DE102019205396A1 - Procedure for operating a door adjustment - Google Patents

Abstract

The invention relates to a method (22) for operating a door adjustment (14) of a motor vehicle (2) which has a door (12) driven by means of a drive (16) and a distance sensor (18). A distance (28) to a reference point (30) is recorded by means of the distance sensor (18). Using the distance (28) and a stored reference distance (50), a correction factor (52) tailored to the current environmental conditions is determined. The invention also relates to a door adjustment (14) of a motor vehicle (2).

Description

The invention relates to a method for operating a door adjustment and a door adjustment. The door adjustment has a door driven by means of a drive and is part of a motor vehicle.

Motor vehicles have electromotive door adjustment to increase comfort. Here, a door, such as a tailgate or a side door, is opened or closed by means of an electric motor on a command from the user. The command is transmitted, for example, by means of a button which is arranged in a passenger compartment of the motor vehicle. So-called radio keys are also equipped with such a button. Depending on an actuation of the button, an electric motor of the electric motorized door adjustment is activated and consequently the door is pivoted. Manual actuation of the button is always required here.

When opening the tailgate / side door, it is possible that there is an obstacle in an adjustment range of the door. If the user does not have a complete overview of the adjustment area and activates the motorized door adjustment, or if an obstacle is moved into the adjustment area, the door moves against the obstacle. It is possible that the door and / or the obstacle will be damaged.

Distance sensors are usually used to avoid this. If an obstacle is detected in the adjustment range of the door by means of the respective distance sensor, an adjustment path of the door is limited and the door is thus stopped when the obstacle is approached accordingly. As a result, the door does not collide with the obstacle. The distance sensors work, for example, according to the capacitive principle, and the distance sensor thus has electrodes by means of which an electromagnetic field is created. If there is an object in the vicinity of the electrodes, the electromagnetic field is disturbed and the capacitance of the capacitor formed by the electrodes of the distance sensor is changed. By evaluating this, it is possible to detect the obstacle.

An alternative to this is the use of optical sensors as distance sensors. These have an image sensor, by means of which the surroundings of the adjustment part are recorded. The image sensor is, for example, a component of a camera, by means of which an image for capturing the surroundings is created. The image sensor has a number of detector elements which are arranged with respect to one another in a specific pattern, and each detector element has a detection angle range. The image is put together using the light detected in the respective detection angle ranges, so that a rasterized image is created by means of the image sensor.

In a further alternative, ultrasonic waves are emitted by means of the distance sensor, which are reflected and / or scattered on the possible obstacle. These reflected / scattered waves are detected by means of the distance sensor, and the distance between the obstacle and the distance sensor is determined on the basis of the transit time of the ultrasonic waves. It is also possible to use radar sensors as distance sensors.

With the distance sensors and the respective measuring principle used, the determined distance depends on the one hand on correct installation. On the other hand, the determination of the distance depends on environmental conditions during operation. The specific distance thus differs depending on the presence of a specific wind speed and / or air humidity, but the obstacle is always at the same actual distance. As a result, a safety reserve is used when limiting the adjustment path, so that the door is stopped at a comparatively large distance from the obstacle in order to avoid a collision even in adverse conditions. This makes it difficult for a person to get in / out of the motor vehicle.

The invention is based on the object of specifying a particularly suitable door adjustment of a motor vehicle and a particularly suitable door adjustment of a motor vehicle, advantageously increasing safety and / or comfort.

With regard to the method, this object is achieved according to the invention by the features of claim 1 and with regard to the door adjustment by the features of claim 10. Advantageous further developments and refinements are the subject of the respective subclaims.

The method is used to operate a door adjustment of a motor vehicle. The motor vehicle is in particular a land-based motor vehicle and expediently freely positionable on a road or the like in the west. In other words, the motor vehicle is preferably not a rail-guided motor vehicle. The motor vehicle is, for example, a commercial vehicle, such as a truck or a bus. However, it is particularly preferred that the motor vehicle is a passenger car.

The door adjustment has a door and a drive, the door being driven by means of the drive. For this, the drive is in operative connection with the door. For example, a gear is driven by means of the drive, in particular a worm gear with which the door is expediently driven. A spindle, which is connected to the door, is preferably driven by means of the gear unit or directly by means of the drive. The door itself is expediently connected to a body in the assembled state by means of a fitting. By means of the fitting, the door is movably mounted with respect to the body, for example pivotably. It is thus possible to pivot the door with respect to the body. In particular, the door is a tailgate or preferably a side door, such as a driver's door or a passenger door. Consequently, the fitting is a hinge. In a further alternative, an at least partially transverse mounting of the door with respect to the body is realized by means of the fitting, for example, so that the door is designed as a sliding door. The door is thus a flap, for example, and the door adjustment is thus a flap adjustment.

When the drive is activated, the door is moved with respect to the body and is thus adjusted along an adjustment path. As a result, by means of the drive, the door is moved through an adjustment range which, for example, is shaped like a sector of a circle if the fitting is a hinge. The position of the door with respect to the body is expediently set by means of the drive. For example, manual operation of the door is excluded. However, manual actuation of the door is also particularly preferably possible, with the drive, for example, having a supporting effect or being shut down. For example, this is decoupled from the door by means of a coupling, so that no force has to be applied against the drive during manual operation.

Furthermore, the door adjustment includes a distance sensor, which is used in particular to determine a distance to an object / obstacle. During operation, a specific area is expediently monitored by means of the distance sensor (monitoring area) which suitably covers at least part of the adjustment range, in particular the complete adjustment range. At least, however, the monitored area or at least a boundary of the monitored area is spaced from the door. When the door is adjusted by means of the distance sensor, an area moving in front of it is preferably monitored.

The adjustment path of the door is preferably limited if an obstacle is determined at a certain distance from the door by means of the distance sensor. In particular, a corresponding signal for the drive is generated and / or the drive is shut down. The door adjustment preferably comprises a control unit by means of which the drive and / or the distance sensor is operated. In particular, a measurement signal of the distance sensor is evaluated by means of the control unit and this is compared with the adjustment path of the door. Depending on this, the current supply to the drive is preferably adjusted so that if any object / obstacle, which is described and detected by means of the measurement signals of the distance sensor is present, the adjustment movement of the door, in particular its adjustment path, is restricted. For this purpose, the drive is suitably activated. In summary, the distance sensor is therefore used in particular for collision protection.

The method provides that a distance to a reference point is detected by means of the distance sensor. The reference point is expediently constant or at least has certain properties so that the reference point can always be determined. The distance is determined by means of the distance sensor. The distance sensor is operated appropriately for this. The type of operation does not essentially differ from the operation for detecting any object / obstacle, although the monitoring area (detection area) for detecting the reference point is modified, for example. The reference point itself is formed, for example, by means of a further component of the motor vehicle, in particular the door adjustment, and corresponds, for example, to a prominent section of this component.

A correction factor is determined based on the distance and a stored reference distance. For this purpose, the distance is expediently compared with the reference distance. The (stored) reference distance corresponds to the actual distance between the reference point and the distance sensor or is at least equal to the distance that is determined by means of the distance sensor if ideal environmental conditions exist. The reference distance is determined, for example, when the door adjustment is manufactured, preferably on a test stand, and is stored in the door adjustment.

If the environmental conditions of the motor vehicle, that is to say in particular its area of use, correspond to ideal conditions, the distance therefore corresponds exactly to the stored reference distance. If, however, the environmental conditions have changed on the other hand, the distance does not correspond to the stored reference distance and is, for example, greater or smaller than the stored reference distance. Thus the correction factor is on matched the current environmental conditions. In other words, the current environmental conditions within which the motor vehicle is located are taken into account by means of the correction factor.

For example, the correction factor is output so that a user of the motor vehicle or at least the door adjustment is aware that the current environmental conditions do not correspond to the ideal / optimal environmental conditions. This makes it possible for the user to adapt his behavior to the correction factor and thus to the current environmental conditions, which makes it easier for him to operate the door adjustment. As a result, comfort is increased. Security for the user is also increased due to the coordinated behavior of the user. For example, the method is carried out by means of the control unit, if any. The control unit is suitable for this, in particular provided and set up. The individual method steps are carried out, for example, using appropriate hardware and / or at least partially using software routines.

The correction factor is expediently matched for the subsequent further use and, for example, it is determined by means of divisions of the stored reference distance by the detected distance of the reference point or vice versa. Alternatively, the difference between these is used as a correction factor, or the correction factor is calculated using the difference and / or the quotient.

For example, the correction factor is used in a subsequent determination of the distance to another object. The further object is, for example, rigid or movable and, for example, a person. In particular, the further object is an obstacle or can become an obstacle when moving the door. Due to the use of the correction factor when determining the distance to the further object, this is thus determined more precisely, since the current environmental conditions are taken into account here. It is thus possible to move the door comparatively close to the obstacle, which facilitates access to the motor vehicle. Thus, comfort is increased. However, it is always ruled out that the door is brought against the obstacle, that is to say the further object, which increases security. For example, in the subsequent determination, the distance to the further object detected by means of the distance sensor is multiplied or divided by the correction factor, which simplifies the determination of the actual distance of the object. In summary, due to the use of the correction factor in the subsequent determination of the distance to the further object, the accuracy and therefore also a collision protection are improved.

Alternatively or particularly preferably in combination with this, a position of the door is determined using the correction factor. When the door is moved by means of the drive, the current environmental conditions act, such as wind, by means of which a force is applied to the door. Thus, by means of the drive, it is necessary to apply an increased or reduced force when adjusting the door. It cannot be ruled out that the position of the door is not correctly determined due to the acting force and / or a faulty tachometer. Using the distance sensor and the correction factor, it is possible to verify the position that is determined using the speed sensor of the drive. As an alternative to this, with the exception of the distance sensor, the door adjustment, for example, has no further sensor for determining the position of the door, which reduces manufacturing costs. The current supply is therefore set as a function of the position of the door detected by means of the distance sensor. Since the correction factor is used here, the position determined by means of the distance sensor is essentially always the same as the actual position of the door, so that mechanical overloading of the door adjustment is avoided. In particular, a movement of the door against the block, that is to say the body, is avoided due to the determination of the position using the correction factor.

The door adjustment particularly preferably has a brake by means of which the door is stabilized in a certain position when it is not in the closed position. For example, there is only one such position, or it is possible to fix the door in several such positions by means of the brake. Alternatively, it is possible to fix the door in any position along the adjustment path. For example, the brake is a separate component that is, for example, on a possible shaft of the drive and / or the possible spindle. However, the brake is particularly preferably provided by means of the drive itself.

A locking force is preferably applied to the door by means of the brake, in particular via any shaft / spindle. Due to the locking force, for example, the door movement is completely blocked or at least a dependency on gravity is provided. To move the door manually, it is therefore necessary to overcome a certain resistance, and manual operation continues to be possible. Here, however, the locking force should be as low as possible so that operation is simplified. In this way, damage to the door adjustment mechanism is also avoided in the event of excessive force being exerted on the door. However, it should be ensured that under current environmental conditions and / or stationary operation of the motor vehicle, such as in particular parking it on a slope, an unintentional slam is avoided.

The locking force is particularly preferably set on the basis of the correction factor. Thus, the locking force is adjusted to the current environmental conditions, and it is possible to select this comparatively low, but it is ensured that unintentional slamming of the door is avoided. This increases comfort and prevents excessive loading of the mechanism of the door adjustment. At least, however, the locking force is selected as a function of the correction factor, further factors, for example, being taken into account to determine the locking force. In particular, a controller, by means of which the locking force is determined, and / or a control structure is set on the basis of the correction factor.

In a further alternative, for example, a speed with which the door is moved, that is to say in particular a rotational speed of the drive when it is activated, is set as a function of the correction factor. The speed of movement of the door is thus adjusted to the current environmental conditions. In particular, with a comparatively large force acting on the door, as is the case with a corresponding wind, the travel speed is reduced, so that on the one hand an increased torque is provided by means of the drive. On the other hand, a comparatively sudden penetration of the wind into the interior of the motor vehicle is avoided.

In a further alternative, a force applied to the door by means of the drive is set using the correction factor, in particular if the door is operated manually. In other words, the correction factor is used to set the force applied by means of the drive, which supports manual movement of the door.

For example, only the distance to the reference point is recorded and the correction factor is determined on the basis of this. Particularly preferably, however, a further distance to a further reference point is detected by means of the distance sensor, and the correction factor is adapted on the basis of the further distance and a stored further reference distance. The comparison of the distance with the stored reference distance and the comparison of the further distance with the further reference distance are therefore used to determine the correction factor. Due to the further reference point and the detection of the further distance, it is also possible to characterize the environmental conditions more precisely.

For example, the ratio is formed from the detected distance and the stored reference distance, and the correction factor is the mean value of the two ratios. Thus, accuracy is increased. In particular, the reference points and the distance sensor are arranged on a common straight line. Particularly preferably, however, the reference point and the distance sensor are arranged on a straight line that differs from the straight line on which the distance sensor and the further reference point are arranged. Appropriately, an angle is formed between these, which is preferably greater than 30 ° and in particular smaller than 150 °. The angle is particularly preferably between 70 ° and 110 ° and suitably essentially equal to 90 °, in particular there is a deviation of 10 °, 5 ° or 0 ° in each case. In this way it is possible in particular to determine a specific wind direction at least implicitly on the basis of the correction factor.

The correction factor is expediently not a constant value, but in particular is dependent on further conditions, in particular an alignment with respect to the distance sensor. In particular, a different value of the correction factor is used in the subsequent determination of the distance to the further object. The respective value of the correction factor is, for example, dependent on the angle at which the object is located with respect to the distance sensor, or the respective value of the correction factor is preferably dependent on the direction at which the object is located with respect to the distance sensor. Alternatively or in combination, a different value of the correction factor is used for different positions of the door, and / or the locking force of the door differs depending on the position of the door due to the correction factor. Thus, the current environmental conditions are taken into account further, and it is possible to operate the door adjustment more precisely in accordance with the current environmental conditions. Therefore, comfort and safety are further increased.

For example, the correction factor is only determined once, in particular when the motor vehicle is started up. Particularly preferably, however, the correction factor is determined periodically. In particular, the distance from the reference point is also recorded with the same period and compared with the stored reference distance to determine the correction factor. A change in the environmental conditions is thus taken into account. For example, a day, 2 hours, 1 hour, half an hour, 15 minutes, 10 minutes, 5 minutes or 1 minute is used as the period. Due to the periodic determination, an adaptation of the door adjustment to the current always prevailing takes place Environmental conditions, which further increases safety and comfort. For example, the periodic determination takes place only when the motor vehicle is in use, or at least when the motor vehicle is not locked, that is to say is unlocked. Energy consumption is thus reduced.

For example, the correction factor is calculated using a model, in particular using a formula. Thus, no memory is required, which reduces hardware costs. Particularly preferably, however, the correction factor is determined on the basis of a characteristic diagram which is expediently stored in a memory of the door adjustment. For example, the characteristic map is determined on a test stand, expediently for the respective motor vehicle or at least for a specific type of motor vehicle, that is to say a specific series of motor vehicles. This enables the correction factor to be determined comparatively quickly. Any manufacturing tolerances are also taken into account, which further increases safety and comfort.

For example, the distance sensor has an optical sensor, in particular a camera. In this case, when the distance sensor is in operation, an image is created by means of the camera, and the image is evaluated accordingly to detect the distance. However, the distance sensor particularly preferably has a transmitter and a receiver. During operation, the transmitter sends out waves that are reflected and / or scattered at the reference point. The reflected / scattered waves are received by the receiver of the distance sensor. For this purpose, the transmitter and the receiver are matched to one another. The reference distance corresponds in particular to the actual distance of the distance sensor to the reference point or at least half of the sum of the actual distance of the transmitter to the reference point and the actual distance of the receiver to the reference point.

The distance is determined in particular on the basis of a comparison of the transit time of the waves. In other words, the time span between the transmission of the waves and the reception of the waves is determined and multiplied by the speed of the waves to determine twice the distance. As an alternative to running time, the distance is determined, for example, on the basis of a changed waveform.

The (stored / used) speed of the waves for determining / determining the distance is expediently adapted as a correction factor, or this is multiplied by the correction factor in a subsequent determination of the distance to the further object.

For example, electromagnetic waves are used as waves, and the distance sensor is expediently a radar sensor. Alternatively, light is used as the electromagnetic waves, and the distance sensor is a LIDAR sensor, for example. Particularly preferably, however, sound waves are used as waves, expediently ultrasonic waves. The operation of the distance sensor is therefore imperceptible to a user, which increases comfort. For example, a further component is arranged between the receiver and the transmitter, so that it is not possible for the receiver to directly receive the waves transmitted by the transmitter.

The distance to the further object is expediently also subsequently determined by emitting the waves. The same principle for determining the correction factor is therefore also used to determine the distance from the further object, which reduces the susceptibility to errors. In addition, due to the use of the reflected and / or scattered waves, the transit time of the waves is increased, which increases the accuracy of the correction factor.

For example, the reference point is formed by means of a house wall, next to which the motor vehicle is parked, or by means of an adjacent motor vehicle. In this case, the reference distance is preferably detected by means of a further sensor, which is preferably part of a parking sensor. For example, the further sensor is a capacitive sensor. However, the reference point is particularly preferably a component of the motor vehicle, such as a part of a body of the motor vehicle, an exterior mirror, a door handle or an athlete. For example, the distance sensor is integrated into the door handle that is attached to the door. Here, for example, another component of the door handle forms the reference point.

In a further alternative, for example, any further object, that is to say in particular the obstacle, is used as a reference point, expediently when the door is not moved by means of the drive. For example, a street that is located below the motor vehicle and on which the motor vehicle is standing, or a curb delimiting the street, is used as a reference point. The position of the distance sensor with respect to the road is essentially constant. In the case of undisturbed installation on the street, the position of the distance sensor with respect to the street is always the same, so that it can be used as a reference point. It is preferably possible to determine the actual distance from the distance sensor the road, i.e. the reference distance, based on data from the chassis of the motor vehicle. The stored reference distance is therefore variable and is adapted, for example, based on the chassis settings.

Alternatively or in combination with this, waves are sent out by means of the transmitter of the distance sensor to detect the distance and / or any further distance and are received directly by means of the receiver. The reference distance is the (actual) distance between the transmitter and the receiver, and the reference point is formed, for example, by means of the receiver or by means of the transmitter. The distance is preferably determined on the basis of the transit time and / or the waveform of the received waves, in particular with the aid of the speed of the waves used in each case. The receiver is suitably matched to the waves which are transmitted by means of the transmitter, in particular the wavelength and / or the type of waves. The direct reception of the waves by the receiver ensures that they are always received. It is also possible in this way to reduce the size of the distance sensor.

For example, the waves are emitted essentially spherically by means of the transmitter, and the receiver is located in the emission range of the transmitter. In particular, these are arranged on a common printed circuit board. Thus the receiver is also acted upon by means of the waves, and consequently it is possible to detect the waves directly. Sound waves are expediently used here as waves. In particular, the distance sensor comprises a plurality of such receivers, which are arranged concentrically to the receiver, for example, and are thus equally spaced from it. Alternatively, these are at different distances from the transmitter. The further distance and additional distances, on the basis of which in particular the correction factor are adjusted, thus also take place by means of the individual receivers. The reference distance or the reference distances are predetermined due to the mechanical arrangement of the receiver and the transmitter, which are preferably arranged on the common printed circuit board. A comparatively compact distance sensor is thus provided.

Alternatively, there is a comparatively large distance between the transmitter and the receiver, which is in particular greater than 20 cm, 40 cm or 50 cm. Thus, accuracy in determining the correction factor is increased. For example, the transmitter and the receiver are connected to different parts / components of the motor vehicle or at least the door adjustment.

Alternatively, for example, the transmitter or the receiver is a component of a further distance sensor. The door adjustment expediently has several such distance sensors. In an alternative to this, the further distance sensor is assigned to a further door adjustment, the two door adjustments preferably being on the same side of the motor vehicle. In particular, each of the distance sensors is integrated into a door handle of the respective door. It is thus possible to exchange the waves directly between the distance sensors, and the correction factor can be determined by means of these. The same correction factor is expediently used for the two door adjustments.

In an alternative, the further object or some other object is used to determine the correction factor. The object is, for example, a second motor vehicle parked next to the motor vehicle or a house wall. The distance sensor is expediently movably mounted, preferably by means of the door. Before the distance sensor begins to move, the distance to the object is determined, and the current position of the distance sensor is used as a reference point. Following this, the distance sensor is moved by a specific value, the specific value corresponding to the reference distance. The distance to the object is then determined again and the difference between the two determined distances is used as the distance that is used to determine the correction factor.

The door adjustment is a component of a motor vehicle, in particular a land-based motor vehicle. For example, the motor vehicle is a commercial vehicle or, particularly preferably, a passenger vehicle (car). The door adjustment has a door driven by a drive. When the drive is activated, the door is moved along an adjustment path through an adjustment range.

In the assembled state, the door is expediently tied to a body of the motor vehicle and mounted movably with respect to it, for example by means of a fitting such as a hinge. It is preferably possible to pivot the door with respect to the body and / or to move it transversely. The drive is, for example, a hydraulic, pneumatic or piezoelectric drive. However, the drive is particularly preferably an electric motor or at least comprises this. The electric motor is, for example, a brushed commutator motor or especially preferably designed brushless. The electric motor is expediently a brushless direct current motor (BLDC). The electric motor is, for example, a synchronous motor or an asynchronous motor.

A component that is connected to the door is preferably driven by means of the drive. For example, the component is a transmission or at least comprises a transmission. The gear is expediently a worm gear, which is preferably designed to be self-locking. In particular, the component comprises a spindle or some other variable-length component. It is thus possible to adjust the position of the door with respect to the body by means of the drive.

The door adjustment further comprises a distance sensor, by means of which a distance between an object and the door adjustment can be determined. In particular, the distance sensor is used to protect the door against collision with another object, such as an obstacle. For this purpose, a specific area is expediently monitored for the presence of the further object during operation by means of the distance sensor (monitoring area). The monitoring area is suitably at least partially congruent with the adjustment area of the door.

The door adjustment is operated according to a method in which a distance to a reference point is detected by means of the distance sensor. A correction factor tailored to the current environmental conditions is determined on the basis of the distance and a stored reference distance. The door adjustment expediently has a control unit which is suitable, in particular provided and set up, to carry out the method. The control unit comprises, for example, an application-specific circuit (ASIC) and / or a microprocessor which is expediently designed to be programmable.

For example, the distance sensor is integrated into a door handle which is attached to the outside of the door and which is used to attack a person at the door, in particular for manual operation. In a further alternative, the distance sensor or at least a part of the distance sensor is integrated in an outside mirror, which expediently protrudes outward beyond the door.

The distance sensor is preferably suitable for emitting waves and in particular for emitting ultrasonic waves. The distance sensor thus has a transmitter and a receiver. For example, the transmitter and the receiver are formed with the same structural unit, which, however, is placed in different operating modes for sending and receiving. For example, the transmitter is integrated in the exterior mirror, if any, and the receiver in the door handle, if any, or vice versa. As an alternative to this, for example, the door adjustment has several such distance sensors, with a transmitter integrated in the door handle and a receiver integrated in the exterior mirror being used to determine the correction factor, or vice versa.

In a further alternative, for example, the transmitter and the receiver are connected to a common printed circuit board, preferably a number of such receivers. In this case, spherical waves are expediently emitted by the transmitter during operation, which thus also sweep over the receiver after a certain period of time. This enables, in particular, a determination of the distance between the receiver and the transmitter.

Particularly preferably, however, the door adjustment is part of an arrangement of door adjustments that includes at least one further door adjustment. Each door adjustment has a door driven by a respective drive and a distance sensor. Each of the distance sensors suitably has at least one transmitter and at least one receiver. The distance sensors are preferably identical to one another. The transmitter of one door adjustment and the receiver of the other door adjustment are expediently used to determine the correction factor. In addition, the correction factor is preferably adapted by detecting the distance between the two distance sensors, the transmitter of the other door adjustment and the receiver of the door adjustment being used. Accuracy in determining the correction factor is thus increased. The invention therefore also relates to an arrangement of door controls.

The developments and advantages carried out in connection with the method can also be applied to the door adjustment / the arrangement of the door adjustments and to each other and vice versa.

• 1 schematisch ein Kraftfahrzeug mit einer Türverstellung,
• 2 ein Verfahren zum Betrieb der Türverstellung,
• 3 eine Tür und einen Abstandssensor der Türverstellung, und
• 4 in einer Draufsicht das Kraftfahrzeug, wobei die Tür bezüglich einer Karosserie verschwenkt ist,
• 5 die Türverstellung und einen weiteren Abstandssensor,
• 6 in einer seitlichen Schnittdarstellung eine weitere Ausgestaltung des Abstandssensors.

Exemplary embodiments of the invention are explained in more detail below with reference to a drawing. Show in it:

• 1 schematically a motor vehicle with a door adjustment,
• 2 a procedure for operating the door adjustment,
• 3 a door and a distance sensor for the door adjustment, and
• 4th in a plan view of the motor vehicle, the door being pivoted with respect to a body,
• 5 the door adjustment and another distance sensor,
• 6th in a lateral sectional view a further embodiment of the distance sensor.

Corresponding parts are provided with the same reference symbols in all figures.

In 1 is a motor vehicle 2 in the form of a passenger car (passenger car) with a number of wheels 4th has, by means of which a contact to a street 6th he follows. The car 2 also has a body 8th on where the wheels 4th are bound by means of a chassis not shown. At least one of the bikes 4th is pivotable with respect to the body 8th stored so that by pivoting this wheel 4th a direction of travel of the motor vehicle 2 can be adjusted. In addition, the motor vehicle 2 a main drive, not shown, which has, for example, an internal combustion engine, an electric motor or a combination thereof. At least one of the wheels is by means of the main drive 4th driven.

It is also on the body 8th by means of a hinge 10 a door 12 movably mounted so that the door 12 regarding the body 8th can be pivoted. The door 8th is part of a door adjustment 14th and by means of a drive, namely an electric motor 16 driven. The door adjustment 14th is thus an electromotive door adjustment 14th . The electric motor 16 is about the body 8th held and a brushless direct current motor (BLDC). On the electric motor 16 a gear (not shown) is flanged on or at least by means of the electric motor 16 driven. By means of the gear, a spindle is in turn driven, which is on the door 12 is connected. Thus, when the electric motor is energized 16 the door 12 regarding the body 8th pivoted, and the position of the door 12 is by means of the electric motor 8th set.

Furthermore, the electromotive door adjustment 14th a distance sensor 18th on the one at the door 12 is connected. The distance sensor 18th is an ultrasonic sensor and is located on the outside of the door 12 . Furthermore, the electromotive door adjustment 14th a control unit 20th on the signaling with the electric motor 16 and the distance sensor 18th connected is. Using the control unit 20th becomes the electric motor 16 controlled, and by means of the distance sensor 18th detected measurement signals are by means of the control unit 20th evaluated. In addition, the distance sensor 18th by means of the control unit 20th controlled.

Using the control unit 20th becomes an in 2 illustrated procedure 22nd carried out, thus the operation of the electromotive door adjustment 14th serves. The procedure 22nd is in a first step 22nd started. The first step 24 is for example when an ignition of the motor vehicle is actuated 2 or unlocking the motor vehicle 2 carried out. In a subsequent second step 26th is by means of the distance sensor 18th a distance 28 to a reference point 30th certainly.

The in 3 The illustrated embodiment is the distance sensor 18th in a wing mirror 32 integrated and assigns a transmitter 34 as well as a recipient 36 on. By means of the transmitter 34 become waves in the form of ultrasonic waves 38 sent out, and these are sent to the reference point 30th reflected and scattered. The reference point 30th is by means of a door handle 40 provided and forms the distance sensor 18th facing edge of the door handle 40 , the one on the outside of the door 12 is connected. The reference point 30th and the distance sensor 18th are arranged in a common, essentially horizontal plane. In summary, the reference point 30th the ultrasonic waves 38 reflected and scattered and thus the scattered / reflected ultrasonic waves 42 created, which are also waves. In an alternative is the distance sensor 18th in the door handle 40 integrated. This is used as a reference point 30th especially the exterior mirror 32 used.

Part of the reflected / scattered ultrasonic waves 42 hits the distance sensor 18th and is by means of the recipient 36 receive. The time difference between the transmission of the ultrasonic waves 38 and receiving the reflected / scattered ultrasonic waves 42 is multiplied by the (ultra) speed of sound in air. The result is halved and taken as the distance 28 used. Thus, to detect the distance 28 by means of the transmitter 34 of the distance sensor 18th Waves, namely the ultrasonic waves 38 , sent, and by means of the recipient 36 of the distance sensor 18th become those at the reference point 30th reflected and / or scattered ultrasonic waves 42 receive.

Furthermore, in the second step 26th by means of the distance sensor 18th another distance 44 to another reference point 46 detected. The further reference point 46 is by means of the road 6th provided, and is located substantially in the vertical direction below the distance sensor 18th . Thus, by means of the two reference points 30th , 46 and the distance sensor 18th formed essentially a right triangle. Also for determining the further distance 44 are using the distance sensor 18th the ultrasonic waves 38 sent out at the further reference point 46 be reflected and scattered. The reflected scattered Ultrasonic waves 42 are in turn by means of the recipient 36 detected. Based on the time difference between sending and receiving the ultrasonic waves 38 , 42 and with the aid of the speed of sound, the further distance becomes 44 detected.

In a subsequent third step 48 is based on the distance 28 and one in a memory of the control unit, not shown in detail 20th stored reference distance 50 a correction factor 52 certainly. For this purpose, a characteristic map that is also stored in the memory is used 54 used, the map expediently when manufacturing the electromotive door adjustment 14th has been filled on a test stand. In other words, is in the map 54 the correction factor 52 depending on the recorded distance 28 , and especially the reference distance 50 deposited.

In addition, there is also another reference distance in the memory 56 deposited. This and the further distance recorded 44 are used to adjust the correction factor 52 used, for which the map is also used 54 is used. In particular is the correction factor 52 in the map 54 depending on both the distance 28 as well as the further distance 44 as well as the two reference distances 50 , 56 deposited.

In an alternative is both the reference distance 50 as well as the further reference distance 56 implicitly in the map 54 deposited. In other words, is in the map 54 the correction factor 52 depending on the two distances 28 , 44 deposited. As a result, it is possible to set the correction factor just by means of the two recorded distances 28 , 44 to investigate. Thus, a time requirement is reduced. The map 54 depends on the two reference distances during production 50 , 56 has been created so that the determination of the correction factor 52 thus implicitly still dependent on the two reference distances 50 , 56 he follows.

The correction factor 52 is a function that uses the stored speed of the ultrasonic waves 38 , 42 is adjusted in air. If there is a wind or there is increased humidity, the speed of sound deviates from that in the control unit 20th stored ideal values / theoretical values. In other words, the speed of sound depends on the humidity and the air speed, namely the wind speed. Thus the correction factor forms 52 the current environmental conditions and is therefore tailored to these. There are two spacings that are essentially perpendicular to one another 28 , 44 are used, it is also possible to use the correction factor 52 to be determined depending on the wind direction. Thus the correction factor is 52 depending on the direction in which the ultrasonic waves go 38 be sent out. In summary, the correction factor is 52 a certain function.

In a subsequent fourth step 58 the request to the electromotive door adjustment is made via a bus system (not shown) 14th received that door 12 to adjust, namely to open. As a result, by means of the electric motor 16 the door 12 along an adjustment path 60 through an adjustment range 62 proceed. Using the distance sensor 18th the one with the door 12 is pivoted, becomes that of the door 12 advance area for the presence of another object 64 supervised. To determine the distance from the door 12 to the further object 64 becomes the correction factor 52 used so that the determination of the position of the further object 64 regarding the door 12 is adapted to the current environmental conditions. For this purpose, the distance sensor 18th the ultrasonic waves 38 sent and to the further object 64 reflected and scattered. The ultrasonic waves reflected / scattered in this way 42 are using the distance sensor 18th receive. The time difference between the transmission and reception of the ultrasonic waves is again used to determine the distance 38 , 42 used as well as the stored speed of sound, this being dependent on the correction factor 52 is changed.

If the other object 64 in the adjustment range 62 located, and the door 12 has approached this to less than 10 cm, which is achieved by means of the control unit 12 based on the means of the distance sensor 18th generated measurement signals with the aid of the correction value 52 is determined, the electric motor 16 shut down. Consequently there is a collision of the door 12 with the further obstacle 64 avoided. When determining the distance to the further object 64 the direction dependency of the correction factor is also used here 52 taken into account, since its position with respect to the distance sensor 18th due to the pivoting of the door 12 changes. In summary, in the subsequent determination of the distance to the further object 64 the correction factor 52 used.

If the other object 64 is not available in a fifth step 66 the position of the door 12 regarding the body 8th by means of the distance sensor 18th determined. The correction factor is also used to determine the position 52 used. The distance sensor 18th the distance of the door 12 to the body 18th determined, or it is before the beginning of the adjustment of the door 12 the distance of the door 12 to a fixed further object in the immediate vicinity, such as a house wall. While moving the door 12 becomes the distance of the door 12 to the further object and from this the distance to the door 12 to the body 8th determined. When determining the position of the door 12 the direction dependency of the correction factor is also used 52 taken into account, as these are taken into account during the adjustment process with regard to the body 8th is pivoted. If by means of the electric motor 16 the door 12 the full adjustment range 62 has passed through, this is based on the determination of the position of the door 12 by means of the distance sensor 18th detected. In this case, the control unit 20th the electric motor 16 shut down, so that the mechanics of the electromotive door adjustment are overloaded 14th is avoided.

After the fourth and / or fifth work step 58 , 66 becomes a sixth step 68 carried out at which the door 12 in the position in which it is after the adjustment by means of the electric motor 16 is held. This is done by means of the electric motor 16 or a brake, not shown, the door 12 blocked, and this is thus a locking force 70 upset. Unless the electric motor 16 is not used, the locking force is particularly applied to its shaft and / or any spindle by means of the brake 70 applied and thus the door 12 held in the current position.

The locking force 70 is based on the correction factor 52 elected. For example, when the wind is comparatively weak, the locking force is comparatively low 70 and a comparatively large locking force in a strong wind 70 elected. So is the door 12 stabilized in the current position, but this can always be released from this with the same manual force. In particular, the door is moved manually 12 by means of the electric motor 16 a corresponding support of the movement and / or braking, so that with the manual adjustment of the door 12 the user always needs the same force.

After completing the sixth step 68 and becomes the second step again 26th carried out, with a break in between, which is in particular 10 minutes. If the fourth step 58 not after the third step 48 is carried out, the second step is repeated after 10 minutes 26th carried out. Thus the correction factor becomes 52 determine periodically.

In a further alternative, when the distance is determined again 28 and / or the further distance 44 the obstacle 64 used, which is therefore the reference point 30th or the further reference point 46 forms. In particular, it is assumed that the position of the door 12 regarding the further object 64 has not changed, expediently provided the door 12 not by means of the electric motor 16 was adjusted. Hence, as the respective reference distance 50 , 56 the one in the fourth step 58 certain distance of the door 12 to the further object 64 used. It is also possible in another alternative, as a reference point 30th , 46 one next to the motor vehicle 2 use a parked vehicle or a house wall.

Another alternative is an in 5 illustrated arrangement 72 used by electromotive door controls, which is the electromotive door adjustment 14th with the door 12 having. The distance sensor 18th is in the door handle 40 integrated and in turn assigns the transmitter 34 and the recipient 36 on. The arrangement also includes 72 another electromotive door adjustment 74 also the door 12 as well as the electric motor 16 has, which is not shown here. The electromotive door adjustment 14th forms a driver's door of the motor vehicle 2 , and the further electromotive door adjustment 74 forms a rear door, with the two door adjustments 14th , 74 the same side of the motor vehicle 2 assigned. With the exception of the geometric shape of the door 12 are the two door controls 14th , 74 identical.

Even in the door handle 40 the further electromotive door adjustment 74 is therefore the distance sensor 18th with the transmitter 34 and the recipient 36 integrated. In the second step 26th is by means of the transmitter 34 the electromotive door adjustment 14th the ultrasonic waves 38 sent out by means of the recipient 36 the further electromotive door adjustment 74 be received. Also by means of the transmitter 34 the further electromotive door adjustment 74 subsequently the ultrasonic waves 38 sent out by means of the recipient 36 the electromotive door adjustment 14th be received. As the respective reference distance 50 , 56 becomes the distance between the two distance sensors 18th used. Due to the procedure, when recording the distance 28 and further distance 44 thus ultrasonic waves 38 used, which have different directions of movement.

In 6th is an alternative embodiment of the distance sensor 18th shown, which can be combined with any of the preceding embodiments. In particular, this embodiment is used to determine the further distance 44 used or to determine the distance 28 . The distance sensor 18th instructs the sender 34 as well as the one or more recipients 36 on that on a common circuit board 76 are attached. By means of the transmitter 34 are in turn the ultrasonic waves during operation 38 sent out, which are spherical (bowls) shaped by the transmitter 34 remove. As a result, these are subsequently painted over also those in the plane with the transmitter 34 lying recipient 36 .

The recipients form 36 or the sender 34 the respective reference points 30th , 34 . As a reference distance 50 or reference distance 56 becomes the actual distance between the recipients 36 to the transmitter 34 used. Based on the transit time between receiving and sending the ultrasonic waves 38 again becomes the distance 28 , 44 and from this the correction factor 52 determined, which is thus matched to the current environmental conditions. Therefore, to detect the distance 28 , 44 by means of the transmitter 34 the ultrasonic waves 38 sent out and directly by means of the recipient 36 receive.

In summary, the correction factor 52 , of particular to the speed of sound of the ultrasonic waves 38 corresponds, or which is an adjustment factor for this, by means of the electromotive door adjustment 14th self made. Thus, there is a positioning accuracy of the door 12 elevated. For example, this is done in 6th illustrated embodiment for the distance sensor 18th used where the distance 28 , 44 based on an internal reference distance, namely the respective reference distance 50 , 56 is determined, which is between the transmitter 34 and at least one of the recipients 36 is located. In other words, there is direct crosstalk from the transmitter 34 to the recipient 36 . Alternatively, as a reference point 30th or another reference point 46 a component of the motor vehicle 2 used, in particular on the outside of the door 12 or on the body 8th is attached. For example, the side mirror is used for this 32 , the door handle 40 or any spoiler on the motor vehicle 2 used, especially if the motorized door adjustment 14th a tailgate of the motor vehicle 2 includes.

Alternatively, the correction factor 52 based on the position of the door 12 , i.e. the distance sensor 18th , to the further object 64 determined. In particular, the position of the further object is first here 64 known, the current position of the distance sensor 18th or the door 12 the reference point 30th forms. The next is door 12 and thus the distance sensor 18th adjusted by a fixed, defined area.

In a further alternative to this, the distance of the further object is, for example, before the start of the adjustment 64 to the distance sensor 18th than the distance 28 used and the other object 64 thus forms the reference point 30th . Following this is the door 12 by a certain part of the adjustment path 60 by means of the electric motor 16 spent, and then by means of the distance sensor 18th again the distance of the door 12 determined to the further object. Then it is determined by how much the door is 12 has been spent and this is called the distance 28 used. As the reference distance 50 the path is used that is based on the energization of the electric motor 16 to adjust the door 12 was determined. A speed sensor of the electric motor is expediently used for this 16 used. The correction factor is preferably 52 Other components of the motor vehicle via the bus system, if any 2 made available.

In particular, the distance sensor 18th the wind speed is implicitly recorded, with the sonic transit time of the ultrasonic waves due to the wind 38 is changed. If so in the second step 26th detected distance 28 not with the reference distance 50 this change is due to the current environmental conditions, particularly the wind. This also applies to the use of the wider distance 44 , which is detected in a different direction, it is possible to determine the wind direction. The effect of the wind on the distance sensor 18th is expediently predetermined once. In particular, this becomes the map 54 determined in which the correction factor 52 is filed. Depending on the wind speed and direction, the locking force in particular is 70 on the door 12 set. For this purpose, for example, a control parameter or a control structure is used within the control unit 20th customized. This improves the feel of the door 12 .

Preferably this is done in 5 shown embodiment, since this is the most precise determination of the correction factor 52 allowed. The control of the two distance sensors 18th takes place in particular by means of the bus system, which is for example a CAN bus system or a Flexray bus system. Thus its synchronization of the two distance sensors 18th possible on each other, which is why the ultrasonic waves 38 can be received accordingly.

Falls the road 6th as the reference point 30th or the further reference point 64 is used, the door in particular is used while the distance 28, 44 is being detected 12 not moved.

Preferably the position of the obstacle 64 regarding the door 12 recorded before and after their adjustment and from this the distance 28 which corresponds to the difference between the two positions. This is compared with a theoretical value that is based on the energization of the electric motor 16 results. This theoretical value forms in particular the reference distance 50 . The distance measured from the two different positions 28 is with the reference distance 50 compared.

In another alternative, instead of ultrasonic waves 38 by means of the distance sensor 18th emitted further waves, especially electromagnetic waves. The distance sensor is expedient here 18th a radar sensor or a LIDAR sensor. Alternatively it is used as a distance sensor 18th a camera used. The distance sensor 18th it is for example in the door handle 40 integrated, and the exterior mirror 20th forms the reference point or vice versa. Alternatively, for example, forms the street 6th the reference point 30th , and the distance sensor 18th is in the door handle 40 or the exterior mirror 32 integrated. Another alternative is the distance sensor 18th in the door handle 40 integrated, and another area of the door handle 40 forms the reference point 30th .

The correction factor 52 is used in particular to control a brake / clutch, which is thus controlled depending on the wind strength. Alternatively or in combination with this, the speed of the door adjustment and / or the speed of the electric motor 16 applied forces with manual adjustment depending on the correction factor 52 changed. Alternatively or in combination with this, the locking force is used 70 for example, a holding force and / or sluggishness in the case of a purely manual actuation of the door 12 set. Preferably, based on the correction factor 52 when the door is adjusted 12 the distance to the further object 64 based on the correction factor 42 determined so that the (actual) distance to the further object 64 can be determined comparatively precisely.

Another application is the general determination of the wind speed based on the correction factor 52 so that in the motor vehicle 2 the knowledge of the current wind conditions is available. Alternatively, the distance is determined 28 in a sheltered area. In other words, they are the distance sensor 28 and the reference point 30th arranged in such a way that there is no air movement between them. Thus, in particular the air humidity and / or the temperature are used as environmental conditions.

The invention is not restricted to the exemplary embodiments described above. Rather, other variants of the invention can also be derived from this by the person skilled in the art without departing from the subject matter of the invention. In particular, all of the individual features described in connection with the individual exemplary embodiments can also be combined with one another in other ways without departing from the subject matter of the invention.

List of reference symbols

2

Motor vehicle

4th

wheel

6th

road

8th

body

10

hinge

12

door

14th

(electromotive) door adjustment

16

Electric motor

18th

Distance sensor

20th

Control unit

22nd

Procedure

24

first step

26th

second step

28

distance

30th

Reference point

32

Exterior mirrors

34

Channel

36

receiver

38

Ultrasonic wave

40

Door handle

42

reflected / scattered ultrasonic wave

44

further distance

46

further reference point

48

third step

50

Reference distance

52

Correction factor

54

Map

56

further reference distance

58

fourth step

60

Adjustment path

62

Adjustment range

64

another object

66

fifth step

68

sixth step

70

Locking force

72

arrangement

74

further electromotive door adjustment

76

Circuit board

Claims (10)

Method (22) for operating an electromotive door adjustment (14) of a motor vehicle (2) which has a door (12) driven by means of a drive (16) and a distance sensor (18) in which - A distance (28) to a reference point (30) is detected by means of the distance sensor (18), and - A correction factor (52) tailored to the current environmental conditions is determined on the basis of the distance (28) and a stored reference distance (50). Method (22) according to Claim 1 , characterized in that the correction factor (52) is used in a subsequent determination of the distance to a further object (64). Method (22) according to Claim 1 or 2 , characterized in that a position of the door (12) is determined on the basis of the correction factor (52). Method (22) according to one of the Claims 1 to 3 , characterized in that a locking force (70) of the door (12) is selected on the basis of the correction factor (52). Method (22) according to one of the Claims 1 to 4th , characterized in that a further distance (44) to a further reference point (46) is detected by means of the distance sensor (18), and the correction factor (52) is adjusted based on the further distance (44) and a stored further reference distance (56). Method (22) according to one of the Claims 1 to 5 , characterized in that the correction factor (52) is determined periodically. Method (22) according to one of the Claims 1 to 6th , characterized in that the correction factor (52) is determined on the basis of a characteristic map (54). Method (22) according to one of the Claims 1 to 7th , characterized in that in order to detect the distance (28) by means of a transmitter (34) of the distance sensor (18) waves (38), in particular ultrasonic waves, are transmitted and by means of a receiver (36) of the distance sensor (18) the signals at the reference point (30 ) reflected and / or scattered waves (42) are received. Method (22) according to one of the Claims 1 to 8th , characterized in that for detecting the distance (28) by means of a transmitter (34) of the distance sensor (18) waves (38), in particular ultrasonic waves, are transmitted and the waves (38) are transmitted directly by means of a receiver (36) of the distance sensor (18) be received. Door adjustment (14) of a motor vehicle (2) which has a door (12) driven by means of a drive (16) and a distance sensor (18), and which according to a method (22) according to one of the Claims 1 to 9 is operated.

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