhebermotors korrelierenden Signals,

FIG 2

eine schematische Darstellung des Verlaufs einer Drehzahl eines Fensterhebermotors und deren Änderung als zum Antriebsmoment des Fensterhebermotors korrelierendes Signal,

FIG 3

eine schematische Darstellung der Änderungswerte der Ansprechschwelle in Abhängigkeit von der zeitlichen Änderung des zum Antriebsmoment des Fensterhebermotors korrelierenden Signals, und

FIG 4

eine schematische Darstellung des örtlichen Verlaufs einer zu dem Antriebsmoment eines Fensterheberantriebs korrelierenden Signals.

Show

FIG. 1

1 is a schematic representation of the course of a signal correlating to a drive torque of a window lift motor;

FIG. 2

a schematic representation of the course of a speed of a window regulator motor and its change as correlated to the drive torque of the window regulator motor signal

FIG. 3

a schematic representation of the change values of the threshold in response to the change over time of the signal correlating with the drive torque of the window regulator motor, and

FIG. 4

a schematic representation of the local course of a correlating to the drive torque of a window lift drive signal.

Between a disc upper edge and a seal of a window pane of a motor vehicle door during a closing operation of the disc there is a risk that the body part of a person is trapped and injured in a gap between the disc upper edge and the seal. In order to protect persons from serious injury, the electric motor of a window regulator moving the window pane is controlled by a control device, which detects the trapping case for this purpose.

The control device is configured by a program to stop the closing movement of the electric motor or to start a process for stopping the closing movement of the electric motor when the jamming case is detected. The trapping case is detected by the control device recognizing when a signal F, F (x), F (t) correlating to the torque of the electric motor exceeds a current response threshold s, s (x), s ₁ , s ₂ . Two such cases are exemplary in the FIG. 1 shown.

The torque correlating signal is in FIG. 1 a time-dependent measured force F (t). However, the invention is not limited to this specific embodiment. As an alternative to this force F (t), all the torque of the Electric motor correlating signals, for example, the drive current of the electric motor or the speed of the electric motor are evaluated. Likewise, as an alternative to the time dependence of the course of this signal, a displacement-dependent signal (n (x), see FIG. 2 or FIG. 4 ), which correlates to the torque of the electric motor, are evaluated.

In the FIG. 1 are several time courses of the force F (t) shown. The first course of the force F ₁ (t) overstepping the time t ₁ the current threshold _S1. At this time t ₁ , the control device detects the trapping event and the electric motor is stopped and subsequently reversed and consequently energized for an adjustment in the direction opposite to that before the trapping case. The kinetic energy present in the window regulator at the time of detection t ₁ will increase beyond the current threshold s ₁ due to the inertia of the window regulator system, the force F ₁ (t). This has the consequence that a maximum pinching force F _{1 max is} achieved.

The value of the maximum trapping force F _{1 max also} depends, in addition to the dependence on the kinetic energy present at the time of tucking in t ₁ , on the sum of the rigidity of the window regulator system and the stiffness of the trapped body part. The pinching of the body part causes a significant change .DELTA.F ₁ / .DELTA.t of the force F ₁ (t) on the basis of the force F _v , which was determined before Einklemmfall. This force F _v is typically a previously averaged value.

If the response threshold s _{1 is} constant and independent of the change ΔF ₂ / Δt of the force F ' ₂ (t), then this results as in FIG. 1 is shown, in the case of a relation to the first significant change .DELTA.F ₁ / .DELTA.t of the force F ₁ (t) increased second change .DELTA.F ₂ / .DELTA.t of the force F ' ₂ (t) to an increased maximum Einklemmkraft F' _{2 max} . This increased maximum trapping force F ' _{2 max} is due to the fact that when reaching the constant threshold s ₁ at time t' _2, the kinetic energy impinging on the much stiffer body part has to be reduced over a smaller adjustment period or over a smaller adjustment path.

In order to avoid such force peaks F ' _{2 max} , depending on the increased change ΔF ₂ / Δt of the force F ₂ (t), the current threshold s ₂ is lowered to a lower value. This causes that already at an earlier time t _{2 of} the pinching case is detected by the control device. Consequently, the occurring force peak F _{2 max} , which acts on the clamped body part, significantly reduced.

In FIG. 2 is a schematic representation of a Verstellwegabhängigen curve of the speed n of the electric motor of another embodiment of the invention. With constant speed n ₀ , the adjustment reaches the location x ₀ . At this location x ₀ , the speed n changes. In FIG. 2 Three different changes n ₁ (x), n ₂ (x) and n ₃ (x) are shown schematically. In the case of a slow change of the speed n ₃ (x), the anti-jamming protection (EKS) is not activated, thus remains inactive. In this case, it can be, for example, an adjustment-dependent stiffness of the window lifter, so that the window lifter would incorrectly detect this slow change of the rotational speed n ₃ (x) as a trapping case and would thus misrevers.

The change in the speed n ₃ (x) for this speed curve is below a minimum change value k, so that no adaptation of the current threshold occurs. On the other hand, the other two changes n ₁ (x) and n ₂ (x) are in the active region of the anti-jamming protection and also above the minimum change value k. The anti-trap activation threshold EKS and the minimum change value k may be different. In the embodiment of FIG. 2 the minimum change value k is smaller than the anti-jamming activation threshold value EKS, but this depends on the respective application and can also be carried out in reverse or with the same values. Depending on the height of the fall in the rotational speed n, different response thresholds s ₁ or s _{2 are} set which are distanced from the mean value of the rotational speed n ₀ before the trapping case Δ ₁ , Δ ₂ .

The change .DELTA.s of the current response threshold occurs as a function of the time or local change dF / dt or dF / dx of the adjustment force F (t) or F (x) which is decisive for the detection time or detection adjustment location. This dependency is in several embodiments of the invention in FIG. 3 exemplified. The change Δs of the current threshold occurs in FIG. 3 as a function of the time change dF / dt of the force F (t). In a first example, the change Δs _{1 of} the current response threshold is formed by means of a quadratic function from the time change dF / dt of the force F (t).

Is contrary to this first embodiment of the FIG. 3 If a minimum change value k of the force F (t) is used, the change in time dF / dt of the force F (t) below this minimum change value k does not lead to a change in the current response threshold. By this specific embodiment leads unwanted noise, for example may be due to measurement errors, not to a change in the current threshold. A particularly simple embodiment of the invention provides a change Δs _3, which is proportional to the time change dF / dt of the force F (t), of the current response threshold from the minimum change value k.

As an alternative to the use of a function with the input variable of the temporal change dF / dt of the force F (t) and the output variable of the change Δs ₁ , Δs _{3 of} the response threshold, in a further exemplary embodiment FIG. 3 a map dependency is shown schematically. Change ranges of the temporal change dF / dt of the force F (t) are accordingly assigned values of the change Δs _{2 of} the current response threshold.

In FIG. 4 a local course of the force F (x) is shown. The course of the force F (x) is adjusted for the subsequent adjustment respectively adapted threshold s (x), so that the distance changes only by a small amount for the already passed adjustment positions during the adjustment. At location x0 a significant change dF / dx of the force F (x) is determined. On the basis of the evaluation of the force change dF / dx, a change Δs in the current response threshold s (x) is determined, for example as in FIG FIG. 3 described. As a result, in this exemplary embodiment, the advantage is achieved that the maximum pinching force F ' _max acting on the force F _max without lowering the current response threshold s (x) is significantly reduced.

LIST OF REFERENCE NUMBERS

s (x), s ₁ , s ₂

threshold

F (t), F ₁ (t), F ₂ (t), F ' ₂ (t)

time-dependent signal correlating to the drive torque

F (x)

location-dependent signal correlating to the drive torque

F _v

Mean value of the signal before pinching

Fmax, F ' _max , F _{1 max} , F _{2 max} , F' _{2 max}

Maximum value of the signal in case of pinching

dF / dt, dF ₁ / dt, dF ₂ / dt

temporal change of the signal

n

Speed of the window regulator drive

n ₀

Mean value of the speed

Δ ₁ , Δ ₂

Distance between the threshold and the speed

x

Way, adjustment, place

n ₁ (x), n ₂ (x), n ₃ (x),

location-dependent speed curve

ΔS ₁ , ΔS ₂ , ΔS ₃ , ΔS

Change value of the threshold

k

Minimum change value of the signal

EKS

Einklemmschutzaktivierungsschwellwert

x ₀

event position

Claims (21)

1. Control apparatus of an adjusting device of a motor vehicle, in particular of a motor-vehicle window lifter, having a computer unit for controlling a drive of the adjusting device,
   characterized
   in that the computer unit is designed to stop an adjusting movement of the drive or to start a method for stopping the adjusting movement of the drive when a signal (F, F(x), F(t)), which is correlated with the torque of the drive, exceeds a response threshold (s(x), s1, s2), and to reduce the response threshold (s(x), s1, s2) as a function of an increasing change (dF/dt, dF/dx) in the signal (F, F(x), F(t)) with respect to time or location.
2. Control apparatus according to Claim 1,
   characterized
   in that the computer unit is designed to change the response threshold (s(x), s1, s2) only under the condition that the change (dF/dt, dF/dx) in the signal (F, F(x), F(t)) with respect to time or location exceeds a minimum change value (k).
3. Control apparatus according to either of the preceding claims,
   characterized
   in that the computer unit is designed to change the response threshold (s(x), s1, s2) additionally as a function of the profile of the, in particular, preceding signal (F, F(x), F(t)).
4. Control apparatus according to Claim 3,
   characterized
   in that the computer unit is additionally designed to calculate the average value of the signal (F, F(x), F(t)).
5. Control apparatus according to one of the preceding claims,
   characterized
   in that the computer unit is designed to change the response threshold (s(x), s1, s2) additionally as a function of an absolute rotation speed (n) and/or as a function of a stiffness of the adjusting device.
6. Control apparatus according to one of the preceding claims,
   characterized
   in that the computer unit is designed to mathematically correlate the change in the response threshold (s(x), s1, s2) with the change (dF/dt, dF/dx) in the signal (F, F(x), F(t)) with respect to time or location.
7. Control apparatus according to Claim 6,
   characterized
   in that the correlation is the change in the response threshold (s(x), s1, s2) as a function of a characteristic map since the change values of the response threshold (s(x), s1, s2) are associated with the change (dF/dt, dF/dx) in the signal (F, F(x), F(t)) with respect to time or location.
8. Control apparatus according to Claim 6,
   characterized
   in that the correlation is the change in the response threshold (s(x), s1, s2) as a function of a mathematical function since the change (dF/dt, dF/dx) in the signal (F, F(x), F(t)) with respect to time or location is used as an input variable.
9. Control apparatus according to Claim 8,
   characterized
   in that the mathematical function is a continuous function, in particular proportional to the reduction in the response threshold (s(x), s1, s2) of the change (dF/dt, dF/dx) in the signal (F, F(x), F(t)) with respect to time or location, or is a step function.
10. Method for controlling an adjusting device of a motor vehicle, in particular of a motor-vehicle window lifter,
    characterized

    - in that an adjusting movement of the drive of the adjusting device is stopped or a method for stopping the adjusting movement of the drive is started when a signal (F, F(x), F(t)), which is correlated with the torque of the drive, exceeds a response threshold (s(x), s1, s2), and

    - in that the response threshold (s(x), s1, s2) is reduced as the change (dF/dt, dF/dx) in the signal (F, F(x), F(t)) with respect to time or location increases.
11. Method according to Claim 10,
    characterized
    in that the response threshold (s(x), s1, s2) is changed only when the change (dF/dt, dF/dx) in the signal (F, F(x), F(t)) with respect to time or location exceeds a minimum change value (k).
12. Method according to either of Claims 10 and 11,
    characterized
    in that the response threshold (s(x), s1, s2) for comparison of the exclusively current signal (F, F(x), F(t)) with the response threshold (s(x), s1, s2) is reduced in relation to the situation of the (reduced) response threshold (s(x), s1, s2) being exceeded.
13. Method according to one of Claims 10-12,
    characterized
    in that the response threshold (s(x), s1, s2) is changed additionally as a function of the profile of the preceding signal (F, F(x), F(t)).
14. Method according to Claim 13,
    characterized
    in that an average value of the signal (F, F(x), F(t)) is calculated in order to determine the profile of the preceding signal (F, F(x), F(t)).
15. Method according to one of Claims 10-14,
    characterized
    in that the response threshold (s(x), s1, s2) is changed additionally as a function of a stiffness of the adjusting device.
16. Method according to one of Claims 10-15,
    characterized
    in that the change in the response threshold (s(x), s1, s2) is mathematically correlated with the change (dF/dt, dF/dx) in the signal (F, F(x), F(t)) with respect to time or location.
17. Method according to one of Claims 10-16,
    characterized
    in that, for correlation purposes, the response threshold (s(x), s1, s2) is changed as a function of a characteristic map since the change values of the response threshold (s(x), s1, s2) are associated with the change (dF/dt, dF/dx) in the signal (F, F(x), F(t)) with respect to time or location.
18. Method according to one of Claims 10-17,
    characterized
    in that, for correlation purposes, the response threshold (s(x), s1, s2) is changed as a function of a mathematical function since the change (dF/dt, dF/dx) in the signal (F, F(x), F(t)) with respect to time or location is used as an input variable.
19. Window lifter having a drive and having an adjusting mechanism for adjusting the position of the window pane using a control apparatus according to one of Claims 1 to 9 for controlling the drive.
20. Digital memory medium, in particular diskette, having electronically readable control signals which can interact with a programmable computer unit such that a method at least according to Claim 10 is executed.
21. Computer program product having a program code, which is stored on a machine-readable storage medium, for carrying out the method at least according to Claim 10 when the program product runs on a computer unit.

Images