DE102020107962A1 - AUTOMATED DOOR CONTROL SYSTEM AND COMFORT FEATURES - Google Patents

Abstract

The disclosure provides an automated door control system and convenience features. An electric door system for a vehicle includes an actuator configured to control the position of a door about a hinge assembly. The system further includes a plurality of detection devices configured to detect a passenger approaching the vehicle and a passenger seated in a passenger compartment of the vehicle. An angular position sensor is configured to identify an angular position of the door. A controller is configured to control the actuator to position the door in a first open position in response to sensing the approaching passenger and to control the actuator to position the door in response to sensing the passenger seated in the passenger compartment steer to a second closed position.

Description

FIELD OF REVELATION

The present disclosure relates to vehicles, and more particularly to vehicles that include vehicle door positioning systems.

BACKGROUND OF THE REVELATION

To improve vehicle operation and comfort, many manufacturers have introduced a variety of comfort and operational features for vehicles. However, many vehicle components and systems still resemble traditional vehicle designs from the previous century. The disclosure provides various systems and devices to provide improved operation of at least one door of a vehicle. The systems discussed herein may include doors that either aid a user in accessing the vehicle and / or are configured to open and close without a vehicle user having to physically reposition the door. Such systems as described herein can provide improved operation of a vehicle.

SUMMARY OF THE DISCLOSURE

In accordance with one aspect of the present disclosure, an electric door system for a vehicle includes an actuator configured to control the position of a door about a hinge assembly. The system further includes a plurality of detection devices configured to detect a passenger approaching the vehicle and a passenger seated in a passenger compartment of the vehicle. An angular position sensor is configured to identify an angular position of the door. A controller is configured to control the actuator to position the door in a first open position in response to detecting the approaching passenger and to control the actuator to open the door in response to detecting the passenger in the passenger compartment Control the passenger to a second closed position.

• • Die Tür ist in der ersten geöffneten Position in einem ersten Winkel und in der zweiten geöffneten Position in einem zweiten Winkel ausgerichtet, wobei die zweite geöffnete Position kleiner als die erste geöffnete Position ist;
• • der zweite Winkel ist dazu konfiguriert, die Tür derart zu positionieren, dass sich ein Türgriff innerhalb eines vorbestimmten Abstands von der Fahrgastzelle des Fahrzeugs befindet;
• • der vorbestimmte Abstand ist ein Reichweitenabstand, gemessen von einem Beifahrersitz des Fahrzeugs zum Türgriff;
• • die erste geöffnete Position umfasst die Winkelposition der Tür in einem Winkel von mehr als oder gleich 70 Grad;
• • die zweite geöffnete Position umfasst die Winkelposition der Tür in einem Winkel von weniger als 70 Grad;
• • die Vielzahl von Erfassungsvorrichtungen umfasst mindestens einen Bildgeber oder eine Kamera und einen Sitzsensor;
• • die Steuerung ist ferner dazu konfiguriert, den sich nähernden Fahrgast basierend auf Bilddaten zu identifizieren, die vom Bildgeber aufgenommen werden;
• • die Steuerung ist ferner dazu konfiguriert, den in der Fahrgastzelle des Fahrzeugs sitzenden Fahrgast als Reaktion auf ein Signal von dem Sitzsensor zu identifizieren;
• • die Vielzahl von Erfassungsvorrichtungen umfasst eine Kommunikationsschaltung, die dazu konfiguriert ist, einen ungefähren Standort einer Mobilvorrichtung über ein Kommunikationssignal zu erfassen;
• • die Mobilvorrichtung umfasst mindestens ein Smartphone, einen Schlüsselanhänger und eine Vorrichtung zur persönlichen Identifizierung; und/oder
• • das Kommunikationssignal wird über ein Bluetooth^®- Low Energy-Kommunikationsprotokoll (BLE) übertragen.

Embodiments of this disclosure may include one or a combination of the following features:

• The door is oriented at a first angle in the first open position and at a second angle in the second open position, the second open position being smaller than the first open position;
• The second bracket is configured to position the door such that a door handle is within a predetermined distance from the passenger compartment of the vehicle;
• • the predetermined distance is a range distance, measured from a passenger seat of the vehicle to the door handle;
• • the first open position includes the angular position of the door at an angle greater than or equal to 70 degrees;
• • the second open position includes the angular position of the door at an angle of less than 70 degrees;
• The plurality of detection devices comprises at least one image generator or a camera and a seat sensor;
• The controller is further configured to identify the approaching passenger based on image data recorded by the imager;
• The controller is further configured to identify the passenger seated in the passenger compartment of the vehicle in response to a signal from the seat sensor;
• The plurality of detection devices includes a communication circuit configured to detect an approximate location of a mobile device via a communication signal;
• The mobile device comprises at least a smartphone, a key fob and a device for personal identification; and or
• • The communication signal is transmitted via a Bluetooth ^® - Low Energy Communication Protocol (BLE).

In accordance with another aspect of the present disclosure, a method for controlling an electric door system for a vehicle is disclosed. The method includes identifying an approaching passenger and opening a door of the vehicle via an actuator to a first position in response to the detection of the approaching passenger. The method further includes detecting the approaching passenger in a passenger compartment of the vehicle as a seated passenger and positioning the door of the vehicle in a second position in response to detecting the seated passenger. The method can also wait for manual interaction with the door in the second angular position.

• • Identifizieren des sich nähernden Fahrgasts basierend auf Bilddaten, die von einem Bildgeber aufgenommen wurden;
• • Identifizieren des in der Fahrgastzelle des Fahrzeugs sitzenden Fahrgasts als Reaktion auf ein Signal von dem Sitzsensor des Fahrzeugs;
• • die Tür ist in der ersten geöffneten Position in einem ersten Winkel und in der zweiten geöffneten Position in einem zweiten Winkel positioniert;
• • der erste Winkel und der zweite Winkel sind größer als 30 Grad; und/oder
• • Überwachen einer Beschleunigungsrate der Tür beim Öffnen und/oder Schließen der Tür und Steuern des Aktors, um eine Bewegung der Tür als Reaktion darauf zu stoppen, dass die Beschleunigung einen vorbestimmten Schwellenwert überschreitet.

Embodiments of this disclosure may include one or a combination of the following features or steps:

• • Identifying the approaching passenger based on image data captured by an imager;
• • identifying the passenger seated in the passenger compartment of the vehicle in response to a signal from the seat sensor of the vehicle;
• • the door is positioned at a first angle in the first open position and at a second angle in the second open position;
• • the first angle and the second angle are greater than 30 degrees; and or
• Monitoring a rate of acceleration of the door as the door is opened and / or closed and controlling the actuator to stop movement of the door in response to the acceleration exceeding a predetermined threshold.

According to another aspect of the present disclosure, an electric door system for a vehicle is disclosed. The system includes an actuator configured to control the position of a door about a hinge assembly and a plurality of sensing devices. The plurality of detection devices includes at least one imager and a seat sensor. The imager is configured to detect a passenger approaching the vehicle, and the seat sensor is configured to detect a passenger seated in a passenger compartment of the vehicle. The system includes an angular position sensor configured to identify an angular position of the door and a controller. The controller is configured to identify the approaching passenger based on image data captured by the at least one imager and to control the actuator to position the door in a first open position in response to the detection of the approaching passenger . The controller is further configured to identify the passenger seated in the vehicle cabin in response to a signal from the seat sensor and to control the actuator to move the door to a second closed position in response to sensing the passenger seated in the vehicle cabin to control. In some aspects, the controller may further be configured to detect that the seated passenger is reaching for the door based on the image data from the at least one imager and control the actuator to open the door in response to detecting the seated passenger in combination with the detection that the seated passenger reaches for the door, to steer into the second position.

These and other aspects, objects, and features of the present invention will be understood and understood by those skilled in the art after reading the following specification, claims, and accompanying drawings.

Figure list

• 1 ist eine projizierte Ansicht einer Person, die sich einem Fahrzeug nähert, das ein elektrisches Türsystem umfasst;
• 2 ist eine projizierte Ansicht eines Fahrgasts, der mit einem Türsteuersystem eines Fahrzeugs interagiert;
• 3 ist eine Draufsicht einer Person, die sich einem Fahrzeug nähert, und eine Vielzahl von Sichtfeldern von Bildsensoren zeigt;
• 4 ist ein Ablaufdiagramm, das eine Vielzahl von Betriebsverfahren für ein Türsteuersystem zeigt;
• 5 ist eine schematische Draufsicht, die ein Fahrzeug zeigt, das ein Türsteuersystem umfasst;
• 6A ist ein Ablaufdiagramm, das eine Türöffnungsroutine des Türsteuersystems zeigt;
• 6B ist ein Ablaufdiagramm, das eine Türschließungsroutine des Türsteuersystems zeigt;
• 7 ist ein Ablaufdiagramm, das ein Verfahren für einen automatisierten Betrieb eines Türsteuersystems zeigt;
• 8 ist ein schematisches Diagramm einer Betriebsroutine für ein Türsteuersystem;
• 9 ist ein schematisches Diagramm einer Betriebsroutine für ein Türsteuersystem; und
• 10 ist ein Ablaufdiagramm, das ein Verfahren zum Steuern eines Türsteuersystems gemäß der Offenbarung zeigt.

The following applies in the drawings:

• 1 Figure 3 is a projected view of a person approaching a vehicle that includes an electric door system;
• 2 Figure 13 is a projected view of a passenger interacting with a door control system of a vehicle;
• 3 Figure 13 is a top plan view of a person approaching a vehicle showing a plurality of fields of view from image sensors;
• 4th Fig. 3 is a flow chart showing a variety of operational procedures for a door control system;
• 5 Fig. 13 is a schematic plan view showing a vehicle including a door control system;
• 6A Fig. 13 is a flowchart showing a door opening routine of the door control system;
• 6B Fig. 13 is a flowchart showing a door closing routine of the door control system;
• 7th Figure 3 is a flow diagram showing a method for automated operation of a door control system;
• 8th Fig. 3 is a schematic diagram of an operational routine for a door control system;
• 9 Fig. 3 is a schematic diagram of an operational routine for a door control system; and
• 10 FIG. 3 is a flow diagram illustrating a method for controlling a door control system in accordance with the disclosure.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

For the purposes of description in this document, the terms "upper", "lower", "right", "left", "rear"relate; “Front”, “vertical”, “horizontal”, “inner”, “outer” and derivatives thereof refer to the device in its orientation in 1 . It will be understood, however, that the device can assume various alternative orientations, unless expressly stated to the contrary. In addition, it is understood that the specific devices and processes illustrated in the accompanying drawings and described in the following description are merely exemplary embodiments of the inventive concepts defined in the appended claims. Thus, specific dimensions and other physical properties are relative to that herein The disclosed embodiments are not to be regarded as restrictive, unless the claims expressly state otherwise. Furthermore, unless otherwise specified, it is to be understood that the discussion of a particular feature of a component extending in or along a given direction or the like does not mean that the feature or component has a straight line or axis in such a Direction follows or that it extends only in such a direction or on such a plane without any other directional components or deviation, unless otherwise specified.

With specific reference to 1-2 is a vehicle 10 shown that an electric door system 12th includes. As shown, the vehicle includes 10 a doorway 20th , with the doors 14th next to door openings 20th in a body of the vehicle 10 are mounted. The door 14th is relative to the doorway 20th movable between a closed position and an open position range. The vehicle 10 also includes a controller 22nd that determines whether a current door position is in a closed position or is within the open position range. In various embodiments, the controller can 22nd of the electric door system 12th be configured to have an angular position ϕ of the door 14th to control.

In exemplary embodiments, the control of the angular position ϕ of the door 14th vary between 0 and 85 degrees or more. In conventional vehicle doors, the operating range can be limited to an angular range of approximately 0-68 degrees.

Accordingly, the operation of the door system discussed herein 12th cause the doors to open 14th of the vehicle 10 from the doorways 20th extend away outward so that a passenger 24 the door 14th can't reach to the movement of the door 14th to control. An overreach is used for clarification 26th out of reach of the passenger 24 represented by an arrow. The overreach 26th shows the resulting space between the passenger 24 and the door 14th when the door is down 14th is in a fully open position. Accordingly, as shown, manual or assisted positioning of the doors 14th be impossible without getting out of the vehicle 10 to get off. The disclosure provides a variety of control schemes and methods of operation configured to operate the electrical door system 12th control to the angular position ϕ of the door 14th easy and intuitive to set.

One actuator 28 stands with a controller 22nd (in 2 shown) in connection that is configured to set the angular position ϕ of the door 14th to record and control. In some implementations, the actuator 28 a motorized device that is next to the door 14th is arranged and with the door 14th operational and structural is related to moving the door 14th between the open and closed positions as detailed below. As illustrated, is the actuator 28 to the door 14th coupled and is with the hinge assembly 30th operationally linked to the movement of the door 14th power between the open and closed positions. In different implementations, the actuator 28 Access to a passenger compartment 32 of the vehicle 10 for boarding or disembarking passengers. The actuator 28 may include a motor, which may be in the form of an electric motor, hydraulic actuator, power winch, slide mechanism, or other actuator mechanism, and has sufficient power to provide the torque required to drive the door 14th to move between the open and closed position as well as different locking positions. Thus, the motor can be configured to operate on the door 14th at or near the hinge assembly 30th to act swiveling or rotating.

The control 22nd may include an engine control unit that includes a feedback control system configured to control the door 14th around the hinge assembly 30th to be precisely positioned in an even and controlled movement path. The control 22nd can also be equipped with a door position sensor 34 and at least one fault sensor 36 stay in contact. The door position sensor 34 can be configured to use the angular position ϕ of the door 14th identify and the fault sensor 36 can be configured to identify a potential obstacle that is located along a pivoting path 38 the door 14th is located. Furthermore, the fault sensor 36 be included in a system used to detect and calculate the number of passengers occupying an autonomous taxi, rideshare, or various rental vehicles as discussed herein.

The actuator 28 can be configured to open the door 14th from an open position to a closed position and the angular position ϕ of the door 14th to steer in between. The actuator 28 can be any type of actuator that is able to control the door 14th around the hinge assembly 30th to move, including but not limited to electric motors, servomotors, electromagnets, pneumatic cylinders, hydraulic cylinders, etc. The actuator 28 can with the door 14th be connected by gears (e.g. pinions, racks, bevel gears, sector gears, etc.), levers, pulleys or other mechanical connections. The actuator 28 can also act as a brake by applying a force or a torque is applied to the passing of the door 14th between the open position and the closed position. The actuator 28 may have a friction brake to the transition of the door 14th around the hinge assembly 30th to prevent.

The position sensor 34 may correspond to a variety of rotation or position sensing devices. In some embodiments, the position sensor can 34 correspond to an angular position sensor configured to measure the angular position ϕ of the door 14th to the controller 22nd to submit. The angular position ϕ can be used by the controller to determine the movement of the actuator 28 to control. The door position sensor 34 can correspond to an absolute and / or relative position sensor. Such sensors may include quadrature encoders, potentiometers, accelerometers, amorphous magnetoresistive (AMR) sensors, etc., among others. The position sensor 34 can also correspond to optical and / or magnetic rotation sensors. For the position sensor 34 other sensing devices can be used without departing from the spirit of the disclosure.

In some examples, one or more of the doors 14th of the vehicle 10 configured as sliding doors. As discussed herein, a sliding door can be configured to open along a translational path relative to an opening that provides access to the passenger compartment 32 of the vehicle 10 enables. Accordingly, the actuator discussed herein 28 be configured to do a translation of the doors 14th in a sliding configuration to control various methods and controls of the doors 14th as discussed herein. Accordingly, the disclosure can be flexibly implemented to be suitable for various door systems without departing from the spirit of the disclosure.

The fault sensor 36 can be implemented by a variety of devices and in some implementations can be implemented in combination with the actuator 28 and the position sensor 34 used to control the movement of the door 14th to record and control. The fault sensor 36 can correspond to one or more capacitive, magnetic, inductive, optical / photoelectric, laser, acoustic / sonic, radar-based, Doppler-based, thermal and / or radiation-based proximity sensors. In some embodiments, the disturbance sensor 36 correspond to an array of infrared (IR) proximity sensors configured to emit a beam of IR light and calculate a distance to an object in an interference zone corresponding to the panning path 38 based on the properties of a returned, reflected, or blocked signal. The returned signal can be detected using an IR photodiode to detect reflected light from a light emitting diode (LED) that is responsive to modulated IR signals and / or triangulation.

In some embodiments, the disturbance sensor 36 be implemented as a current sensor that is configured to measure a current or power consumption of the actuator 28 capture. For example, the fault sensor 36 to be used to the actuator 28 while maneuvering the door 14th monitor output power. In response to an increase in the current consumption of the actuator 28 that exceeds a predetermined threshold, the controller can 22nd be configured to detect an obstacle or object that is affecting the operation of the actuator 28 with special needs. In response to the detection of an obstacle, the controller identifies 22nd that door 14th has reached an available amount of movement and the door stops moving 14th by controlling the actuator 28 . In this way, the fault sensor can be provided as a sensor that is configured to monitor the operation of the actuator 28 to monitor.

In some embodiments, the disturbance sensor 36 be implemented as a plurality of sensors or an array of sensors configured to detect an object or an obstacle in the interference zone, the areas within the pivoting path 38 the door 14th may include. Such areas can be both within the pivoting path 38 between the door 14th and the body of the vehicle 10 as well as outside the door 14th from the body of the vehicle 10 lying away. Such sensors may include touch sensors, capacitive surface / housing sensors, inductive sensors, video sensors (e.g. a camera), light field sensors, etc., among others.

Still referring to the 1 and 2 can in some implementations the control 22nd a communication circuit 46 include. The communication circuit 46 may correspond to a wireless receiver and / or transmitter used to communicate with a mobile device 50 configured. In this configuration the controller can 22nd various communications from the mobile device 50 receive access to the vehicle 10 requests or otherwise communicates with it. In some embodiments, the mobile device can 50 be configured to provide security access information to the controller 22nd to be transmitted to authenticate or verify that someone is nearby or approaching 52 is entitled to enter the vehicle 10 to get in. In response to receiving the security access information from the mobile device 50 can control 22nd be configured to do this, the door actuators 28 and or control additional vehicle systems (e.g. door locks, etc.) so that the person 52 ( 1 ) as an authorized passenger 24 ( 2 ) into the vehicle 10 can get in. In this configuration the controller can 22nd for safe operation of the vehicle 10 to care.

The communication circuit 46 may correspond to one or more circuits that may be configured to communicate over a variety of communication methods or protocols. In an exemplary embodiment, the communication circuit 46 configured to detect a directional vector from signals sent to the mobile device 50 communicated or vice versa to a location of the mobile device 50 relative to the vehicle 10 or within the passenger compartment. Such operation can be via beacon detection of the mobile device 50 can be achieved via angulation and proximity detection between the communication circuit 46 and the mobile device 50 Transmitted signals can be processed, which is via an antenna arrangement in communication with the communication circuit 46 can be achieved. That way the system can 12th be configured to provide an approximate location of the person 52 near the vehicle 10 and / or the location of the passenger 24 inside the vehicle 10 by tracking the location of the mobile device 50 or the radio beacon. As discussed herein, the mobile device can 50 a smartphone, a key fob, a device for personal identification (e.g. an RFID tag) and / or any device that corresponds to an occupant of the vehicle 10 accompany and an authorization identity to access the vehicle 10 can specify.

In different implementations, the communication circuit 46 be configured to communicate according to one or more standards including, but not limited to, 3GPP, LTE, LTE Advanced, IEEE 802.11 , Bluetooth ^® , Advanced Mobile Phone Services (AMPS), digital AMPS, global mobile communications system (GSM), code division multiple access (CDMA), local multipoint distribution systems (LMDS), multi-channel multipoint distribution systems (MMDS), radio frequency identification (RFID), advanced Data rates for GSM Evolution (EDGE), General Packet Radio Service (GPRS) and / or variations thereof. Additional protocols may include short range communication protocols including but not limited to RFID, Bluetooth ^® ™, Bluetooth ^® Low Energy (BTLE), ANT +, NFC, ZigBee, Infrared, Ultraband, etc. In general, a short range communication protocol as discussed herein may include correspond to a communication method having a typical range of less than 1 km, and may correspond to a communication method having a range of less than 100 m correspond.

Now referring to 2 and 3 can the door control system 12th generally multiple occupant sensing devices 60 which comprise the communication circuit 46 configured to include the mobile device 50 , the fault sensor 36 and locate various additional devices as discussed herein. In some implementations, the sensing devices 60 a variety of seat sensors 62 which may include pressure or weight sensors located in each of a variety of vehicle seats 64 are arranged. In addition to or similar to the seat sensors 62 can the system 12th one or more seat belt sensors also monitor the occupancy of each of the seats 64 to monitor or change the occupancy of the passenger compartment 32 to foresee. Accordingly, the system can 12th various detection devices 60 monitor for changes in the occupancy of the vehicle 10 to identify or to infer.

In some implementations, the sensing devices 60 also an imaging system 66 include one or more imagers 66a , 66b , 66c , 66d , 66e etc. includes. Each of the imagers 66a , 66b , 66c , 66d and 66e can be configured to display image data in a corresponding field of view 68a , 68b , 68c , 68d and 68e record. Every field of vision 68 can be configured to display image data in a variety of sections of the passenger compartment 32 and areas near the vehicle 10 record. In this way the door control system 12th be configured to use the angular position ϕ of each of the doors 14th based on a position of the passenger 24 and / or an approaching person 52 by sensing their relative position relative to the vehicle 10 to control. Similarly, the control system 12th be configured to use one or more gestures (e.g. as the passenger after the door 14th grips) and / or a line of sight of the passenger 24 or the person 52 relative to the vehicle 10 capture. Accordingly, the door control system 12th be configured to include a location and / or behavior of the passenger 24 or the approaching person 52 capture and each of the doors 14th independently control to respond to location and / or behavior as discussed in more detail herein.

In operation, the control system 12th be configured to receive the image data from each of the imagers 66a-66e to process. As in 3 illustrates, the imager can 66a 66d correspond to external imagers that are used to record image data in the fields of view 68a-68d around an outer periphery of the vehicle 10 are configured are. The imager 66e can be configured to display image data in a field of view 68e record that on the passenger compartment 32 of the vehicle 10 is focused. That way the system can 12th be configured to include a location of the passenger 24 inside the vehicle 10 identify and / or a location of the person 52 relative to the vehicle 10 to be identified. Based on the passenger's location 24 and / or the person 52 can the system 12th a seat 64 identify on which the passenger is 24 sits. Similarly, the system can 12th process the image data to an entrance door 70 to identify the one vacant seat 64 in the vehicle 10 corresponds to or opens up to this so that the person 52 in the vehicle 10 can get in. In addition to the image data, the system can 12th additional data from each of the seat sensors 62 process that in each of the wide variety of vehicle seats 64 are arranged to an occupancy and position of each of the passengers 24 in the passenger compartment 32 to identify.

In general, occupant sensing device or devices 60 may include any form of data collection device or combination of sensory devices that are associated with the controller 22nd can be in communication. The detection device 60 may correspond to a device configured to capture image data, such as an imager, video camera, infrared imager, scanner, or any device configured to capture text, graphics, images, and / or video data. In some embodiments, the sensing device 60 correspond to a device configured to pick up speech or some form of audio data, for example a microphone, an audio decoder and / or an audio receiver. The detection device 60 can also correspond to a capacitive, image-based and / or pressure-based sensor for scanning a fingerprint. An image sensor can be configured to identify a facial feature, size, profile shape, viewing direction, head position, or other form of visual data. In this way the control system can 12th configured to use information obtained by the sensing devices 60 be included to the location and / or behavior of the passenger 24 or the person 52 that are attached to the vehicle 10 approaches, identify.

With reference to 4th A flow diagram is shown illustrating an exemplary method of operation 80 of the door system 12th shows. Operation of the procedure 80 is illustrated with reference to a simplified schematic diagram of FIG 5 shown vehicle 10 described. The procedure can be performed at step 82 start by adding one from the mobile device 50 transmitted security signal (e.g. a BLE signal) authenticated and a door 14th that is opened to a location of the person 52 corresponds when approaching. That way the system can 12th a signal path of the mobile device 50 capture to the front door 70 thus identify the person 52 as an authenticated passenger 24 in the vehicle 10 can get in ( 84 ). After authentication, the system can 12th the fault sensor 36 activate to initiate obstacle detection ( 85 ). As soon as the passenger 24 a detection area of the disturbance sensor 36 reached, the malfunction sensor 36 perceive the person as an obstacle between the front door 70 and the body of the vehicle moves ( 86 ). In addition, at step 88 the signal from the mobile device 50 (e.g. BLE signal) also between the entrance door 70 and the body of the vehicle 10 are recorded.

After step 88 can the system 12th the image data from the imaging system 66 (Interior imager 66e) process to identify whether the person 52 got into the vehicle ( 90 ). The procedure 80 can view the image data at step 90 continue scanning until it is recognized that the person 52 the passenger compartment 32 has entered. Once it is recognized that the person 52 into the passenger compartment 32 gets in, the procedure can 80 the data from the fault sensor 36 process to determine if there is an obstacle (e.g. the person 52 ) between the front door 70 and the body of the vehicle 10 is located ( 92 ). In addition, the system can 12th each of the seat sensors 62 the seats 64 monitor to identify if the person is 52 on one of the seats 64 who sits in a seat 64 next to the front door 70 can correspond to ( 94 ). Finally, the system can 12th also check that the person is 52 in the passenger compartment 32 based on the signal from the mobile device 50 that is in the passenger compartment 32 is located ( 96 ).

Once the person 52 in the vehicle 10 boarded and as a passenger 24 has been identified, the system can 12th a closing process of the entrance door 70 control in different ways. Accordingly, the procedure 80 after step 96 with step 98 proceed to identify whether the front door 70 is open in an angular position ϕ greater than 68 degrees. When the front door 70 is opened in an angular position ϕ greater than 68 degrees, the system can 12th the actuator 28 the front door 70 steer to the door 70 to close electrically in the angular position ϕ of 68 degrees ( 100 ). Once the front door 70 is positioned in the angular position ϕ of 68 degrees, the passenger can 24 the entrance door 70 manually pull to a closed position and proceed 80 can end ( 102 ).

In some implementations, after determining that the person can 52 at step 96 into the passenger compartment 32 entered the procedure 80 with step 110 proceed to identify whether the front door 70 is opened to the angular position ϕ greater than 68 degrees. When the front door 70 is opened to the angular position ϕ greater than 68 degrees, the system can 12th also based on the inside field of view 68e captured image data determine whether the passenger 24 his head toward the front door 70 turns and extends one arm ( 112 ). An example of such a gesture made by the system 12th can be identified is in 2 shown. In response to identifying that the passenger 24 his or her head toward the front door 70 turned and extended one arm, the system can 12th the angular position ϕ of the entrance door 70 control it to close to approximately 68 degrees and the position of the front door 70 hold( 114 ). After positioning the entrance door 70 the passenger can reach 68 degrees 24 the entrance door 70 manually and the method can end (116).

In a further operating configuration, after the passenger has been detected 24 and the passenger compartment 32 at step 96 the procedure 80 further identify whether the angular position ϕ of the door 14th is greater than 68 degrees ( 120 ). Is the angular position ϕ of the entrance door 70 greater than 68 degrees, the system can 12th the image data of the field of view 68e monitor to determine if the passenger is 24 his head toward the front door 70 turns and extends one arm as before referring to step 112 discussed ( 122 ). After step 122 the system can identify that the passenger 24 the arm towards the front door 70 ( 124 ) extends. The system 12th can then continue to monitor the image data to determine if the position of the passenger's arm 24 for a predetermined period of time (e.g. 3 seconds) in the direction of the entrance door 70 remains stretched out and / or a movement of a hand or arm is detected in the form of a gesture ( 126 ). After step 126 can the system 12th continue the field of view 68e and the fault sensor 36 monitor to the position of the hand or arm of the passenger 24 in relation to the angular position ϕ of the entrance door 70 to determine ( 128 ).

Based on the position of the passenger's hand or arm 24 relative to the angular position ϕ of the entrance door 70 can the system 12th the actuator 28 control to the angular position of the door 14th control based on a predetermined configuration ( 130 ). The predetermined configuration may be based on the sensed extension of a hand or a body part of the passenger 24 relative to the front door 70 based. In some implementations, the controller can 22nd an angular position ϕ of the entrance door 70 based on a calculation relative to a location of the passenger's body part 24 determine who is in the by the imaging system 66 recorded image data is identified, and / or based on a proximity or position identification by the disturbance sensor 36 . Accordingly, the angular position ϕ of the entrance door 70 through the controller 22nd of the system 12th identified or calculated based on a lookup table or a positioning algorithm that is stored in memory and configured to determine a predetermined angular position ϕ of the entrance door 70 relative to a body part of the passenger 24 to identify.

Accordingly, at step 130 based on the detected position of a body part of the passenger 24 who is closest to the front door 70 on the swing path 38 extends the control 22nd the angular position ϕ of the entrance door 70 so identify or calculate that the entrance door 70 in the angular position ϕ near, next to or at the fingertips of the passenger 24 can be positioned. In such implementations, the entrance door 70 be positioned in the angular position ϕ corresponding to the reach or position of the body part of the passenger 24 equals or equals, so that the overreach 26th is minimized or approximately zero. In such implementations, the entrance door 70 by the actuator 28 can be positioned and held in a variety of angular positions ϕ, such as based on the sensed body part of the passenger 24 certainly. Finally, at step 132 as soon as the front door 70 is closed in a position in which the angular position ϕ of the entrance door 70 coincides with or is close to the identified position of the body part of the passenger. That way the system can 12th the angular position ϕ of the entrance door 70 Steer to a position near a hand or part of the passenger's body so that the passenger can open the front door 70 manually pull to a closed position and the procedure can end.

Like referring to step 130 discussed, the controller can 22nd be configured to have a rate of movement and a corresponding rate of change of the angular position ϕ of the entrance door 70 to control. In some embodiments, the controller may 22nd be configured to slow the rate of change in angular position ϕ so that the door gradually stops when a target angular position ϕ is reached based on the imaging system 66 recorded image data and / or proximity position data that identify a location of the passenger, as determined by the disturbance sensor 36 can be identified. In this configuration the controller can 22nd be configured to control the rate of change of the angular position ϕ at a variable rate of deceleration or a constant rate of deceleration so that the actuator 28 is controlled to decrease the rate of change of angular position ϕ when the entrance door is 70 the part of the passenger's body 24 approaching.

In addition, in some implementations the system 12th be configured to place the door near the body part of the passenger 24 to stop who is on the swing path 38 closest to the front door 70 extends while a buffer or gap between the passenger 24 and the front door 70 is retained. For example, based on the lookup table or the algorithm that is configured to do so, the angular position ϕ of the entrance door 70 at step 130 to determine the system 12th provide that the front door 70 positioned so that part of the body is within reach 26th between the passenger 24 and the front door 70 can be maintained. In this configuration the controller can be configured to open the door at step 130 near the passenger 24 to position while the buffer between the passenger 24 and the door 70 is retained.

Finally, the system can 12th in addition to the in terms of step 130 controls discussed the position of the passenger 24 monitor for a change in the range distance 26th while controlling the angular position ϕ of the entrance door 70 to identify. If the position of the body part (e.g. hand, arm, leg, foot, etc.) of the passenger changes accordingly 24 while positioning or adjusting the angular position ϕ of the entrance door 70 through the controller 24 changes, the system can update the position and the angular position ϕ of the entrance door 70 based on the updated location. Updating the position of the passenger's body part 24 may be based on that provided by the imaging system 66 recorded image data and / or proximity of position data that identify the location of the passenger, from the disturbance sensor 36 will be identified. Additionally, in some embodiments, the location of the mobile device 50 can also be used as a factor to determine where the passenger is 24 relative to the front door 70 , the passenger compartment 32 , the doors 14th and various parts of the vehicle 10 is located.

Though in terms of 4th the system 12th with an angular position ϕ of approximately 68 degrees, it may be configured to use the angular position ϕ of the entrance door 70 or any of the doors 14th of the vehicle 10 to locate at a desired or predetermined angular position ϕ. The specific angle of 68 degrees is described herein because it is a conventional standard for the angular position ϕ of the doors 14th corresponds to that for one or more of the passengers 24 in the vehicle 10 accessible or attainable. The angular position ϕ of each of the doors 14th however, may vary based on a desired orientation or user preference without departing from the spirit of the disclosure. In general, the angular position ϕ of the doors discussed herein may be 14th as closed (e.g. ϕ = 0 degrees), fully opened (e.g. ϕ> 68 degrees) and partially open (e.g. ϕ <68 degrees), with the angular position ϕ of the doors 14th that is less than 68 degrees than within reach of the passenger 24 can be viewed. Accordingly, the system can 12th be flexibly configured to suit a variety of applications.

Although on the angular position ϕ of the doors 14th with reference to the angle of 68 degrees, the angle may be based on the particular application of the system 12th and the dimensions of the vehicle 10 vary. For example, the angle value limit, which is the fully open versus the partially opened angular position ϕ of the doors 14th disconnects based on the size of the vehicle 10 and the corresponding range distance 26th vary. For example, the angular position ϕ or the orientation of the doors 14th that are in the extent of the range 26th or within comfortable range of a passenger when in the vehicle 10 should be set to a value that is from about 60-75 degrees, 65-75 degrees, 66-72 degrees, etc. based on the dimensions of the vehicle 10 and the relationship of a passenger's position when in the vehicle 10 sits, can vary.

In addition, in some implementations the angular position ϕ in which the doors 14th are set to the partially open orientation, programmed based on a user preference or profile, which may be different for different drivers of the vehicle. For example, the angle corresponding to the partially opened orientation may be based on an identification of a passenger or operator of the vehicle 10 programmed, such as based on input to a user interface of the vehicle, communication from the mobile device 50 and / or a communication is determined by a key fob configured to identify an identity or a user profile of the vehicle 10 to specify. Accordingly, the disclosure can provide that the angular value limit (for example 68 degrees), which is the fully open versus the partially open angular position ϕ of the doors 14th separates, varies, or is adjusted to suit a desired application.

Now referring to 6A and 6B flow charts show a method 140 to open and close each of the doors 14th via the door control system 12th . The procedure 140 can in 6A in response to that start a person 52 initiates an electrical opening routine ( 142 ). The electrical opening routine of the door control system 12th can through the mobile device 50 , a voice command and / or an inside / outside action by the person 52 be activated with respect to a handle, switch, touchscreen display or sensor which is configured to electrically open a selected one of the doors 14th to activate. After the introduction at step 142 can control 22nd Scan proximity or detection data generated by the fault sensor 36 be recorded in order to detect one or more obstacles that are on the panning path 38 the selected one of the doors 14th can be located ( 144 ). When it is determined that the pan path 38 is free of obstacles, the controller can 22nd an electrical opening procedure of the selected one of the doors 14th Taxes ( 146 ). As discussed herein, obstacles can include various objects, including people or parts of the body of people (e.g., hands, feet, legs, etc.) and / or various objects that the panning path 38 can disturb or hinder. During the electrical opening procedure, the control 22nd the angular position ϕ of the door 14th monitor to determine if the door 14th has reached a fully open position (e.g. an angular position ϕ of 70-120 degrees) (148). When the door 14th has reached a fully open position as in step 148 detected, the controller can 22nd at step 150 the angular position ϕ of the door 14th hold. Throughout the entire step 148 the system can use the fault sensor 36 continue to monitor for one or more obstacles in the swivel path 38 the door 14th (152) to be recorded. If at step 152 If no obstacle is detected, the procedure can be started with step 150 continue and open the door 14th hold in the fully open position. However, if at step 152 an obstacle is recognized, the procedure can be started with step 154 Continue. As previously discussed, the fault sensor 36 correspond to a variety of sensor devices including, but not limited to, a current sensor configured to measure the current drawn by the actuator 28 to monitor one or more capacitive, magnetic, inductive, optical / photoelectric, laser, acoustic / sound, radar-based, Doppler-based, thermal, radiation-based proximity sensors, etc.

At step 154 can be an inertial sensor or door accelerometer 14th through the controller 22nd monitored to determine if the door is accelerating 14th has exceeded a predetermined acceleration threshold. If at step 154 it is determined that the acceleration threshold value is exceeded, the method can with step 156 proceed and opening the door 14th to stop. If the acceleration threshold at step 154 is not exceeded, the procedure can open the door 14th continue towards the at step 152 detected obstacle and maneuver the door 14th Hold it in the furthest angular position ϕ that is possible without opening the door 14th touches the obstacle ( 158 ). After step 158 can open the door 14th be kept and the system 12th can read the data from the fault sensor 36 Continue scanning for obstacles at predetermined time intervals (e.g. 5 seconds) ( 160 ). At step 162 can control 22nd determine if that is at step 152 detected obstacle still in the swivel path 38 is located. Is the obstacle still in the swivel path? 38 , the procedure can 140 with step 158 Continue. When the obstacle is at step 162 is no longer recorded, the controller can 22nd the automatic opening process at step 164 continue and to step 148 to return.

With reference to 6B may have a door closing procedure for the vehicle similar to that referring to FIG 6A door opening procedure described are processed. Accordingly, the steps are made 6B for the closing process possibly only in terms of the differences from the one referring to 6A discussed opening procedure. Similar to step 142 can the passenger 24 at step 172 a routine for closing the front door 70 initiate. With steps 174 and 176 can the door control system 12th continue by taking the data from the fault sensor 36 can be scanned to identify obstacles and the front door 70 to start a closing process. At step 178 can the door control system 12th the angular position ϕ of the entrance door 70 monitor to determine if the front door 70 has reached a secondary locked position. When the secondary locked position at step 178 is reached, the procedure can 140 continue to activate a cinch motor to the front door 70 pull to a primary latched or closed position ( 180 ). When the door 14th does not reach the secondary locked position, the procedure may 140 like referring to steps 152-164 continue while trying to open the front door 70 to close or the door 14th to maneuver to a closed position rather than the open position, as with reference to FIG 6A described. Accordingly, the same reference numerals are used in steps 152-164 in 6A and 6B used to show similar steps.

With reference to 7th may in some embodiments the door control system 12th configured to respond to the person approaching 52 to be operated without any overt actions by the person 52 to activate the system 12th required are. Accordingly can that in 7th shown procedures 200 start by adding one from the mobile device 50 transmitted safety signal (e.g. a BLE signal) and the entrance door 70 to open ( 202 ) is controlled. As previously discussed, those can get out of the doors 14th selected entrance door 70 based on a signal trajectory of the mobile device 50 and / or capturing the person 52 approaching the vehicle and identified in the imaging data generated by the imaging system 66 be included, identified ( 204 ). After step 204 can control 22nd as soon as the controller 22nd begins the front door 70 to move signals from the fault sensor 36 monitor to identify one or more obstacles in the swivel path 38 are located ( 206 ). While the malfunction sensor is scanning 36 can control 22nd an obstacle (e.g. the person 52 ) capture that is between the front door 70 which is aligned with angular position ϕ in an open configuration and the body of the vehicle 10 moved (208). In addition, the controller can 22nd configured to receive the signal from the mobile device 50 to capture that is between the front door 70 and the body of the vehicle 10 moved (210). When detecting the obstacle or the signal from the mobile device 50 at steps 208 and or 210 can the system 12th Scan image data that is in the inner field of view 68e of the imaging system 66 be included to determine if the passenger 24 in the vehicle 10 got on ( 212 ). Although this is in 7th not shown can take steps 92 , 94 and or 96 step 212 consequences.

After monitoring the image data at step 212 and in response to sensing the in the passenger compartment 32 the passenger 24 can control 22nd a closing process of the entrance door 70 begin ( 214 ). After the control 22nd the control can start the closing process 22nd the angular position ϕ of the entrance door 70 monitor to determine if the door has reached a secondary locked position ( 216 ). When it is determined that the entrance door 70 has reached the secondary locked position, the controller can 22nd activate a cinch motor to close the entrance door 70 lock and move the front door to a primary locked position ( 218 ). When the door 14th at step 216 does not reach the secondary locked position, the controller may 22nd the steps 152-154 as before with reference to FIG 6A and 6B discussed process. Accordingly, the system can 12th flexibly configured to operate based on one or more user inputs in response to the person 52 approaches the vehicle without any specific overt action or input upon activation of the door control system operation 12th are connected.

With reference to 8th may in some embodiments the door control system 12th be configured to have a variety of doors 14th control simultaneously or together to the person 52 Access to the passenger compartment 32 of the vehicle 10 To provide. As in 8th shown, two of the doors can 14th as entrance doors 70 be assigned and designated. The entrance doors are accordingly 70 in a partially open position 240 and a fully open position 242 shown. As shown, the position of the entrance doors can 70 previously controlled by one or more of the door opening and / or closing methods and the underlying procedures, as previously discussed herein. Accordingly, the 8th example shown on the operation of the door control system 12th in relation to the person 52 focus away from the vehicle 10 withdraws as indicated by the arrow 244 shown.

In response to the detection of a package 246 or an object as shown on one of the seats 64 is positioned, the door control system 12th that on the seat 64 lying package 246 based on one or more signals from an associated seat sensor 62 capture. In this way the door control system 12th an interaction between the person 52 and the vehicle 10 identify. The interaction between the person 52 and the vehicle 10 can also be identified based on the image data that is in the inner field of view 68e by the imager 66e be included. After recording the interaction, the system can 12th the person 52 grasp moving along the arrow 244 from the vehicle 10 withdraws based on a change in a position of the wireless communication signal from the mobile device 50 and / or capturing the person 52 moving away from the vehicle 10 moved away over the inside field of vision 68e recorded image data. Although referring to the inner field of vision 68e discussed, it is understood that the fields of view 68a-68d the imager 66a 66d similarly it can be monitored to the person 52 to capture that differ from the vehicle 10 moved away.

In response to that, the person 52 from the vehicle 10 moved away, the controller can 22nd the actuator 28 control to the doors from the partially open position 240 to the fully open position 242 to open. Accordingly, the door control system 12th the angular position ϕ of the entrance doors 70 control to stand out from the person 52 withdraw so the person 52 easily pull back and off the vehicle 10 can move away. In some embodiments, the controller may 22nd one or more signals from the fault sensor 36 (e.g. one or more signals from proximity sensors) monitor to open and from the person 52 move away or a predefined separation between the person 52 and an inner surface of the entrance doors 70 to maintain. That way the system can 12th an intuitive control of the doors 14th deploy so the doors 14th out of a way of the person 52 removed.

With reference to 9 can the door control system 12th Adjust or change operation based on changes in weight caused by those in the seats 64 included sensors 62 are recorded. For example, as in 9 shown on a first page 260 of the vehicle 10 a wide variety of passengers 24 showing a door control routine (e.g. steps 110-116 ) initiate. As illustrated, the system has 12th the passengers 24 in their respective seats 64 based on signals from the imager 66e , the seat sensor 62 , Seat belt / restraint sensors and / or the communication signal from the mobile device 50 detected. In response to the request to initiate a closing process, the control system 12th react by closing or closing the actuator 28 controls to the angular position Φ of each of the doors 14a , 14b adjust to from the fully open position 242 to the partially open position 240 close. From the partially open position 240 can the passengers 24 the doors 14a and 14b on the first page 260 of the vehicle 10 or close the doors manually 14a and 14b can based on a desired operation of the system 12th close automatically.

In some implementations, the tax system can 12th be configured to operate one or more of the doors 14th (e.g. 14c) in response to a change in the position of the communication signal from the mobile device 50 and / or a change in weight or pressure caused by the seat sensor 62 of the seat 64 is captured, to restrict or limit. As in 9 illustrates that the door control system is shown 12th one by a seat sensor 62a identified change in weight and a corresponding movement of an object identified beyond the in the inner field of view 68e captured image data and / or the movement of the communication signal from the mobile device 50 can be captured. As shown, the in-vehicle 10 identified detected motion that extends from a central section to the second side 262 emotional. Accordingly, the door control system 12th the supported or automated operation of the door 14c stop based on the judgment that an object is on the second side 262 of the vehicle 10 towards the door 14c emotional. That way the system can 12th be configured to cause inconvenient or unexpected operation of each of the doors 14th to prevent.

With reference to 10 becomes an overview of the operation of various implementations of the door control system 12th discussed with reference to a flow chart. In general, a procedure 280 to operate the door control system 12th begin to determine whether an activation criterion for automatic or manual activation of the system has been met (282). The various examples discussed in this application include, but are not limited to, cases in which the individual is detected 52 the passenger compartment 32 approaches, gets into it and takes a seated position in which it is recognized that the person is 52 the package 246 or the object in the passenger compartment 32 invites and / or the person 52 away from the vehicle 10 between an open front door 70 and the body of the vehicle 10 withdraws. In response to the activation of the system at step 282 can the door control system 12th one or more of the herein at step 284 Activate the control procedure discussed. As previously discussed, each of the control methods may be responsive to user interaction with various internal or external handles, switches, touchscreen displays, or sensing devices 60 of the vehicle 10 to be activated. In addition, activation can be based on various gestures, captures of objects or the person 52 via proximity sensors (e.g. the malfunction sensor 36 ) and / or a detection of the communication signal and the corresponding location of the mobile device 50 as through the communication circuit 46 identified, recorded. As in 10 the reference symbols for the control methods are summarized as introduced in the description. For example, tax procedures may include: "Please open the door for me"(98-102); “I see it, I do it” (110-116); “Exactly where I want it” (120-132); “Open after me” (140); “Closing after me” (170); and / or “Close seamlessly to me” (200).

Once the activation criteria at step 84 are identified, the system can 12th with step 286 continue to determine if deactivation or door movement reversal conditions at step 286 are fulfilled. Examples of door movement reversal conditions may include the detection of an object or obstacle by the disturbance sensor 36 , detecting the communication signal from the mobile device 50 on the swing path 38 one or more of the doors 14th and / or the detection of an object or the person 52 via one or more of the imagers 66a-66e of the imaging system 66 include. Example deactivation or door movement reversal conditions were previously identified as "Follow me on removal" ( 8th ); Movement in the vehicle ( 9 ); and / or the door coming into contact with an obstruction is discussed. After detecting a deactivation or reversal condition, the system can 12th Farther identify whether a reactivation or activation condition has been met for one or more of the door position control routines ( 288 ). After the activation or reactivation condition has been recorded, the system can 12th complete the door control routine and monitor the various sensors and inputs discussed herein for later routines for the doors 14th of the vehicle 10 to control.

For purposes of describing and defining current teachings, it should be noted that the terms “substantially” and “approximately” are used herein to represent the inherent degree of uncertainty involved in any quantitative comparison, value, measurement, or other representation can be attributed. The terms “substantially” and “approximately” are also used herein to reflect the degree to which a quantitative statement may differ from a given reference without this leading to a change in the basic function of the subject matter in question.

It will be understood that any described processes or steps within described processes can be combined with other disclosed processes or steps to form structures within the scope of the present disclosure. The exemplary structures and processes disclosed in this document are for illustrative purposes only and are not to be interpreted as restrictive. It is also to be understood that variations and modifications can be made in the above structure without departing from the concepts of the present disclosure, and it is also to be understood that such concepts are intended to be covered by the following claims, unless those claims are literally expressed expressly specify something else.

According to the present invention, there is provided an electric door system for a vehicle comprising: an actuator configured to control a position of a door about a hinge assembly; a plurality of detection devices configured to detect an approaching passenger of the vehicle and to detect a passenger seated in a cabin of the vehicle; an angular position sensor configured to identify an angular position of the door; and a controller configured to: control the actuator to position the door in a first open position in response to sensing the approaching passenger; and controlling the actuator to control the door to a second open position in response to sensing the passenger seated in the passenger compartment.

According to one embodiment, the door is oriented at a first angle in the first open position and at a second angle in the second open position, the second open position being smaller than the first open position.

In one embodiment, the second bracket is configured to position the door such that a door handle is within a predetermined distance from the passenger compartment of the vehicle.

According to one embodiment, the predetermined distance is a range distance, measured from a passenger seat of the vehicle to the door handle.

According to one embodiment, the first open position includes the angular position of the door at an angle greater than or equal to 70 degrees.

According to one embodiment, the second open position comprises the angular position of the door at an angle of less than 70 degrees.

According to one embodiment, the plurality of detection devices comprises at least one image generator or a camera and a seat sensor.

According to one embodiment, the controller is further configured to identify the approaching passenger based on image data recorded by the imager.

According to one embodiment, the controller is further configured to identify the passenger seated in the passenger compartment of the vehicle in response to a signal from the seat sensor.

According to one embodiment, the plurality of sensing devices includes a communication circuit configured to sense an approximate location of a mobile device via a communication signal.

According to one embodiment, the mobile device comprises at least a smartphone, a key fob and a device for personal identification.

In one embodiment, the communication signal is transmitted over a Bluetooth ^® -Niedrigenergie communication protocol (BLE).

In accordance with the present invention, a method of controlling an electric door system for a vehicle includes: identifying an approaching passenger; Opening a vehicle door via an actuator to a first position in response to detecting the approaching passenger; Detecting the approaching passenger in a passenger compartment of the vehicle as a seated passenger; Positioning the vehicle door in a second position in response to sensing the seated passenger; and waiting for manual interaction with the door in the second angular position.

According to one embodiment, the invention is further characterized by identifying the approaching passenger based on image data recorded by an image generator.

According to one embodiment, the invention is further characterized by identifying the passenger seated in the passenger compartment of the vehicle in response to a signal from a seat sensor of the vehicle.

According to one embodiment, the door is oriented at a first angle in the first open position and at a second angle in the second open position and the second angle is smaller than the first angle.

According to one embodiment, the first angle and the second angle are greater than 30 degrees.

In one embodiment, the invention is further characterized by monitoring the rate of acceleration of the door as the door opens; and controlling the actuator to stop movement of the door in response to the acceleration exceeding a predetermined threshold.

According to the present invention, there is provided an electric door system for a vehicle comprising: an actuator configured to control a position of a door about a hinge assembly; a plurality of sensing devices including at least one imager and a seat sensor, the imager configured to sense an approaching passenger of the vehicle and the seat sensor configured to sense a passenger seated in the passenger compartment of the vehicle; an angular position sensor configured to identify an angular position of the door; and a controller configured to: identify the approaching passenger based on image data captured by the at least one imager; Controlling the actuator to, in response to sensing the approaching passenger, position the door in a first open position; Identifying the passenger seated in the cabin of the vehicle in response to a signal from the seat sensor; and controlling the actuator to control the door to a second open position in response to sensing the passenger seated in the passenger compartment.

According to one embodiment, the controller is further configured to: detect that the seated passenger is reaching for the door based on the image data from the at least one imager; and controlling the actuator to control the door to the second position in response to detecting the seated passenger in combination with detecting that the seated passenger is reaching for the door.

Claims (15)

An electrical door system for a vehicle comprising: an actuator configured to control a position of a door around a hinge assembly; a plurality of detection devices configured to detect a passenger approaching the vehicle and a passenger seated in a cabin of the vehicle; an angular position sensor configured to identify an angular position of the door; and a controller configured to: Controlling the actuator to, in response to sensing the approaching passenger, position the door in a first open position; and Controlling the actuator to position the door in a second open position in response to sensing the passenger seated in the passenger compartment. System according to Claim 1 wherein the door is oriented at a first angle in the first open position and a second angle in the second open position, the second open position being less than the first open position. System according to Claim 2 wherein the second bracket is configured to position the door such that a door handle is within a predetermined distance of the passenger compartment of the vehicle. System according to Claim 3 , wherein the predetermined distance is a range distance measured from a passenger seat of the vehicle to the door handle. System according to Claim 1 wherein the first open position includes the angular position of the door at an angle greater than or equal to 70 degrees. System according to Claim 1 wherein the second open position includes the angular position of the door at an angle of less than 70 degrees. System according to Claim 1 wherein the plurality of detection devices comprises at least one imager or a camera and a seat sensor. System according to Claim 7 wherein the controller is further configured to: identify the approaching passenger based on image data captured by the imager. System according to Claim 7 wherein the controller is further configured to: identify the passenger seated in the cabin of the vehicle in response to a signal from the seat sensor. System according to one of the Claims 1 - 9 wherein the plurality of sensing devices includes a communication circuit configured to sense an approximate location of a mobile device via a communication signal. System according to Claim 10 wherein the mobile device comprises at least a smartphone, a key fob, and a personal identification device. System according to Claim 10 , whereby the communication signal is transmitted via a Bluetooth ^® Low Energy Communication Protocol (BLE). A method of controlling an electric door system for a vehicle, the method comprising: Identifying an approaching passenger; Opening a door of the vehicle via an actuator to a first position in response to the detection of the approaching passenger; Detecting the approaching passenger in a passenger compartment of the vehicle as a seated passenger; Positioning the vehicle door in a second position in response to sensing the seated passenger; and Waiting for manual interaction with the door in the second angular position. Procedure according to Claim 13 , further comprising: identifying the approaching passenger based on image data captured by an imager. Procedure according to Claim 13 , further comprising: identifying the passenger seated in the passenger compartment of the vehicle in response to a signal from the seat sensor.

Images