DE102017211483A1 - Control unit and method for automatically closing a flap and / or door - Google Patents

Abstract

It describes a control unit for an automatic flap and / or door, wherein the flap and / or door can be automatically transferred by at least one actuator from an open position to a closed position. The control unit is set up to determine speed information relating to a closing speed of the flap and / or door during a first closing operation. In addition, the control unit is set up to control the actuator in a subsequent second closing operation in dependence on the speed information relating to the first closing operation.

Description

The invention relates to a method and a corresponding control unit for automatically closing a flap and / or door, in particular a tailgate of a vehicle.

A vehicle may have an automatic tailgate, e.g. can be automatically opened and / or closed by one or more electromechanical drives. Furthermore, a vehicle can have a vehicle door, in particular a door of a driver of the vehicle, which can be opened and / or closed automatically. A vehicle may thus have one or more doors and / or flaps, which can be opened and / or closed automatically by means of one or more actuators.

In the case of a flap and / or door, a "pre-and main-pawl" locking system may be used, and the closing operation of an automatic flap and / or door may be considered completed once the locking system is in the "pre-peg". For a successful closing operation, i. for a secure latching of the lock of a flap and / or door in the pre-detent typically a certain minimum closing energy is required, the minimum closing energy can be effected by a minimum closing speed of the flap and / or door. For example, the one or more actuators of a flap and / or door in the manufacture of a vehicle can be adjusted such that the flap and / or door has a certain closing speed during a closing operation. Specifying a certain closing speed in the manufacture of a vehicle can lead to problems in an automatic closing operation of the flap and / or door, in particular after a longer period of operation of the vehicle.

The present document addresses the technical problem of efficiently increasing the reliability and comfort of an automatic flap and / or door closing operation.

The object is solved by the independent claim. Advantageous embodiments are described i.a. in the dependent claims. It should be noted that additional features of a claim dependent on an independent claim without the features of the independent claim or only in combination with a subset of the features of the independent claim may form an independent invention independent of the combination of all features of the independent claim, the subject of an independent claim, a divisional application or a subsequent application. This applies equally to technical teachings described in the specification, which may form an independent invention of the features of the independent claims.

In one aspect, an automatic flap and / or door control unit is described. This may in particular be a flap and / or door of a vehicle, in particular a road motor vehicle, for example a tailgate or a driver's door. The flap and / or door may be part of a flap and / or door assembly. In this case, the arrangement comprises a frame into which the flap and / or door can be conveyed to close the flap and / or door. The flap and / or door can be moved by means of one or more hinges and / or hinges relative to the frame from an open position to a closed position. In particular, the flap and / or door can be automatically transferred from the opened position to a closed position by at least one actuator (for example by at least one electric motor). In the open position, the flap and / or door can thereby be moved relatively freely in order to allow access through the frame (in particular access to an interior of a vehicle). On the other hand, in a closed condition, the flap and / or door is typically retained by a lock, particularly a detent (e.g., pre-catch or main catch) of the flap and / or door assembly.

The closed ply may include a pre-pawl position and a main pawl position (especially in a vehicle). The actuator may be configured to transfer the flap and / or door from an open position to the pre-locking position. In the pre-rest position, the flap and / or door can be held by a pre-catch in the lock of the flap and / or door arrangement. There is typically still a relatively small gap between the flap and / or the door and the frame (e.g., a gap of 5mm or less). Furthermore, the flap and / or door assembly may include a separate from the actuator closure device which is adapted to transfer the flap and / or door from the Vorrastlage in the Haupastastlage. In the main position, the flap and / or door can be held by a main catch in the lock of the flap and / or door assembly. There is then typically no significant gap between the flap and / or the door and the frame. By the closing device, e.g. a pinch protection are provided. Furthermore, a reliable transfer to the main rearing position can be ensured by the locking device.

The flap and / or door can thus be transferred in two stages from an open position to the fully closed main latching position. First, the actuator can transfer the flap and / or door from an open position via a (still open) reference position in the Vorrastlage. The opening angle of the flap and / or door can be at approximately 90 °, for example when the starting position is completely open. The opening angle of the flap and / or door can be at the reference position at about 40 °. Furthermore, the opening angle of the flap and / or door can be in the pre-rest position at about 1 ° -3 ° and at the Haupastastlage at 0 °. The reference position can thus have an opening angle which lies between the opening angle of the starting position and the opening angle of the pre-locking position.

Upon reaching the Vorrastlage the closing process is completed with respect to the actuator. Subsequently, the locking device takes over the transfer of the flap and / or door from the Vorrastlage in the main rearing position. In this case, the closing device can have a certain (nominal) conveying speed. The (nominal) conveying speed may correspond to the conveying speed exhibited by the locking device when the flap and / or door at the pre-locking position has no kinetic energy (in particular no kinetic energy towards the main locking position).

However, the flap and / or door typically has a certain kinetic energy (toward the main latch position) upon arrival at the pre-rest position, depending on the closing speed. This kinetic energy can influence the subsequent transfer from the pre-rest position to the main posture position. In particular, by the kinetic energy from the closing operation of the actuator, the effective conveying speed of the locking device can be increased, so that the main locking time period for the transfer from the pre-locking position is reduced to the Haupastastlage. The main rest period thus provides an indication of the excess kinetic energy of the flap and / or door upon reaching the Vorraststufe.

A flap and / or door assembly typically includes a seal (between the frame and flap and / or door), the properties of which may vary over the course of a flap and / or door assembly life. Furthermore, the different components of a valve and / or door assembly typically have tolerances on one or more properties. This can lead to the required closing speed for a closing operation of the actuator varying over the course of the life of a flap and / or door arrangement or for different flap and / or door arrangements.

The control unit may be configured to determine speed information relating to a closing speed of the flap and / or door during a first closing operation. In particular, it may be determined on the basis of the speed information whether the closing speed was too fast or too slow during the first closing operation. In doing so, threshold information may also be considered with respect to one or more closing speed thresholds to determine whether the closing speed was too fast or too slow during the first closing operation. An exemplary closing speed threshold is a maximum pre-detent time that indicates the maximum allowable time to transfer the flap and / or door from the reference position to the pre-detent position. Due to the maximum pre-detent time, a minimum permissible kinetic energy of the flap and / or door can be defined upon reaching the pre-detent stage. Another example closing speed threshold is a minimum main rest time that indicates the minimum allowable amount of time to transfer the door and / or door from the pre-rest position to the main posture position. By the minimum main rest time, a maximum allowable kinetic energy of the flap and / or door can be defined upon reaching the Vorraststufe.

The closing speed in the first closing operation may then be compared with the one or more closing speed thresholds to determine whether the closing speed in the first closing operation was too slow or too fast.

The control unit can also be set up to control the actuator during a (possibly directly) subsequent second closing operation as a function of the speed information relating to the first closing operation. In particular, the control unit may be configured to cause the actuator to reduce the closing speed for the second closing operation when it has been determined that the closing speed was too fast in the first closing operation. Alternatively or additionally, the control unit may be configured to increase the closing speed for the second closing operation if it was determined that the closing speed was too slow in the first closing operation. On the other hand, if it has been determined that the closing speed for the first closing operation was neither too fast nor too slow, the closing speed for the second closing operation may possibly be maintained.

The control unit thus allows a self-learning adjustment of the closing speed of a flap and / or door. Thus, tolerances and / or changes over the lifetime of a flap and / or door can be compensated. Consequently, the reliability and comfort of an automatic door and / or door can be increased.

The control unit may be configured to determine pre-detent information with respect to a pre-detent period in which the flap and / or door has been transferred from the reference position to the pre-detent position during the first closing operation. It can thus be determined (e.g., by means of a speed sensor of the actuator) how long the door and / or door required in the first closing operation to be moved from the reference position to the pre-rest position. The resulting pre-detent period indicates the closing speed for the first closing operation. Furthermore, the pre-detent period is typically indicative of the flap and / or door kinetic energy upon reaching the pre-detent stage (specifically, the kinetic energy prior to overcoming a pre-detent mechanism to achieve the pre-detent stage).

It can then be checked on the basis of the pre-detent information whether the pre-detent period in the first closing operation has exceeded the maximum pre-detent time or not. In particular, the pre-detent period can be compared with the maximum pre-detent time. The maximum pre-detention time may e.g. based on test measurements on a variety of flap and / or door arrangements are determined. Alternatively or additionally, the maximum pre-detent time may depend on the kinetic energy typically required to overcome the resistance of a latch mechanism of the flap and / or door assembly upon reaching the pre-detent position.

Based on the check or based on the comparison, the actuator can then be activated in the second closing operation. In particular, based on the checking or the comparison, the closing speed for the second closing operation can be maintained, increased or reduced.

Alternatively or additionally, the control unit may be configured to determine main rest information with respect to a main rest period in which the flap and / or door has been transferred from the pre-rest position to the main-position during the first closing operation. Thus, the amount of time required to transfer the flap and / or door from the latch position to the main latch position (e.g., based on one or more position sensors on the latch position and on the main latch position) may be determined. In this case, the main rest period typically provides an indication of the remaining kinetic energy of the flap and / or door after overcoming the pre-locking mechanism.

It may then be checked on the basis of the main-lock information whether or not the main-lock period in the first-closing operation falls short of a minimum main-lock time. In particular, the main-lock period may be compared to the minimum main-lock time. The minimum main rest time may depend on the (nominal) speed of the closing device. For example, the minimum main rest time may be in a range of 10% to 50% above the (nominal) speed of travel of the closure.

The actuator may then be actuated in the second closing operation based on the checking and / or the comparison. In particular, the closing speed for the second closing operation can be adjusted as a function of the checking and / or the comparison.

The control unit may be configured to determine that the closing speed was too slow in the first closing operation when: the pre-detent period exceeds the maximum pre-detent time; and / or the flap and / or door does not reach the main latching position in the first closing operation. It can then be increased, the closing speed for the second closing operation in comparison to the closing speed in the first closing operation.

Alternatively or additionally, the control unit may be configured to determine that the closing speed in the first closing operation was too fast, if: the main-load time duration is less than the minimum main-load time; a cumulative period of time in which the flap and / or door has been transferred from a reference position to the main load position during the first closing operation is less than a minimum cumulative time; and / or during the first closing operation it has been detected that the flap and / or door is in the main latching position without it being previously detected that the flap and / or door is in the pre-latching position. Then, the closing speed for the second closing operation can be reduced compared to the closing speed in the first closing operation.

Alternatively or additionally, the control unit may be configured to determine that the closing speed was OK in the first closing operation, if: the pre-detent period does not exceed the maximum pre-detent time; and the main-lock period does not fall short of the minimum main-lock time. It can then be the Closing speed are taken over in the first closing operation for the second closing operation.

By determining the pre-detent period and / or the main-detent period, the closing speed of a flap and / or door can be adjusted in a reliable and efficient manner. In particular, sensor data from one or more sensors can be used, which are typically already present in an automatic flap and / or door arrangement.

In another aspect, a road vehicle (particularly a passenger car or a truck or a bus) is described that includes the control unit described in this document.

According to a further aspect, a method corresponding to the control unit is described.

In another aspect, a software (SW) program is described. The SW program may be set up to be executed on a processor (e.g., on a controller of a vehicle) and thereby perform the method described in this document.

In another aspect, a storage medium is described. The storage medium may include a SW program that is set up to run on a processor and thereby perform the method described in this document.

It should be understood that the methods, devices and systems described herein may be used alone as well as in combination with other methods, devices and systems described in this document. Furthermore, any aspects of the methods, devices, and systems described herein may be combined in a variety of ways. In particular, the features of the claims can be combined in a variety of ways.

• 1a eine beispielhafte Klappe und/oder Tür eines Fahrzeugs;
• 1b ein beispielhaftes Schließsystem für eine Klappe und/oder Tür eines Fahrzeugs;
• 2 unterschiedliche Stellungen bzw. Lagen einer Klappe und/oder Tür bei einem Schließvorgang;
• 3a bis 3e unterschiedliche Zeitdauern bei einem Schließvorgang einer Klappe und/oder Tür; und
• 4 ein Ablaufdiagramm eines beispielhaften Verfahrens zur Steuerung eines automatischen Schließvorgangs einer Klappe und/oder Tür.

Furthermore, the invention will be described in more detail with reference to exemplary embodiments. Show

• 1a an exemplary flap and / or door of a vehicle;
• 1b an exemplary locking system for a flap and / or door of a vehicle;
• 2 different positions or positions of a flap and / or door during a closing operation;
• 3a to 3e different durations in a closing operation of a flap and / or door; and
• 4 a flowchart of an exemplary method for controlling an automatic closing operation of a flap and / or door.

As set forth above, the present document is concerned with efficiently increasing the reliability and comfort of an automatic closing operation of a door and / or door. In this context shows 1a a block diagram of an exemplary door / flap arrangement 100 , The order 100 may for example correspond to a side door of a vehicle or a tailgate of a vehicle. The in connection with an arrangement 100 Thus described aspects apply to both a door and a flap of a vehicle. In the following, specific reference will be made to a flap of a vehicle. The described aspects apply correspondingly to a door, so that the term "flap" can be replaced by the term "door".

The order 100 includes a frame 120 and one, in the frame 120 arranged flap 110 , The flap 110 is about hinges 102 movable on the frame 120 attached. As part of 120 is a castle 125 arranged with the flap 110 closed and optionally can be locked. This may be the flap 110 be closed by a pre-catch and a main catch. The flap 110 can a handle 111 that allows a user to shut the door 110 to open. In particular, a user may have a button on the handle 111 Press around the castle 125 to solve, so the flap 110 can be opened. Furthermore, the flap 110 one or more actuators 103 have (for example, one or more electromechanical actuators), which are arranged, the lock 125 and / or the flap 110 automatically open or close.

1b shows an exemplary lock 125 in a section along the gap between frames 120 and flap 110 , The flap 110 typically has a bolt 114 on, by a bolt or a catch 122 in the castle 125 can be pinched or latched to the flap 110 close and optionally lock. To close the flap 110 Can the flap 110 through the one or more actuators 103 on the frame 120 be moved, so by the kinetic energy of the flap 110 the bolt 114 completely behind the bar 122 is moved. In this case, the arrangement 100 Typically, two different locking or latching steps on, a first closure stage (also referred to as Vorrastlage), in which the flap 110 in the castle 125 is held, however, continues a gap between the flap 110 and frame 120 exists, and a second closure stage (also referred to as the main load position), in which the flap 110 without a substantial gap in the frame 120 is held (and thus is in a fully closed state). Furthermore, the castle can 125 in the fully closed state of the flap 110 (ie when the bolt 114 in the main position) with a vehicle key or locked automatically.

The order 100 can be an automatic closing device 123 show with the flap 110 can be automatically pulled from the first closure stage (ie, from the pre-rest position) to the second closure stage (ie, main lock position). Based on a sensor 121 can be recognized that the flap 110 to be closed. For example, based on the sensor data of a sensor 121 be recognized that the gap between the flap 110 and the frame 120 less than or equal to a certain gap threshold (eg 6mm). Alternatively or additionally, it can be recognized that the flap 110 located in the first closure stage. The sensor 121 may include a Hall sensor, with the example can be detected that the bolt 114 the flap 110 in the (immediate) vicinity of the bolt 122 and / or in the pre-rest position of the castle 125 located.

The order 100 can continue the locking device 123 which is set up, the flap 110 depending on the sensor data of the sensor 121 in the castle 125 to transport, especially in the castle 125 to draw. For example, the shooting device 123 an electric motor and suitable mechanics, with which the bolt 114 the door 110 behind the bars 122 of the door lock 125 and / or to the main line. Thus, in a comfortable way, a complete closing of the flap 110 be effected.

The flap arrangement 100 from the 1a . 1b includes a control unit 101 , The control unit 101 is configured to receive a control signal (eg from a vehicle key of the vehicle) indicating that the flap 110 should be closed automatically. Thereupon, the one or more actuators 103 be prompted the flap 110 close automatically. This is the flap 110 starting from a starting position 201 via an intermediate layer (also referred to as reference layer in this document) 202 in the Vorrastlage 203 emotional. In the pre-rest position 203 is the flap 110 closed, the castle 125 is however in the first closure stage. The one or more actuators 103 effected automatic closing process can be regarded as finished when the flap 110 in the pre-rest position 203 located. The flap 110 can then through a locking device 123 in the main lodge 204 be transported, so that the castle 125 located in the second closure stage.

The one or more actuators 103 for the automatic closing of the flap 110 can be so from the control unit 101 be controlled that the flap 110 when moving from the starting position 201 in the Vorrastlage 203 has a predefined, fixed closing speed. In this case, the course of the closing speed of the flap 110 be fixed. The specification of the closing speed can be the same for all vehicles of a vehicle type, and be specified for example in the manufacture of a vehicle.

The closing speed should be as small as possible to ensure a safe, comfortable and high-quality closing of the flap 110 to effect. On the other hand, the closing speed should be sufficiently high to ensure reliable locking in the pre-locking stage of the lock 125 to ensure. That is, the closing speed should be high enough to withstand the resistance of a latch mechanism of the lock 125 to overcome.

Tolerances in the sealing of a flap 110 (For example, tolerances on the Shore hardness of the seal, tolerances of the wall thickness and the geometry and / or the aging of the seal, etc.) and tolerances in the construction of a flap assembly 100 (eg tolerances with respect to the seal gap dimension) can have an influence on the required minimum closing speed. In particular, this may result in differences in the resistance of the Vorrastmechanismus. However, such tolerances can not be sufficiently taken into account when establishing a fixed predetermined closing speed. Furthermore, during the service life of a damper assembly may 100 Changes in the properties of the seal and / or the flap geometry result, which can not be considered at the time of establishing a fixed predetermined closing speed.

A fixed predetermined closing speed can lead to malfunction when closing a flap at tolerance limits of the seal and / or flap setting or with increasing operating time 110 to lead. For example, it can lead to a "reversing" of an automatic flap 110 come at the closing of the flap 110 is omitted in the Vorraststufe when the fixed predetermined closing speed is too low. On the other hand, a too high fixed closing speed can cause the closing of a flap 110 with an unnecessarily high energy and with correspondingly high closing noises. An improperly set closing speed can thus provide the reliability and / or comfort of an automatic flap 110 to reduce.

This document describes a method and a control unit that allow the closing speed of a flap 110 to learn in an efficient and precise way, for each flap 110 individually to provide optimal closing speed, through which the reliability and comfort of the flap 110 can be increased.

In the context of the method described, a closing speed for a flap which is required and / or optimized for a single vehicle is based on already existing sensor data 110 determined and, if necessary, for each closing operation of the flap 110 restarts. One, in a current closing process, too slow a flap 110 can be driven faster in a next closing, ie the closing speed can be increased. On the other hand, the closing speed of a flap 110 be reduced in response to a too fast closing operation in a subsequent closing operation. Such an automatic adjustment of the closing speed can influence the seal (such as a setting, tolerances, aging, etc.) as well as influences the individual geometry of a flap arrangement 100 be automatically taken into account.

As a sensor for adjusting the closing speed, a speed sensor (eg a Hall sensor) in the drives, ie in the one or more actuators 103 , for a single flap 110 be used. Based on the sensor data of a speed sensor, the location 201 . 202 . 203 . 204 the flap 110 (eg an opening angle of the flap 110 ) and / or the instantaneous speed of the flap 110 be determined.

Furthermore, one or more position detection sensors 121 (eg microswitch) can be used in the locking system. The one or more position detection sensors 121 provide information about the locking state of the locking system. In particular, based on the sensor data, the one or more position detection sensors 121 to determine if the flap 110 open, closed or in the pre-rest position 203 or in the main lodge 204 located.

• • eine Vorrast-Zeitdauer, die die Zeit anzeigt bzw. die der Zeit entspricht, die die Klappe 110 bei einem Schließvorgang benötigt hat, um von der Referenzlage 202 in die Vorrastlage 203 zu gelangen; und/oder
• • eine Hauptrast-Zeitdauer, die die Zeit anzeigt bzw. die der Zeit entspricht, die die Klappe 110 bei einem Schließvorgang benötigt hat, um von der Vorrastlage 203 in die Hauptrastlage 204 zu gelangen.

Based on the sensor data of one or more sensors 121 the flap arrangement 100 (In particular, the speed sensors and / or the position detection sensors 121 ) can be detected when the flap 110 in the context of a closing process, the reference position 202 , the provisional situation 203 and / or the main posture 204 happens. Furthermore, it can be determined by time measurement:

• • a pre-detent period that indicates the time or that corresponds to the time that the flap 110 needed in a closing process to move from the reference position 202 in the Vorrastlage 203 to get; and or
• • a main-lock time that indicates the time or that corresponds to the time that the damper 110 in a closing operation has needed to from the Vorrastlage 203 in the main lodge 204 to get.

• • eine maximale Vorrastzeit, die für die Strecke zwischen Referenzlage 202 und Vorrastlage 203 nicht unterschritten werden sollte, um zu gewährleisten, dass die Klappe 110 eine ausreichend hohe kinetische Energie aufweist, um zuverlässig in die Vorrastlage 203 zu gelangen (insbesondere um zuverlässig den Vorrastmechanismus zu überwinden); und/oder
• • eine minimale Hauptrastzeit, die für die Strecke zwischen Vorrastlage 203 und Hauptrastlage 204 nicht unterschritten werden sollte. Die Klappe 110 wird zwischen der Vorrastlage 203 und der Hauptrastlage 204 durch die Schließvorrichtung 123 befördert. Die minimale Hauptrastzeit ist typischerweise von der (Nenn-) Beförderungsgeschwindigkeit der Schließvorrichtung 123 abhängig. Wird die minimale Hauptrastzeit unterschritten, so ist dies ein Zeichen dafür, dass die Klappe 110 bei Erreichen der Vorrastlage 203 (insbesondere nach Überwinden des Vorrastmechanismus) weiterhin eine derart hohe kinetische Energie aufgewiesen hat, dass durch die kinetische Energie der Klappe 110 die tatsächliche Beförderungsgeschwindigkeit über die Nenn-Beförderungsgeschwindigkeit der Schließvorrichtung 123 hinaus erhöht wurde. Ein Unterschreiten der minimalen Hauptrastzeit ist somit ein Indiz für eine zu hohe kinetische Energie und damit eine zu hohe Schließgeschwindigkeit der Klappe 110.

Furthermore, it can be specified for a closing process:

• • a maximum pre-detention time, which is the distance between the reference position 202 and provisional location 203 should not fall short to ensure that the flap 110 has a sufficiently high kinetic energy to reliably in the Vorrastlage 203 to arrive (in particular to reliably overcome the pre-locking mechanism); and or
• • a minimum main rest time, which is necessary for the distance between pre-rest position 203 and main lodge 204 should not fall below. The flap 110 is between the Vorrastlage 203 and the main lodge 204 through the locking device 123 promoted. The minimum main rest time is typically the (nominal) speed of travel of the closure 123 dependent. If the minimum Haupastastzeit falls short, this is a sign that the flap 110 upon reaching the Vorrastlage 203 (In particular, after overcoming the Vorrastmechanismus) has continued to have such a high kinetic energy that by the kinetic energy of the flap 110 the actual speed of transport above the rated speed of movement of the closing device 123 was increased. Falling below the minimum main rest time is thus an indication of too high kinetic energy and thus too high closing speed of the flap 110 ,

It is now possible to determine the pre-detent period and possibly the main-detent period for a current closing operation. The pre-detent period can then be compared with the maximum pre-detent time. Furthermore, the main-lock period can be compared with the minimum lock-up period. It can then control the closing speed of the flap 110 be adapted for a subsequent closing operation in dependence on the one or more comparisons. Thus, it is possible to repeat (if necessary, for example for every ^ten closing operations, with N = 1, 2, 3 or more) the closing speed can be automatically adjusted and thus optimized.

3a shows the data acquired during a closing operation as a function of time 310 , In particular shows 3a a first signal 301 that indicates (by a level change) that the flap 110 the reference position 202 happens. Further shows 3b a second signal 302 that indicates (by a pulse) that the flap 110 in the Vorrastlage 203 snaps. Also shows 3c a third signal 303 that indicates (by a level change) that the flap 110 in the main lodge 204 snaps. The signals 301 . 302 . 303 can be based on the sensor data of one or more sensors 121 the arrangement 100 be determined.

The pre-rest period 312 can based on the first signal 301 and the second signal 302 be determined, in particular as a time interval between the level change of the first signal 301 and the pulse of the second signal 302 , The main rest period 313 can based on the second signal 302 and the third signal 303 be determined, in particular as a time interval between the pulse of the second signal 302 and the level change of the third signal 303 ,

It can then the pre-rest period 312 with the maximum pre-deterring time 322 and the main-lock period 313 with the minimum main rest time 323 be compared. In particular, it can be determined whether the pre-detent period 312 less than or equal to the maximum prefetch time 322 is, and / or whether the main rest period 313 greater than or equal to the minimum main rest time 323 is. If this is the case (as in 3a shown), it can be assumed that an optimal closing speed already exists.

On the other hand, it may happen that the main rest period 313 less than the minimum main rest time 323 is (as in 3b shown). This is an indication of an excessive closing speed. It is then possible to reduce the closing speed for a subsequent closing operation (eg by a specific speed delta). One such case is in 3b shown.

If the closing speed is too slow, it may still be possible to close it up to the main locking position 204 respectively. Nevertheless, the pre-rest period is 312 in such a case, typically above the maximum pre-detent time 322 (please refer 3c) , It can therefore not be reliably assumed that a subsequent closing operation is successful. On the other hand, the closing speed can be so low and the pre-detent period 312 be so high that the Vorrastlage 203 is not reached and thus there is no successful closing process. (please refer 3d) , In this case, the pre-detent period is 312 Undefined. Nevertheless, it can be reliably determined that the (undefined) pre-detent period of time 312 the maximum pre-rest time 322 exceeds.

If too slow a closing speed is detected, the closing speed for a subsequent closing operation may be increased (e.g., by a certain speed delta). Thus, the reliability and comfort of the subsequent closing operation can be increased.

Thus, there may be a normal closing operation when the closing operation is correctly completed when the pre-detent period 312 the maximum pre-rest time 322 does not exceed and the main rest period 313 the minimum main rest time 323 not below (see 3a) , Furthermore, there may be too slow a closing operation if the pre-detent period 312 the maximum pre-rest time 322 exceeds and / or if the Vorrastlage 203 or the main posture 204 can not be achieved (see 3c respectively. 3d) , In addition, too fast a closing operation may occur when the main-lock period 313 the minimum main rest time 323 falls short of the cumulative time duration 314 for the movement of the flap 110 from the reference position 202 to the main lodge 204 a certain minimum accumulated time falls short and / or if the achievement of the Hauptastastlage 204 is detected without first reaching the Vorrastlage 203 was detected. The last case is in 3e illustrated.

It can now be different reactions to a current closing process. If there is a normal current closing process, the closing speed for the next closing operation can be maintained. If the current closing process is too slow, the closing speed for the next closing operation can be increased by a certain amount. If there is too fast a current closing operation, then the closing speed for the next closing operation can be reduced by a certain amount.

4 shows a flowchart of an exemplary method 400 for controlling an automatic flap and / or door 110 where the flap and / or door 110 by at least one actuator 103 automatically from an open position 201 . 202 in a closed position 203 . 204 can be transferred.

The procedure 400 includes determining 401 of speed information relating to a closing speed of the flap and / or door 110 at a first closing. The speed information can, for example, the pre-detent period 312 and / or the main-lock period 313 of the first closing operation. The speed information may be based on sensor data from one or more sensors 121 the flap and / or door arrangement 100 be determined.

In addition, the process includes 400 the driving 402 of the actuator 103 in a subsequent second closing operation (in particular in the second closing operation directly following the first closing operation) as a function of the speed information relating to the first closing operation. In particular, the closing speed for the second closing operation in dependence on the speed information, in particular as a function of the pre-detent period 312 and / or the main-lock period 313 be adjusted. For example, the pre-detent period 312 with a maximum pre-detention time 322 and / or the main-lock period 323 with a minimum main rest time 323 be compared. The closing speed for the second closing operation may then be adjusted depending on the one or more comparisons.

By the measures described in this document, in particular by the repeated adjustment of the closing speed, the reliability and comfort of an automatic flap and / or door 110 of a vehicle.

The present invention is not limited to the embodiments shown. In particular, it should be noted that the description and figures are intended to illustrate only the principle of the proposed methods, apparatus and systems.

Claims (10)

Control unit (101) for an automatic flap and / or door (110); wherein the flap and / or door (110) can be automatically transferred from an open position (201, 202) to a closed position (203, 204) by at least one actuator (103); wherein the control unit (101) is set up, - to determine speed information relating to a closing speed of the flap and / or door (110) in a first closing operation; and - To control the actuator (103) in a subsequent second closing operation in response to the speed information relating to the first closing operation. Control unit (101) according to Claim 1 wherein the control unit (101) is arranged to determine, based on the speed information, whether the closing speed was too fast or too slow during the first closing operation; and - causing the actuator (103) to reduce the closing speed for the second closing operation when it has been determined that the closing speed was too fast in the first closing operation and / or - to increase the closing speed for the second closing operation when determined was that the closing speed was too slow in the first closing. Control unit (101) according to Claim 2 wherein the control unit (101) is arranged to also determine, based on threshold information relating to one or more closing speed thresholds, whether the closing speed in the first closing operation was too fast or too slow. Control unit (101) according to one of the preceding claims, wherein - The closed layer (203, 204) comprises a Vorrastlage (203) and a Hauptastastlage (204); - The actuator (103) is arranged to transfer the flap and / or door (110) in the Vorrastlage (203); and - The flap and / or door (110) by one of the actuator (103) separate closure device (123) from the Vorrastlage (203) in the Haupastastlage (204) can be transferred. Control unit (101) according to Claim 4 wherein the control unit (101) is arranged to determine - pre-rest information with respect to a pre-rest period (312), in which the flap and / or door (110) in the first closing operation of a reference position (202) in the Vorrastlage (203) was transferred; to check on the basis of the pre-lock information whether the pre-lock time duration (312) in the first closing operation exceeds a maximum pre-detention time (322) or not; and - based on the checking to drive the actuator (103) in the second closing operation. Control unit (101) according to one of Claims 4 to 5 in that the control unit (101) is set up to determine main-load information relating to a main-load time duration (313) in which the flap and / or door (110) moves from the pre-rest position (203) in the first closing operation Haupastastlage (204) was transferred; to check on the basis of the main-lock information whether or not the main-lock period (313) in the first-closing operation falls short of a minimum main-lock time (323); and - based on the checking to drive the actuator (103) in the second closing operation. Control unit (101) according to Claim 6 , wherein the minimum main rest time (323) depends on a conveying speed of the locking device (123). Control unit (101) according to one of Claims 4 to 7 wherein the control unit (101) is arranged to - determine that the closing speed in the first closing operation was too slow, if - a pre-locking period (312) in which the flap and / or door (110) in the first closing operation has been transferred from a reference position (202) to the pre-rest position (203) exceeds a maximum pre-detent time (322); and / or - the flap and / or door (110) does not reach the main latching position (204) in the first closing operation; in response to increasing the closing speed for the second closing operation compared to the closing speed in the first closing operation. Control unit (101) according to one of Claims 4 to 8th wherein the control unit (101) is arranged to - determine that the closing speed in the first closing operation was too fast, if - a main rest period (313) in which the flap and / or door (110) in the first closing operation was transferred from the Vorrastlage (203) in the Haupastastlage (204), a minimum Hauptastastzeit (323) is less than; - A cumulative time (314), in which the flap and / or door (110) has been transferred in the first closing operation from a reference position (202) in the Haupastastlage (204), a minimum accumulated time falls short; and / or during the first closing operation, it has been detected that the flap and / or door (110) is located in the main latching position (204) without it being previously detected that the flap and / or door (110) is in the preliminary latching position (FIG. 204) is located; and - in response to reducing the closing speed for the second closing operation as compared to the closing speed in the first closing operation. Control unit (101) according to one of Claims 4 to 9 wherein the control unit (101) is arranged to determine that the closing speed was correct in the first closing operation, if - a pre-locking period (312) in which the flap and / or door (110) in the first closing operation was transferred from a reference position (202) in the Vorrastlage (203), a maximum pre-detent time (322) does not exceed; and - a main load period (313) in which the flap and / or door (110) has been transferred from the pre-rest position (203) to the main-load position (204) during the first closing operation, does not fall below a minimum main rest time (323); and - in response to accepting the closing speed in the first closing operation for the second closing operation.

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