DE102020109961A1 - CONTROL FOR VEHICLE DOOR - Google Patents

Abstract

A control device for a drive device of an automated vehicle door is provided. The control device has a memory and a regulator. A speed profile is stored in the memory, in which a setpoint speed at which the vehicle door is to be moved is stored as a function of an opening angle of the vehicle door. The controller is designed to control the drive device as a function of the opening angle of the vehicle door in such a way that an actual speed at which the vehicle door is moved essentially corresponds to the setpoint speed stored in the speed profile. The speed profile is a continuous speed profile.

Description

The present invention relates to a control device for a drive device of an automated vehicle door.

In the case of vehicles, in particular passenger cars, a distinction can be made between manual vehicle doors that can be opened or closed by hand, and automatic or automated vehicle doors that are driven by a motor to open or close.

Automated vehicle doors are conventionally opened and closed by means of an electric drive. Such vehicle doors with electric drive are parameterized with linear ramps. If several ramps are used, the transitions or jumps between the ramps when opening and closing the vehicle door can be seen by the user. If the number of ramps is increased in order to mitigate this effect, the memory space required for the control program increases as the number of ramps increases.

The object of the invention is therefore to overcome these disadvantages from the prior art.

According to the invention, this object is achieved by the features of the independent claim. Advantageous refinements are given in the subclaims.

According to this, the object is achieved by a control device for a drive device of an automated vehicle door. The control device has a memory and a regulator. A speed profile is stored in the memory, in which a target speed, which can be changed as a function of an opening angle of the vehicle door and at which the vehicle door is to be moved, is stored. The controller is designed to control the drive device as a function of the opening angle of the vehicle door in such a way that an actual speed at which the vehicle door is moved essentially corresponds to the setpoint speed stored in the speed profile. The speed profile is a continuous speed profile.

A continuous speed profile can be a, in particular real, continuous function, the graph of which forms a coherent curve in a Cartesian coordinate system, in particular within its definition range. The graph can therefore run in such a way that it has no jumps, in particular within the definition range of the function. In particular, one, in particular a single, setpoint speed can be stored in the speed profile for each opening angle of the vehicle door. The speed profile can also be referred to as a speed characteristic.

The vehicle can be a passenger car, in particular an automobile. The drive device can have an electric motor which is designed to open and / or close the vehicle door. The control device or the control device can be designed to control the door drive or the drive device by means of a PWM signal (pulse-width modulated signal). A force of the drive device with which the vehicle door is driven, or, in the case of the electric motor, its torque, can be controlled via the pulse width.

The controller can be designed to continuously compare a signal of a reference variable, here the setpoint speed of the vehicle door, with a measured and fed back control variable, here the actual speed of the vehicle door, and use the difference between the two variables, ie the control deviation or Control difference to determine a manipulated variable, for example the pulse width. The manipulated variable can be a controlled system, here z. B. influence the drive device of the automated vehicle door so that the control deviation, in particular in a steady state, becomes a minimum.

The controller can be a PID controller (proportional-integral-derivative controller) which has components of a P element (proportional element), an I element (integral element) and / or a D element (differential element). The controller can have both a parallel structure and a series structure.

In the present case, the opening angle of the vehicle door and the actual speed of the vehicle door can first be determined by one or more suitable sensor (s). The control device can be designed to evaluate input signals from the sensors / the sensor for monitoring the movement of the vehicle door drive. By evaluating the sensor data, the current position, i.e. the opening angle, and the current speed, i.e. the actual speed, of the vehicle door can be obtained. Based on the opening angle of the vehicle door, the stored speed profile can be used to determine the setpoint speed of the vehicle door. By means of the controller, the actual speed of the vehicle door can be regulated to the target speed of the vehicle door, i.e. the drive device of the vehicle door can be controlled in such a way that the vehicle door is moved or moved at the target speed as the actual speed.

The speed profile can have an acceleration range, a travel range and / or a braking range. The described automatic movement of the electrically driven vehicle door can thus be divided into the following areas, for example: acceleration, movement and braking.

In the acceleration range, the set speed stored in the speed profile increases or increases. In the braking area, the target speed stored in the speed profile drops or decreases.

The target speed stored in the speed profile in the acceleration range cannot increase linearly, preferably exponentially and / or quadratically.

The target speed in the travel range stored in the speed profile can be essentially constant.

The target speed stored in the speed profile in the braking range cannot decrease linearly, preferably exponentially and / or quadratically.

The control device can have an interface which is designed to receive a signal from a sensor which is designed to detect an obstacle in the opening area of the vehicle door. The controller can be designed, based on the signal received from the sensor, to control the actual speed based on the setpoint speed stored in the speed profile in the braking area in such a way that the vehicle door comes to a stop in front of the obstacle. The sensor can be designed as an ultrasonic and / or radar sensor.

The movement of the vehicle door can be an opening and / or a closing of the vehicle door. When the vehicle door is opened, the opening angle increases and when the vehicle door is closed, the opening angle decreases.

A first speed profile can be stored for opening the vehicle door and a second speed profile for closing the vehicle door. The first and the second speed profile can be different from one another.

The set speed in the travel range stored in the first speed profile can be greater than the set speed in the travel range stored in the second speed profile.

The target speed stored in the second speed profile in the braking area can decrease to such an extent that the vehicle door comes to a stop in the area of a pre-latching of a vehicle door lock equipped with an automatic soft-close mechanism before the vehicle door is closed.

In the case of a vehicle door lock equipped with an automatic soft-close mechanism, a force that counteracts the closing movement of the vehicle door is applied to the vehicle door as soon as the vehicle door has reached a certain pre-latching position, i.e. is in the area of a pre-latching. As a result, the vehicle door is brought to a standstill if the speed of the vehicle door is not too high in the area of the first stop, i.e. is below a certain limit value. In the present case, the setpoint speed stored in the second speed profile can decrease in the braking area to such an extent that the actual speed of the vehicle door in the area of the pre-detent is below this limit value. The vehicle door is then brought to a standstill by the vehicle door lock equipped with the automatic soft-close mechanism. This is particularly advantageous when there are objects between the vehicle door and the vehicle or the vehicle door frame. The vehicle door is then closed by the automatic soft-close mechanism. For this purpose, the automatic soft-close mechanism can have a sensor which is designed to detect whether the vehicle door is in the area of the latch (or not). Based on a signal received from this sensor, an electric motor can be activated that pulls the vehicle door into the vehicle door lock.

The control device described above can achieve a harmonious acceleration of the vehicle door in the approach area, a constant speed of the vehicle door in the travel area and a harmonious braking of the vehicle door in the braking area. In particular, when the vehicle door is opened in the braking area, oscillation of the vehicle door when stopping can be minimized or avoided. In particular, when closing the vehicle door in the braking area, it can be achieved that the vehicle door engages the vehicle door lock in such a way that the automatic soft-close mechanism can engage. Furthermore, it can be achieved that the vehicle door maintains a predetermined speed in every situation, so that the vehicle door is moved in the same way with every opening or closing process.

• 1 ist eine schematische Darstellung eines Antriebssystems für eine Fahrzeugtür gemäß der Ausführungsform.
• 2 zeigt ein kontinuierliches Geschwindigkeitsprofil beim automatisierten Öffnen der Fahrzeugtür.
• 3 zeigt ein kontinuierliches Geschwindigkeitsprofil beim automatisierten Öffnen der Fahrzeugtür, wenn sich ein Hindernis im Öffnungsbereich der Fahrzeugtür befindet.
• 4 zeigt ein kontinuierliches Geschwindigkeitsprofil beim automatisierten Schließen der Fahrzeugtür.
• 5 zeigt ein kontinuierliches Geschwindigkeitsprofil beim automatisierten Schließen der Fahrzeugtür, ausgehend von einem kleineren Öffnungswinkel als einem maximalen Öffnungswinkel der Fahrzeugtür.

The following is an embodiment with reference to FIG 1 until 5 described.

• 1 Fig. 13 is a schematic diagram of a drive system for a vehicle door according to the embodiment.
• 2 shows a continuous speed profile during the automated opening of the vehicle door.
• 3 shows a continuous speed profile during the automated opening of the vehicle door if there is an obstacle in the opening area of the vehicle door.
• 4th shows a continuous speed profile when the vehicle door closes automatically.
• 5 shows a continuous speed profile during the automated closing of the vehicle door, based on a smaller opening angle than a maximum opening angle of the vehicle door.

In 1 is a schematic of a drive system 1 for driving an automated vehicle door 2 of a vehicle.

The vehicle door 2 is at one (inner) end 21 rotatably attached to the vehicle via a hinge, not shown. The vehicle door is at an angle α rotatable around the hinge as a bearing point. The angle α can be between a minimum angle α_min at which the angle α is essentially 0 ° and the vehicle door 2 is closed, and a maximum angle α_max , in which the door is in the maximum opening position specified by the hinge, vary. The minimum opening angle α_min and the maximum opening angle α_max define an opening area of the vehicle door 2 . The opening area is therefore determined by the design or due to the system.

The drive system 1 has a control device 3 , a drive device connected to the control device 4th and two also to the control device 3 connected sensors 51 , 52 on.

The control device 3 is configured, the drive device 4th based on one of the first sensor 51 control received signal. The drive device 4th is designed, the vehicle door 2 based on one of the control device 3 to move received control signal, ie to open and close.

The control device 3 has two input interfaces 31 , 35 , an output interface 32 , a memory 33 and a regulator 34 on.

The control device 3 receives via the first input interface 31 that of the first sensor 51 collected data or information. The first sensor 51 is designed, the actual speed or the current speed and the current opening angle α the vehicle door 2 to detect and to the control device 3 to spend. The actual speed of the vehicle door 2 is, as indicated by the double arrow in 1 shown, the speed of the outer end 22nd the vehicle door 2 , ie the part of the vehicle door 2 who is furthest from the end 21 the vehicle door 2 is removed, on which the (door) hinge is arranged.

The one via the first input interface 31 received actual speed and the current opening angle α the vehicle door 2 are from the first input interface 31 to the controller 34 entered as input variables.

The regulator 34 accesses one in the memory 33 stored continuous speed profile, in which one depends on the opening angle α the vehicle door 2 changeable target speed at which the vehicle door 2 is to be proceeded, is deposited.

The regulator 34 determined on the basis of the speed profile and the opening angle α a target speed v (see 2 until 5 ) the vehicle door 2 . The controller then determines the target speed by means of a (target / actual) comparison v with the actual speed of the vehicle door received by the sensor 5 in the manner described above 2 a controlled variable and sends it as a control signal via the output interface 32 to the drive device 4th the end.

The drive device 4th changes or stops based on that from the controller 3 received control signal the speed of the vehicle door 2 so that the actual speed of the target speed v is equivalent to.

The regulator 34 is consequently designed, the drive device 4th depending on the opening angle α the vehicle door 2 to be controlled so that an actual speed with which the vehicle door 2 is moved, the target speed stored in the speed profile v (essentially) corresponds.

The control device also has the second interface 35 on, which is configured, a signal from the second sensor 52 to receive, which is designed to be an obstacle in the opening area of the vehicle door 2 to recognize. The regulator 34 is configured based on that from the second sensor 52 received signal, the actual speed based on the target speed stored in the speed profile v control in the braking area so that the vehicle door 2 not before shown obstacle comes to a halt, ie is braked to a speed of 0 m / s.

With reference to the 2 until 5 those in memory 33 stored speed profiles that the controller uses 34 operated in the manner described above, described in detail.

In 2 is a continuous speed profile 6th when the vehicle door is opened automatically 2 shown.

In 3 is a continuous speed profile 7th when the vehicle door is opened automatically when there is an obstacle in the opening area of the vehicle door 2 is located.

In 4th is a continuous speed profile 8th when the vehicle door closes automatically 2 shown.

In 5 is a continuous speed profile 9 when the vehicle door closes automatically 2 shown when the vehicle door is closed starting from an opening angle that is smaller than the maximum opening angle of the vehicle door 2 is, ie α_Start <α_max, where the maximum speed v_max is not necessarily reached depending on α_Start.

The in 2 until 5 the diagrams shown is the target speed v the vehicle door 2 , which can be specified in m / s, plotted on the vertical axis or the Y-axis. The in 2 until 5 The diagrams shown are also the opening angle α the vehicle door 2 , which can be specified in degrees [°], plotted on the horizontal axis or the X-axis. The target speed is at the origin, where the X-axis and the Y-axis intersect v 0 m / s.

The ones in the 2 and 4th speed profiles shown 6th , 8th each have three areas, ie one acceleration area 61 respectively. 83 , a travel range 62 respectively. 82 and a deceleration area 63 respectively. 81 .

In the acceleration range 61 , 83 takes each in the speed profile 6th , 8th stored target speed v the vehicle door 2 not linear but exponential.

Each in the speed profile 6th , 8th stored target speed v in the travel range 62 , 82 stay constant. The target speed v in the travel range 62 , 82 corresponds to the maximum speed v_max the vehicle door 2 when opening or closing the vehicle door 2 . The maximum speed v_max when closing can be selected less than the maximum speed v_max when opening the vehicle door. When opening is the maximum speed v_max the vehicle door 2 present 0.5 m / s. When closing, the target speed of the vehicle door corresponds to the minimum closing speed of the respective lock, this being, for example, 0.4 m / s.

In the braking area 63 , 81 takes each in the speed profile 6th , 8th stored target speed v the vehicle door 2 not linear, but exponentially.

The acceleration range 61 in in 2 speed profile shown 6th ranges from an opening angle α = 0 ° to an opening angle α , which is 25% of the maximum opening angle α_max is the maximum target speed v_max is reached. At an opening angle α , the 10% of the maximum opening angle α_max is in the in 2 speed profile shown 6th half of the maximum target speed v_max achieved.

The acceleration range 83 in in 4th speed profile shown 8th ranges from the maximum opening angle α_max up to an opening angle α , which is 75% of the maximum opening angle α_max is the maximum target speed v_max is reached. At an opening angle α , which is 98% of the maximum opening angle α_max is in the in 4th speed profile shown 8th half of the maximum target speed v_max achieved.

The braking area 63 in in 2 speed profile shown 6th ranges from an opening angle α , the 90% of the maximum opening angle α_max up to the maximum opening angle α_max , where the target speed is then v = 0 m / s.

The braking area 81 in in 4th speed profile shown 8th ranges from an opening angle α , which is 25% of the maximum opening angle α_max is up to an opening angle α_Forraste , the target speed then being v = 0.35 m / s. In contrast to braking when opening the vehicle door 2 is that when braking when closing the vehicle door 2 target speed to be achieved v the vehicle door 2 so not 0 m / s. Rather, it takes in the speed profile 8th stored target speed v in the braking area until it reaches the closing speed v_closing achieved. The closing speed v_closing is chosen so that the vehicle door 2 in the area of a pre-latch, not shown, of a vehicle door lock equipped with an automatic soft-close mechanism, as described above, before the vehicle door is closed 2 to the Stand comes. The closing speed v is to be selected (among other things) depending on the vehicle door lock and a vehicle door seal installed. The closing speed v_closing in the present case is 0.35 m / s. The closing speed v_closing must be reached before or at the latest when the vehicle door 2 the pre-locking is reached, that is, before the opening angle α = 0 °, that is to say, for example, at α = 2 °. The automatic soft-close mechanism opens the vehicle door 2 then closed so that the opening angle α = 0 °, ie α_min is reached.

Both in 2 and 4th speed profiles shown 6th , 8th is a tolerance in the travel range for the based on the target speed v actual speed to be determined 10% each, with the tolerance in the acceleration range 61 , 83 and deceleration range 63 , 81 with decreasing target speed v decreases.

The in 3 speed profile shown 7th was when the vehicle door was opened 2 an obstacle, such as another vehicle, in the opening area of the vehicle door by the above-described second sensor 52 recorded.

The same can be said for the in 5 speed profile shown 9 apply and this case is described below by way of example, whereby an obstacle does not necessarily have to have resulted in the starting of the closing process starting from an opening angle that is smaller than the maximum opening angle of the vehicle door 2 takes place (see above, a_Start <a_max).

So that the vehicle door 2 comes to a stop in front of the obstacle, i.e. before an opening angle of α_obstruction is reached, the controller changes 34 like this in 3 is shown, early from an acceleration range 71 , which is up to the change of the acceleration range 61 the end 2 corresponds to the braking area 72 that corresponds to the braking area 63 the end 2 is equivalent to. This can cause the vehicle door to collide 2 to be avoided with the obstacle. Is the opening angle α_obstruction large enough that the maximum actual or target speed v_max can be reached before it has to be braked, a correspondingly shortened traversing range can also be added to the traversing range 82 the end 2 corresponds.

So that the vehicle door 2 that came to a stop in front of the obstacle, i.e. before an opening angle of α_max is reached, can be closed, the controller makes use of it 34 the in 5 speed profile shown 9 . The vehicle door is thereby 2 at least up to the closing speed v_closing accelerates, as in the left part of the diagram in 5 starting from an opening angle α_Start1 is shown. Is the opening angle so large that a higher speed than the closing speed v_closing can be achieved, as shown in the right part of the diagram in 5 starting from an opening angle α_Start2 is shown, as long as in the same way as in the acceleration range 83 the end 4th accelerated until a change to the in 4th shown braking range 81 must be done. This in turn can reduce the closing speed v_closing can be achieved. This can also be used for the speed profile 9 the end 5 a deceleration area 91 and an acceleration range 92 can be defined, each for the braking area 81 and acceleration range 83 the end 4th correspond. Is the opening angle α large enough that the maximum actual or target speed v_max can be reached before it has to be braked, a correspondingly shortened traversing range can also be added to the traversing range 82 the end 4th corresponds.

It should also be noted that the numerical information described above for specific target speed ranges and opening angles are examples and, as is clear to a person skilled in the art, can be adapted or varied depending on the system.

It is also conceivable to provide an (additional) acceleration sensor that monitors the acceleration of the vehicle door 2 measures. Even if the actual speed is still in the tolerance range described above, the vehicle door can 2 through the controller 34 be stopped when a negative acceleration of the vehicle door 2 exceeds a predefined limit. This enables a reaction to suddenly appearing obstacles in the opening area of the vehicle door.

List of reference symbols

1

Drive system

2

Vehicle door

21

inner end

22nd

outer end

3

Control device

31

first input or input interface

32

Output or output interface

33

Storage

34

Regulator

35

second input or input interface

4th

Drive device

51

first sensor

52

second sensor

6th

Opening speed profile

61

Acceleration range

62

Travel range

63

Deceleration range

7th

Speed profile when opening with an obstacle

71

Acceleration range

72

Deceleration range

8th

Closing speed profile

81

Deceleration range

82

Travel range

83

Acceleration range

9

Speed profile when closing with an obstacle

91

Acceleration range

92

Deceleration range

α

Opening angle

α_obstruction

Opening angle when there is an obstacle

α_max

maximum opening angle

α_min

minimal opening angle

α_Start1

Opening angle when closing with an obstacle

α_Start2

Opening angle when closing with an obstacle

α_Forraste

Opening angle with pre-lock

v

Target speed

v_max

maximum target speed

v_closing

Closing speed or target speed to be achieved when closing

Claims (10)

Control device (3) for a drive device (4) of an automated vehicle door (2), - wherein the control device (3) has a memory (33) and a controller (34), - wherein a speed profile (6, 7, 8, 9) is stored, in which a variable setpoint speed (v), with which the vehicle door (2) is to be moved, is stored as a function of an opening angle of the vehicle door (2), and - the controller (34) is designed to control the drive device (4) as a function of the opening angle of the vehicle door (2) so that an actual speed at which the vehicle door (2) is moved corresponds to the target stored in the speed profile (6, 7, 8, 9) -Speed (v) essentially corresponds, - characterized in that the speed profile (6, 7, 8, 9) is a continuous speed profile. Control device (3) according to Claim 1 , characterized in that the speed profile (6, 7, 8, 9) has an acceleration range (61, 71, 83, 91), a travel range (62, 82) and / or a braking range (63, 72, 81, 92) . Control device (3) according to Claim 2 , characterized in that the set speed (v) stored in the speed profile (6, 7, 8, 9) does not increase linearly, preferably exponentially and / or quadratically, in the acceleration range. Control device (3) according to Claim 2 or 3 , characterized in that the setpoint speed (v) stored in the speed profile (6, 7, 8, 9) is essentially constant in the travel range (62, 82). Control device (3) according to one of the Claims 2 until 4th , characterized in that the set speed (v) stored in the speed profile (6, 7, 8, 9) in the braking area (63, 72, 81, 92) does not decrease linearly, preferably exponentially and / or quadratically. Control device (3) according to one of the Claims 2 until 5 , characterized in that - the control device (3) has an interface (35) which is designed to receive a signal from a sensor (52) which is designed to detect an obstacle in the opening area of the vehicle door (2), and - the controller (34) is designed, based on the signal received from the sensor (52), to control the actual speed based on the target speed (v) stored in the speed profile in the braking area (72) so that the vehicle door (2) comes to a stop in front of the obstacle. Control device (3) according to one of the preceding claims, characterized in that the method of the vehicle door (2) comprises opening and / or closing the vehicle door (2). Control device (3) according to Claim 7 , characterized in that for opening the Vehicle door (2) a first speed profile (6, 7) and a second speed profile (8, 9) for closing the vehicle door, the first and second speed profiles (6, 7, 8, 9) being different from one another. Control device (3) according to Claim 8 , characterized in that the target speed (v) stored in the first speed profile (6) in the travel range (62) is greater than the target speed (v) stored in the second speed profile (8) in the travel range (82). Control device (3) according to one of the Claims 8 or 9 , characterized in that the set speed (v) stored in the second speed profile (8) in the braking area (81) decreases to such an extent that the vehicle door (2) in the area of a pre-latching of a vehicle door lock equipped with an automatic soft-close mechanism before closing the vehicle door (2) comes to a standstill.

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