DE102021211627A1 - system and vehicle - Google Patents

Abstract

System for a vehicle, with a door drive (9) for moving a vehicle door (6) of the vehicle (2), a controller (11) connected to the door drive (9) for controlling the movement of the vehicle door (6), the controller ( 11) has at least two different operating modes for controlling the movement of the vehicle door (6), wherein each of the at least two different operating modes is assigned at least one speed profile for moving the vehicle door (6).

Description

The present invention relates to a system for a vehicle, with a door drive for moving a vehicle door of the vehicle and with a controller connected to the door drive for controlling the movement of the vehicle door. The invention also relates to a vehicle with such a system.

Modern motor vehicles have door drives to support the opening and closing of the vehicle doors of the vehicle or are set up for the fully automatic opening and closing of the vehicle doors. Known door drives usually have a fixed, predetermined speed for the actuating movement of the door drive, so that, for example, a pivoting movement of a driver's door of a motor vehicle is always carried out at the same speed.

The disadvantage here is that such a fixed, predetermined speed of the actuating movement of the door drive can be felt by a vehicle driver to be too fast, depending on the situation. For example, a vehicle driver can perceive a predefined speed of the actuating movement as appropriate if this is carried out in an open, easily surveyable environment, without the vehicle being surrounded by obstacles, people or vehicle traffic. In contrast, the same predetermined speed of the actuating movement in a very cramped environment of the vehicle in a heavily frequented traffic situation can be perceived by the vehicle driver and other road users as too fast and possibly lead to a dangerous situation.

Against this background, the invention is based on the technical problem of specifying an improved system for a vehicle and a vehicle with such a system that at least some of the disadvantages described above do not have. The technical problem described above is solved in each case by the independent claims. Further configurations of the invention emerge from the dependent claims and the following description.

According to a first aspect, the invention relates to a system for a vehicle, with a door drive for moving a vehicle door of the vehicle, with a door drive connected to the controller for controlling the movement of the vehicle door, the system being characterized in that the controller has at least two different Having operating modes for controlling the movement of the vehicle door, wherein each of the at least two different operating modes is assigned at least one speed profile for moving the vehicle door.

When we speak here of controlling the movement of the vehicle door by means of the controller, this corresponds to controlling the door drive of the vehicle door, since actuating movements of the door drive lead to the vehicle door moving.

The different operating modes of the controller allow the use of different speed profiles for moving the vehicle door. In particular, the different operating modes can each have at least one speed profile that differs from at least one speed profile of the other operating modes. In this way, depending on the situation, an operating mode and/or a speed profile can be automatically selected by the controller, or an operating mode and/or a speed profile can be selected by the vehicle driver.

In particular, the controller can be set up to automatically select a suitable operating mode and/or a suitable speed profile depending on the environmental conditions of the vehicle. For this purpose, the controller can be coupled in particular with environmental sensors of the vehicle in order to automatically detect the environmental conditions of the vehicle using the environmental sensors.

In particular, the controller can be set up to select an operating mode with a speed profile that has a low speed for the actuating movement of the door drive if objects, obstacles or moving, particularly fast-moving objects are detected by means of the environmental sensors. In particular, the controller can be set up to select an operating mode with a speed profile that has a high speed for the actuating movement of the door drive if no objects, obstacles or moving objects, especially fast-moving objects, are detected by the environmental sensors. It goes without saying that the previously mentioned lower speed is smaller in absolute terms than the previously mentioned higher speed of the actuating movement of the door drive.

In particular, the controller can be set up as a function of environmental conditions of the vehicle within an operation mode to automatically select a suitable speed profile. For example, each operating mode can have different speed profiles that allow the vehicle door to be moved slowly or quickly, for example.

Two or more speed profiles for moving the vehicle door can be assigned to each operating mode of the at least two operating modes.

Each speed profile describes the course of the speed of the movement of the vehicle door along a travel distance between a first position of the vehicle door and a second position of the vehicle door. If the vehicle door is a vehicle door that can be pivoted about a pivot axis, the travel can be described in particular as the angular difference between a first pivoted position and a second pivoted position of the vehicle door. If the vehicle door is a translationally displaceable vehicle door, the adjustment path can be described in particular as the distance between two displacement positions of the vehicle door.

In particular, the first position of the vehicle door can be a closed position in which the vehicle door delimits or closes a passenger compartment of the vehicle from the environment, for example. In particular, the second position of the vehicle door can be an open position in which the vehicle door releases a door opening of the passenger compartment of the vehicle, for example, in order to allow people to access the passenger compartment.

If a vehicle door is mentioned here, it can be a vehicle door for opening and closing the passenger compartment, or it can be a flap that closes or makes accessible a storage space, an engine compartment or a maintenance opening of the vehicle. releases, such as a trunk lid, a hood, a flap to cover a tank or loading opening or the like.

The terms door and vehicle door are used synonymously in the present text.

It can be provided that a first operating mode of the at least two different operating modes has a first speed profile for moving the vehicle door at a first constant speed and a second speed profile for moving the vehicle door at a second constant speed, the second constant speed being greater than the first constant speed.

When we talk about moving the vehicle door at a constant speed, this constant speed is maintained over the majority of a specified adjustment path, although when starting and braking the vehicle door initially accelerates to this specified speed in a known manner. The aim is to make starting and braking as smooth as possible so that the movement is as smooth as possible.

Provision can be made for the controller to be set up to select either the first or the second speed profile for the first operating mode as a function of a selected default setting and/or as a function of sensor-detected ambient conditions in order to move the vehicle door along a travel path with a constant execute speed. Alternatively or additionally, it can be provided that an operating mode is initially selected as a function of a selected default setting and/or as a function of ambient conditions of the vehicle detected by sensors.

The controller can be set up to move the vehicle door fully automatically, it being possible in particular for the fully automatic movement of the vehicle door to be triggered by a command from a vehicle driver. For example, the controller can be set up to receive a command from a vehicle driver as a voice command, as a gesture or by actuating a switch in order to trigger fully automatic movement of the vehicle door.

The controller can be set up to move the vehicle door semi-automatically, with a movement of the vehicle door by a vehicle driver being supported by the door drive. In this way, the force to be applied by a vehicle driver to move the vehicle door can be reduced, with the start and end of the movement being controlled, for example, by the vehicle driver gripping, holding and releasing a door handle.

Provision can be made for each operating mode to have three or more speed profiles which differ with regard to the speed of the movement of the vehicle door carried out by the door drive.

Each speed profile specifies a speed or a course of the speed of the movement of the vehicle door carried out by the door drive along the adjustment path.

Provision can be made for a second operating mode of the at least two different operating modes to have at least one speed profile with at least two different speeds in order to move the vehicle door along an adjustment path at a non-constant speed. Accordingly, the vehicle door can be moved along a travel path at different speeds. In particular, it can be provided that the vehicle door is moved along the adjustment path at a first constant speed for a first section of the adjustment path and is moved at a second constant speed for a second section of the adjustment path.

For example, it can be provided that the speed profile has a lower speed for an initial section and an end section of the travel than for a middle section of the travel. If, for example, the vehicle door is to be moved from a closed position to an open position, a lower speed can be selected for the first part of the adjustment path, which represents the initial section of this movement, in order to ensure a smooth initiation of the opening movement that is not perceived as sudden by a vehicle occupant achieve, wherein the speed of the opening movement for a subsequent second part of the travel, which corresponds to the middle section of the travel, is increased to a higher speed in order to achieve rapid opening of the vehicle door. A third part of this adjustment path of the opening movement, which represents the end section of the adjustment path, can in turn be carried out at the lower speed in order to achieve a smooth ending of the opening movement that is not perceived as abrupt by a vehicle occupant. The speed profile can therefore, in particular, have a course which is as constant or jump-free as possible.

If movement of the vehicle door is discussed here, this is in particular an opening movement or a closing movement of the vehicle door.

The movement of the vehicle door can be a pivoting of the vehicle door about a pivot axis. This can be, for example, a conventional vehicle door of a motor vehicle that is attached at the level of the A pillar or the B pillar of a vehicle. Alternatively, moving the vehicle door can be a translational displacement of the vehicle door, which can be a sliding door of a motor vehicle, for example.

Provision can be made for at least one operating mode to have a speed profile with an alternating speed and/or to be set up to generate haptic feedback for an operator. For example, a vibration of the door can be triggered in this way if the door approaches an obstacle or is pivoted manually in the direction of an obstacle.

Alternatively or additionally, it can be provided that at least one operating mode is set up for braking the vehicle door and/or is set up for generating a resistance to manual displacement of the vehicle door. The vehicle door can thus be braked if the door approaches an obstacle or is manually moved in the direction of an obstacle. Further, resistance to manual sliding of the vehicle door may signal an operator that the vehicle door is moving toward or is approaching an obstacle.

In addition to the speed profiles, which enable the vehicle door to be opened and closed, for example, each operating mode can be set up to generate haptic feedback for an operator, in particular in the form of the aforementioned vibration, the increase in resistance or the increase in the force required for manual movement the door, or decelerating the door.

Provision can be made for the system to have an anti-trapping device which is set up to detect a trapping event occurring between the vehicle door and a vehicle body of the vehicle, with at least one sensor being set up to detect the trapping event, and/or the system having an obstacle detection system which is set up to detect a collision event occurring between the vehicle door and an object in the vicinity of the vehicle, with at least one sensor being set up to detect the collision event, the controller being set up to reduce the speed of the movement of the vehicle door if a trapping event and/or a collision event is detected and/or wherein an operating mode and/or a speed profile of an operating mode is selected depending on a signal from the sensor of the anti-trap device and/or the obstacle detection.

When the present case refers to the detection of a pinching event occurring between the vehicle door and the vehicle body, the term detection encompasses both the recognition of a pinching event that actually occurs mEvents, ie the presence of a jamming of an object between the vehicle door and the vehicle body, as well as the detection of a possible future impending trapping event in order to prevent this with appropriate countermeasures or warning functions.

This applies equally to the detection of a collision event occurring between the vehicle door and an object in the vicinity of the vehicle. The detection of the collision event therefore includes both the detection of a collision that is actually occurring and the detection of a collision that may occur in the future in order to be able to initiate countermeasures or to be able to generate warning signals in order to avoid the imminent collision.

The sensor can be set up for one-dimensional, 2-dimensional or 3-dimensional environment detection and/or for measuring distances and/or angles. In particular, the sensor is set up both for measuring distances and for measuring angles in order to be able to clearly determine a position of an object relative to the vehicle and/or to the sensor.

The sensor can be a non-contact sensor and can work in particular according to one or more of the measurement principles listed below: ultrasound, radar, optical.

The sensor can be folded out and/or extended and/or pivoted in order to achieve an improved or optimized field of vision, depending on the condition of the vehicle or the position of the vehicle door, by adjusting the position of the sensor.

The sensor can be set up to determine the position of a pinching event and/or a collision event. The position of a trapping event and/or a collision event or a possibly impending trapping event and/or collision event can have a decisive influence on the damage to be expected or the danger emanating from the trapping event and/or collision event. Accordingly, the detected position of the trapping event and/or the collision event can have an impact on which warnings and/or countermeasures must be issued or initiated. By determining the position, the door can be opened or closed until shortly before the pinching event or collision event occurs, in particular in an automated manner.

According to a further embodiment of the system, at least one further sensor can be assigned to the vehicle door, with the further sensor being in particular a sensor that works by touch or a sensor that works in the near field. The sensor operating in the near field can in particular be a capacitively or resistively operating sensor. The sensor can be used in particular to create redundancies in particularly critical areas. For example, the further sensor can be used for the additional detection of a pinching event and, for example, detect a local compression of a rubber seal of the vehicle door.

The controller can be set up to trigger a haptic and/or acoustic and/or optical signal if a pinching event and/or a collision event is detected.

The control of the system can be coupled or can be coupled to one or more of the following systems of the motor vehicle for at least one of the operating modes and/or a selected speed profile: direction indicators, headlights and/or lighting, exterior mirror activation, acoustic signaling device, infotainment. The controller can therefore trigger a function of the aforementioned systems as a function of an operating mode and/or as a function of a selected speed profile.

According to a second aspect, the invention relates to a vehicle, the vehicle having a vehicle body and a vehicle door, the vehicle door being movably held on the vehicle body, and the vehicle having a system according to the invention.

The vehicle can be a passenger car. The vehicle can be a truck. The vehicle can be partially or fully powered by an electric motor. The vehicle can have an electric motor for driving the vehicle, which is assigned a traction battery for supplying energy to the electric motor. The vehicle can have a fuel cell for supplying energy to an electric motor. The vehicle may have an internal combustion engine. The vehicle may be a hybrid vehicle. The vehicle can be a purely internal combustion engine driven vehicle. The vehicle can have an on-board network that is operated with a voltage of 48 V. The vehicle can be set up for semi-autonomous or fully autonomous driving.

• 1 ein erfindungsgemäßes Fahrzeug in einer perspektivischen Ansicht;
• 2 das Fahrzeug aus 2 in einer weiteren perspektivischen Ansicht;
• 3 Geschwindigkeitsprofile eines ersten Betriebsmodus;
• 4 ein Geschwindigkeitsprofil eines zweiten Betriebsmodus;
• 5 ein weiteres Geschwindigkeitsprofil.

The invention is described in more detail below with reference to a drawing showing exemplary embodiments. They each show schematically:

• 1 a vehicle according to the invention in a perspective view;
• 2 the vehicle off 2 in another perspective view;
• 3 velocity profiles of a first mode of operation;
• 4 a velocity profile of a second mode of operation;
• 5 another speed profile.

1 shows a vehicle 2 according to the invention in a perspective view. Only a section of the vehicle 2 is shown, with the rear section of the vehicle 2 being masked out.

The vehicle 2 has a vehicle body 4 and a vehicle door 6. The vehicle door 6 is pivotally supported on the vehicle body 4. As shown in FIG.

The vehicle 2 has a system 8 according to the invention. The system 8 has a door drive 9 for moving the vehicle door 6 of the vehicle 2 and a controller 11 connected to the door drive 9 for controlling the movement of the vehicle door 6 by means of the door drive 9, the controller 11 at least has two different operating modes for controlling the movement of the vehicle door 6. At least one speed profile for moving the vehicle door 6 is assigned to each of the at least two different operating modes.

3 shows coordinate systems that describe a first operating mode 13 . In each case, an angular velocity v of the vehicle door 6 is plotted against an opening angle a or travel a of the vehicle door 6 . The first operating mode 13 of the at least two different operating modes has a first speed profile 15 for moving the door 6 at a first constant speed v1 and has a second speed profile 17 for moving the door 6 at a second constant speed v2, the second constant speed v2 is greater than the first constant velocity v1 ( 3 .).

The controller 11 is set up to select either the first or the second speed profile 15, 17 for the first operating mode 13 depending on a selected default setting and/or ambient conditions detected by sensors, in order to move the vehicle door 6 along a positioning path a at a constant speed execute v1 or v2 by means of the door drive 9.

4 shows a coordinate system that describes a second operating mode 19 . The second operating mode 19 of the at least two different operating modes has a speed profile 21 with two different speeds v3, v4 in order to move the vehicle door 6 along the adjustment path a at a non-constant speed.

The speed profile 21 has a lower speed v3 for an initial section 23 and an end section 25 of the travel a than for a middle section 27 of the travel a.

Each of the operating modes can also have a speed profile 29 with an alternating speed to generate haptic feedback to an operator. The speed profile 29 is perceived as vibration by an operator gripping the vehicle door 6 . Profile 29 is in 5 shown as a function of time. For example, the vibration can be triggered to warn of an impending collision event or pinch event.

Each of the operating modes can be set up to brake the vehicle door 6 and/or set up a resistance to manual displacement of the vehicle door 6 . Braking and/or creating resistance to manual shifting may serve to prevent and/or warn of an impending collision event or pinch event.

The system 8 has an anti-trapping device 10 which is set up to detect a trapping event occurring between the vehicle door 6 and the vehicle body 4 . The system 8 has an obstacle detection 12 which is set up to detect a collision event occurring between the vehicle door 6 and objects 14 in an area U of the vehicle 2 .

The controller 11 is set up to reduce the speed of the movement of the vehicle door 9 if a pinching event and/or a collision event is detected.

The controller 11 is set up to select an operating mode 13, 19 and/or a speed profile 15, 17, 21, 29 of an operating mode 13, 19 depending on a signal from the sensor 16 of the anti-trap device 10 and/or the obstacle detection 12.

The system 8 has a sensor 16 which is set up both to detect the pinching event and to detect the collision event.

In the present case, a field of view 18 or field of view 18 of the sensor 16 is indicated by the dashed lines as a cone 18 . The sensor 16 is therefore able to detect an object 20 arranged between the vehicle door 6 and the body 4 .

In 2 the field of view 18 of the sensor 16 is shown when the vehicle door 6 is closed. The sensor 16 is therefore able to detect objects 14 arranged in the surroundings U of the vehicle 2 .

The sensor 16 is set up to detect a distance and an angle of the objects 14, 20 relative to the sensor 16 and/or relative to another reference point of the vehicle 2.

A first view of a contour of door 6 , viewed from an attachment point of sensor 16 , is stored in data memory 22 , the first view being associated with a first door opening angle a1 of vehicle door 6 relative to vehicle body 4 . A second view of the contour of vehicle door 6 , viewed from the attachment point of sensor 16 , is also stored in data memory 22 , the second view being associated with a second door opening angle a2 of vehicle door 6 relative to vehicle body 4 .

The sensor 16 is set up to determine the door opening angle. In the present case, a large number of views of the contour of the vehicle door 6 are stored in the data memory 22 and are each assigned to corresponding door opening angles. In this way, conclusions can be drawn about the corresponding door opening angle based on the respectively detected contour.

In addition, an angle sensor 24 is provided to determine the door opening angle.

The sensor 16 is arranged in the area of an end 28 of the vehicle door 6 facing away from a stop point 26 of the vehicle door 6 .

in the in 2 illustrated closed state of the vehicle door 6, the sensor 16 is not covered by the vehicle door 6. In this way, objects 14 in the vicinity of vehicle 2 can be detected at any time, even when vehicle door 6 is closed.

The sensor 16 is mounted in an upper third of the vehicle 2 viewed along a height of the vehicle 2 and is mounted above the vehicle door 6 in the present case. In this way, the very wide field of view 18 is made possible.

The door drive 9 is assigned to the vehicle door 6 . In the present case, the door drive 9 is set up for fully automatic pivoting of the vehicle door 6 . However, manual pivoting of the vehicle door 6 is also possible, which can optionally be supported by the door drive 9 .

The sensor 16 is set up for three-dimensional environment detection. In the present case, the sensor 16 is an optical sensor 16.

The sensor 16 is set up to determine the position of a pinch event and a collision event.

The sensor 16 is a non-contact sensor 16.

In addition to the sensor 16, a further sensor 32 is provided and assigned to the vehicle door 6, with the further sensor 32 being a sensor 32 that works in contact. The contact sensor 32 is an integral part of a door seal 32 of the vehicle 2 and is set up to detect compression of the door seal 32 . To simplify the illustrations, only a section of the door seal 32 is shown, with the door seal 32 being, in a known manner, a rubber hose that runs completely around the circumference of the door opening. The further sensor 32 is therefore used in addition to the sensor 16 to detect a pinching event between the vehicle door 6 and the vehicle body 4.

• - Eine Funktion, die als Parkassistenz bezeichnet werden kann und insbesondere das Finden freier Parkplätze bzw. Parklücken sowie die aktive oder vollautomatische Einparkhilfe ermöglicht, wobei der Sensor 16 der Funktion Parkassistenz insbesondere Daten zur Position von statischen oder sich bewegenden Objekten in der Umgebung zur Verfügung stellt.
• - Eine Funktion, die als Fahrassistenz bezeichnet werden kann, und die beispielsweise zum teil-automatischen oder vollautomatischen Einhalten eines vorgegebenen Fahrwegs dient, wobei der Sensor 16 der Funktion Fahrassistenz insbesondere Daten zur Position von statischen oder sich bewegenden Objekten in der Umgebung zur Verfügung stellt.
• - Eine Funktion, die als Zugangsassistenz bezeichnet werden kann, und die beispielsweise zur Freigabe eines Zugangs zur Fahrgastzelle oder zur Überwachung der Fahrgastzelle dient, wobei der Sensor 16 insbesondere Daten zur Freigabe und/oder Überwachung der Tür, zur Personenidentifizierung, zur Gestenerkennung, zur Bewegungserkennung und zur Alarmfunktion dient.
• - Eine Funktion, die zur Erkennung einer Gestik dient oder eine Hands-On-Funktion ist, wobei z.B. ein im Bereich der Tür gemessener Kraftimpuls zusammen mit einem Positionssignal des Sensors 16 einen Öffnungswunsch eines Bedieners erkennt, wobei der Kraftimpuls aufgrund des Positionssignals des Sensors dem Bediener zugeordnet werden kann und beispielsweise von einer Windböe oder dergleichen unterschieden werden kann. Demnach kann insbesondere erkannt werden, ob eine Hand des Bedieners an oder nahe der Tür angeordnet war/ist und die Position der Hand mit einem gemessenen Kraftimpuls korreliert werden. Die Funktion kann ebenfalls ein unterstützendes Öffnen und/oder Schließen der Tür aufweisen, wobei ein Öffnen und/oder Schließen der Tür infolge eines durch den Bediener in die Tür eingeleiteten Impuls anschließend autonom ausgeführt wird oder der Impuls durch den Bediener fortgeführt wird.
• - Eine Funktion zur Warnung bei unsicherem Terrain, wie Löchern, Geröll oder dergleichen. Soweit beispielsweise neben der Tür ein tiefes Loch, ein Abgrund oder starke Unebenheiten erkannt werden, kann z.B. ein Warnsignal ausgegeben und/oder das Öffnen der Tür blockiert werden, obschon ein Öffnen der Tür in diesem Fall nicht zu einer Kollision führen würde.
• - Eine Funktion zum Not-Stopp bzw. Not-Halt der Tür, wobei der Türantrieb eine Bewegung der Fahrzeugtür abbricht und/oder abbremst und/oder eine entgegengesetzte Bewegung ausführt oder die Fahrzeugtür feststellt, insbesondere für den Fall, dass ein Einklemmereignis und/oder ein Kollisionsereignis detektiert werden.

The anti-trap device 10 and the obstacle detection 12 are assigned to the controller 11 . In addition to the aforementioned operating modes, the controller 11 has the following functions:

• - A function that can be referred to as parking assistance and in particular the finding of free parking spaces or parking spaces as well as the active or fully automatic parking assistance, the sensor 16 of the parking assistance function in particular provides data on the position of static or moving objects in the area .
• - A function that can be referred to as driving assistance, and which is used, for example, for semi-automatic or fully automatic adherence to a predetermined route, with the sensor 16 of the driving assistance function providing data on the position of static or moving objects in the area.
• - A function that can be referred to as access assistance, and which is used, for example, to release access to the passenger compartment or to monitor the passenger compartment, the sensor 16 in particular data for the release and / or monitoring of the door, for personal identification, for gestures identification, for motion detection and for the alarm function.
• - A function that is used to recognize a gesture or is a hands-on function, with e.g Operator can be assigned and can be distinguished, for example, from a gust of wind or the like. Accordingly, it can be recognized in particular whether a hand of the operator was/is arranged on or near the door and the position of the hand can be correlated with a measured force impulse. The function can also have a supporting opening and/or closing of the door, with the door then being opened and/or closed autonomously as a result of an impulse introduced into the door by the operator or the impulse being continued by the operator.
• - A function to warn of unsafe terrain, such as holes, scree or the like. If, for example, a deep hole, an abyss or large bumps are detected next to the door, a warning signal can be output and/or the opening of the door can be blocked, although opening the door would not lead to a collision in this case.
• - A function for the emergency stop or stop of the door, whereby the door drive interrupts and/or brakes a movement of the vehicle door and/or executes an opposite movement or detects the vehicle door, in particular in the event that a pinching event and/or a collision event can be detected.

Reference List

2

vehicle

4

vehicle body

6

vehicle door

8th

system

9

door drive

10

Anti-pinch device

11

steering

12

obstacle detection

13

operation mode

14

objects

15

first speed profile

16

sensor

17

second speed profile

18

Field of View / Field of View

19

second mode of operation

20

object

21

speed profile

22

data storage

23

beginning section

24

angle sensor

25

end section

27

middle section

28

End of vehicle door 6

29

speed profile

32

further sensor / door seal

a

Opening angle / travel / door opening angle

a1

door opening angle

a2

door opening angle

v1

first constant speed

v2

second constant speed

v3

speed

v4

speed

u

Vicinity

Claims (10)

System for a vehicle, - with a door drive (9) for moving a vehicle door (6) of the vehicle (2), - and with the door drive (9) connected controller (11) for controlling the movement of the vehicle door (6), thereby characterized in that - the controller (11) has at least two different operating modes (13, 19) for controlling the movement of the vehicle door (6), - each of the at least two different operating modes (13, 19) being assigned at least one speed profile (15, 17, 21, 29) for moving the vehicle door (6). system after claim 1 , characterized in that - a first operating mode (13) of the at least two different operating modes (13, 19) - has a first speed profile (15) for moving the vehicle door (6) at a first constant speed (v1), - has a second speed profile (17) for moving the vehicle door (6) at a second constant speed (v2), - wherein the second constant speed (v2) is greater than the first constant speed (v1). system after claim 2 , characterized in that the controller (11) is set up to select either the first or the second speed profile (15, 17) for the first operating mode (13) depending on a selected presetting and/or ambient conditions detected by sensors in order to move of the vehicle door (6) along a positioning path (a) at a constant speed (v1, v2). System according to one of the preceding claims, characterized in that a second operating mode (19) of the at least two different operating modes (13, 19) has at least one speed profile (21) with at least two different speeds (v3, v4) in order to prevent the vehicle door from moving (6) to be executed along a travel (a) at non-constant speed. system after claim 4 , characterized in that the speed profile (21) for a starting section (23) and an end section (25) of the travel (a) has a lower speed (v3) than for a middle section (27) of the travel (a). System according to one of the preceding claims, characterized in that - at least one operating mode (13, 19) has a speed profile (29) with an alternating speed and/or is set up to generate haptic feedback to an operator and/or - at least one operating mode (13, 19) is set up to brake the vehicle door (6) and/or is set up to generate a resistance to manual displacement of the vehicle door (6). System according to one of the preceding claims, characterized in that - an anti-trapping device (10) is provided, which is set up to detect a trapping event occurring between the vehicle door (6) and a vehicle body (4) of the vehicle (2), with at least one sensor (16) is set up to detect the trapping event, and/or an obstacle detection (12) is provided which is used to detect a collision event occurring between the vehicle door (6) and an object (14) in an environment (U) of the vehicle (2). is set up, wherein at least one sensor (16) is set up for detecting the collision event, - wherein the controller (11) is set up for reducing a speed of the movement of the vehicle door (9) if a pinching event and/or a collision event is detected and/ or - an operating mode (13, 19) and/or a speed profile (15, 17, 21, 29) of an operating mode (13, 19) depending on a signal from the sensor (16) of the anti-trap device (10) and/or the Obstacle detection (12) is selected. system after claim 7 , characterized in that the controller (11) is set up to output a haptic and/or acoustic and/or optical signal if a pinching event and/or a collision event is detected. System according to one of the preceding claims, characterized in that - the controller for at least one of the operating modes (13, 17) and/or a selected speed profile (15, 17, 21, 29) is coupled to one or more of the downstream systems of the motor vehicle : - direction indicators; - headlights and/or lighting; - exterior mirror activation; - acoustic signaling device; - Infotainment. Vehicle, - wherein the vehicle (2) has a vehicle body (4) and a vehicle door (6), wherein the vehicle door (6) is movably held on the vehicle body (4), - with a system according to one of the preceding ones Claims 1 - 9 .

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