DE112020002956T5 - SYSTEM FOR ACTUATION OF A POWER OPERATED LOCKING ELEMENT - Google Patents

Abstract

A power-operated closure member actuation system for moving a closure member of a vehicle between an open and a closed position relative to a vehicle body, the power-operated closure member actuation system comprising:an actuator coupled to the closure member and the vehicle body and configured to operate the a closure member moves relative to the vehicle body, a closure member feedback sensor for determining a position and/or a speed of the closure member, and a controller in communication with the closure member feedback sensor and the actuator, the controller being configured to control the Controls movement of the closure member by the actuator to resist movement of the closure member towards the open position or the closed position without an operating performance of the actuator, the d may damage an actuator based on the position and speed of the shutter as determined using the shutter feedback sensor.

Description

CROSS REFERENCE TO RELATED APPLICATIONS

This PCT international patent application claims the benefit of U.S. Provisional Application No. 62/864,070 and U.S. Provisional Application No. 62/875,736 and U.S. Provisional Application No. 62/885,390 , filed August 12, 2019, and the US provisional application 62/885,397 , filed August 12, 2019, the US provisional application 62/928,416 , filed October 31, 2019, and US divisional application 16/567,156 , filed September 11, 2019. The entire disclosure of the above-referenced applications is considered a part of the disclosure of this application and is hereby incorporated by reference.

AREA

The present disclosure relates generally to closure systems for motor vehicles, and more particularly to a power operated closure system for moving a closure member, e.g. B. a vehicle door, relative to a vehicle body between an open and a closed position.

BACKGROUND

This section provides background information related to the present disclosure which is not necessarily prior art.

Closure elements of motor vehicles can be attached to the vehicle body with one or more hinges. For example, passenger doors may be oriented and attached to the vehicle body with one or more hinges to pivot about a generally vertical pivot axis. In such an arrangement, each door hinge typically includes a door hinge connected to the passenger door, a body hinge connected to the vehicle body, and a pivot disposed to pivotally connect the door hinge to the body hinge and define the axis of rotation. There are recognized problems with such pivoting passenger doors (“swinging doors”), e.g. B. when the vehicle is on a slope and the swing door either opens too far or swings shut due to the unbalanced weight of the door. To address this problem, most passenger doors are equipped with some type of latch or locking mechanism built into at least one of the door hinges that prevents uncontrolled pivoting of the door by locking the door not only in the fully open position, but also in one or more intermediate positions. In some luxury vehicles, the door hinge can be equipped with a stepless door locking mechanism, which allows the door to be opened and held in any desired open position. An advantage of passenger doors with door hinges that have a stepless door detent mechanism is that the door can be positioned and held in any position to avoid contact with adjacent vehicles or structures.

Another advance is the development of systems for electrically actuating locking elements. For passenger doors such as those described above, the power-operated latch system may be used to automatically pivot the passenger door about its pivot axis between the open and closed positions, to assist the user in moving the passenger door, and/or to open the passenger door for the user, or showcase. Typically, power operated closure member actuation systems include a power operated device, such as a power operated device. B. an electric motor and a device for converting rotation to linear motion, which can convert the rotary power of the electric motor into a translational movement of an extensible element. In many arrangements, the electric motor and transducer device are mounted to the passenger door, and the distal end of the deployable member is fixedly attached to the vehicle body. An example of a system for actuating an electric closure element for a passenger door is given in International Publication No. WO2013/013313 by Schuering et al. which discloses the use of a rotary to linear converter device having an externally threaded lead screw which is rotationally driven by an electric motor and an internally threaded drive nut which engages the lead screw and on which the extendable item is attached. Accordingly, control of the speed and direction of rotation of the lead screw results in control of the speed and direction of translational movement of the drive nut and extensible member to control pivotal movement of the passenger door between its open and closed positions.

While such fastener actuating systems function satisfactorily for their intended purpose, a recognized disadvantage is that the known fastener actuating systems under a Number of different circumstances work. For example, the user may wish to change or customize the operation of the power operated latch in different situations. Users may also wish to change the "feel" of the movement of the door or other locking element in cases where the power locking system assists the movement of the door or other locking element.

In addition, operation of the electric shutter may result in familiar sounds such as banging when the shutter is closed. B. a clink, can be heard. Without such feedback to the user, users may be skeptical about the operation of the system for actuating the electric shutter. In addition, the shutter actuation system can be abused if the user slams the shutter shut with excessive speed or force.

Closure members that are moved by such power operated closure member actuation systems also typically include seals between the closure member and the vehicle body (e.g., around the perimeter of the closure member) to isolate the interior of the vehicle from the environment. When the closure members are actuated, the seals, due to their resiliency, exert a certain stress which can affect the movement of the closure member. For example, the electrical actuation system of the closure member may have to work against the seal when closing the closure member; however, when opening, the load of the seal can contribute to the movement of the closure element. Thus, movement of a swing door from a primary to a secondary position (i.e. opening the door) can only be accomplished by the load of the seal. However, as seals age, the stress or resiliency can vary from a new or 'unstressed' seal to the end of the vehicle's life, e.g. B. at different temperatures. As a result, the variation in seal load can affect the consistent performance of the frictional fastener actuation system.

Similarly, wear and aging of other components in power closures is possible. For example, increased friction due to lack of lubrication (e.g., hinges or gears of the power operated device) or changes in the operation of the electric motor of the power operated device (e.g., wear of the motor brushes) may also adversely affect the performance of the system operating the power operated closure influence way.

While the settings for the power closure systems can be pre-programmed by the system manufacturer, the speed at which the closure member is moved while assisting the user and/or automatically moving the closure member between the closed and open positions, under certain environmental conditions and for all users may not be ideal. In particular, when the outside temperature is cold and/or when it is raining, the interior of the vehicle is exposed to these elements during the movement of the closure. A solution could be to increase the force exerted on the closure member and/or the speed of movement in general; however, such customization may not be appropriate for all environments and/or desirable for every user.

In view of the foregoing, there remains a need to develop alternative latch actuation systems that overcome the limitations and disadvantages associated with known latch actuation systems and provide greater convenience and improved serviceability.

SUMMARY

This section provides a general summary of the present disclosure and is not an exhaustive disclosure of its full scope or all of its features, aspects, and objectives.

One aspect of the present disclosure is to provide a powered closure member actuation system for moving a closure member of a vehicle between an open and a closed position relative to a vehicle body. The electrical actuation system for the closure member includes an actuator coupled to the closure member and the vehicle body and configured to move the closure member relative to the vehicle body. The actuation system for the powered closure also includes a user motion sensor configured to detect motion input from a user on the closure to move the closure. Additionally, the system for actuating the power operated closure member includes a user interface configured to recognize user input to at least one to change a stored motion control parameter associated with the movement of the closure member. Additionally, the system for operating the power closure member includes a controller that communicates with the user motion sensor, the user interface, and the actuator. The controller is configured to change the at least one stored motion control parameter in response to detecting the user interface input. The controller is also configured to recognize the motion input and generate a force command in response thereto using the at least one stored motion control parameter. The controller then commands movement of the closure member through the actuator, which receives the force command to vary an actuator output force acting on the closure member to move the closure member.

Another aspect of the present disclosure is to provide a user modifiable system for controlling movement of a powered closure member of a vehicle based on user preference. The user modifiable system includes a user interface configured to recognize user interface input to modify at least one stored motion control parameter associated with movement of the closure member. The user modifiable system also includes a controller that communicates with the user interface. The controller is configured to display the at least one stored motion control parameter on the user interface. The controller is also configured to modify the at least one stored motion control parameter in response to detecting the user interface input. Additionally, the controller is configured to generate either a move command or a force command using the at least one stored motion control parameter to control an actuator output force acting on the closure member to move the closure member.

Another aspect of the disclosure is to provide a method for controlling movement of a closure member based on a user preference. The method includes the step of presenting at least one stored motion control parameter associated with controlling movement of the closure member using a user interface. The method continues with the step of modifying the at least one stored motion control parameter in response to detecting the user interacting with the user interface. The method also includes the step of generating a force command or a motion command using the at least one stored motion control parameter to control an actuator acting on the closure member to move the closure member.

Another aspect of the disclosure is the provision of a motor vehicle closure member that is movable relative to a vehicle body between open and closed positions. The closure member includes an actuator coupled to the closure member and the vehicle body and configured to move the closure member relative to the vehicle body. The closure member also includes a user motion sensor configured to detect motion input from a user on the closure member to move the closure member. In addition, the closure element includes a controller that is in communication with the user motion sensor and the actuator. The controller is configured to generate a force command using at least one stored motion control parameter that can be changed by the user. The controller is also configured to command movement of the closure member by the actuator receiving the force command to vary the output force of the actuator acting on the closure member to move the closure member.

Another aspect of the disclosure is the provision of an electronic control system for a power operated closure member actuation system for moving a closure member of a motor vehicle between an open and a closed position relative to a vehicle body. The electronic control system includes a user interface configured to recognize user interface input. The electronic control system includes a force signal generator configured to generate a pulse width modulated control signal to actuate an actuator of the powered closure member actuation system to move the closure member. In addition, the electronic control system comprises a memory device having at least one memory location for storing at least one stored motion control parameter associated with controlling the movement of the closure member. The electronic control system also includes a controller that communicates with the user interface, the Kraft-Signalgene rator and the storage device communicates. The controller is configured to receive the user interface input to change the at least one stored motion control parameter using the user interface. The controller is also configured to modify the at least one stored motion control parameter stored in the storage device. The controller is also configured to generate either a force command or a motion command for application to the force signal generator using the at least one stored motion control parameter.

One aspect of the present disclosure is to provide a powered closure member actuation system for moving a closure member of a vehicle between an open and a closed position relative to a vehicle body. The power operated closure member actuation system includes an actuator coupled to the closure member and the vehicle body and configured to move the closure member relative to the vehicle body. The system also includes a feedback sensor for the shutter to determine at least a position and a speed of the shutter. The system also includes a control unit in communication with the closure member feedback sensor and actuator. The controller is configured to monitor the position and/or speed of the shutter using the shutter feedback sensor. The controller is also configured to generate a command to decrease the speed of the closure member when the closure member moves toward the open position or the closed position based on the position and/or speed of the closure member. In addition, the controller is configured to control movement of the closure member by the actuator being commanded to vary an actuator output force acting on the closure member to move the closure member.

In one aspect, the controller is further configured to control movement of the closure member by the actuator at a constant speed for a portion of movement of the closure member after the speed of the closure member has been reduced to bring the motor below the maximum operating speed of the actuator .

According to one aspect, the controller is further configured to control movement of the closure member by the actuator at a decreasing rate for a subsequent portion of movement of the closure member after control movement of the closure member by the actuator at a constant rate to allow the closure element approaches either the open or the closed position at a speed below the constant speed.

In one aspect, the controller is further configured to control the actuator to reduce the speed of the closure member during the approach without exceeding a maximum predetermined rate of deceleration of the closure member.

In one aspect, the closure member feedback sensor is an accelerometer.

In one aspect, the accelerometer is disposed on the closure member opposite a pair of hinges connecting the closure member to the vehicle body.

In one aspect, the accelerometer is part of a latch.

Another aspect of the disclosure is to provide a method for controlling movement of a closure member of a vehicle between an open and a closed position relative to a vehicle body based on at least a position and a speed of the closure member using a power operated closure member actuation system. The method includes the step of moving the closure member relative to the vehicle body using an actuator of the power closure member actuation system coupled to the closure member and the vehicle body. The next step of the method is determining a position and/or a speed of the shutter using a shutter feedback sensor of the shutter power actuation system. The method continues with monitoring the position and/or the speed of the closure member using a controller of the power operated closure member actuation system coupled to the closure member feedback sensor and the actuator. The method continues with the step of generating a decrease command Speed of the closure member when the closure member is moving towards the open position or the closed position based on the position and/or the speed of the closure member using the controller. The method also includes the step of controlling movement of the closure member by the actuator being commanded to vary an actuator output force acting on the closure member to move the closure member.

Also disclosed is a method for controlling movement of a closure member of a vehicle between an open and a closed position relative to a vehicle body based on a position and/or a speed of the closure member using a power operated closure member actuation system. The method includes the step of moving the closure member relative to the vehicle body using an actuator of the power closure member actuation system coupled to the closure member and the vehicle body. Next, the position and/or speed of the closure member is monitored using a controller of the power operated closure member actuation system coupled to a closure member feedback sensor and the actuator. In the further course of the method, it is determined whether the speed of the closure element is greater than a predetermined maximum speed threshold value, which, if exceeded, can damage the actuator. The method also includes the step of controlling movement of the closure member by the actuator to resist movement of the closure member toward the open position or the closed position when the velocity of the closure member is determined to be greater than a predetermined maximum velocity threshold.

In one aspect, the method also includes the step of not using a mechanical brake or clutch to resist movement of the door to the open or closed position.

In one aspect, the method also includes the step of the actuator controlling movement of the closure member without exceeding an operating capacity of the actuator that may damage the actuator based on the position and speed of the closure member.

One aspect of the present disclosure is to provide a powered closure member actuation system for moving a closure member of a vehicle between an open and a closed position relative to a vehicle body. The system includes an actuator coupled to the closure member and the vehicle body to move the closure member relative to the vehicle body. The system also includes an environmental sensor configured to sense at least one environmental condition of the vehicle. In addition, the system includes a control unit that communicates with the environmental sensor and the actuator. The controller is configured to receive either a motion input or an automatic mode initiation input to guide movement of the closure member in a powered assist mode in response to receipt of the motion input and in an automatic mode in response to receipt of the initiation input control automatic mode. The controller is also designed in such a way that, depending on the at least one environmental condition, it generates either a movement command in automatic mode or a force command in power assistance mode. The controller controls movement of the closure member by the actuator receiving either the move command or the force command to vary an actuator output force acting on the closure member to move the closure member.

Another aspect of the disclosure is to provide a method for controlling movement of a closure member based on an environmental condition of the vehicle. The method includes the step of receiving a motion input or an automatic mode initiation input to control movement of the closure member in a powered assist mode in response to receiving the motion input and in an automatic mode in response to receiving the automatic mode initiation input . The method continues with the step of detecting the environmental condition of the vehicle using an environmental sensor. The next step of the method is to generate a movement command in automatic mode or a force command in assist mode depending on the environmental condition. The method also includes the step of commanding movement of the closure member by the actuator receiving either the movement command or the force command to vary an actuator output force acting on the closure member to move the closure member.

One aspect of the present disclosure is to provide a powered closure member actuation system for moving a closure member of a vehicle between an open and a closed position relative to a vehicle body. The system includes an actuator coupled to the closure member and the vehicle body and configured to move the closure member relative to the vehicle body. The system also includes at least one closure member feedback sensor configured to sense at least an actual closure member speed and an actual closure member position. The system includes a controller in communication with the at least one closure member feedback sensor and the actuator. The controller is configured to receive either a motion input or an automatic operation initiation input to control movement of the closure member to the open position. The controller controls the movement of the closure member by commanding the actuator using the motion input or the auto initiation input. The controller monitors the actual speed and/or the actual position of the closure member using the at least one feedback sensor for the closure member and calculates a position difference between an expected position of the closure member and the actual position of the closure member and/or a speed difference between an expected speed of the closure member and the actual speed of the shutter. The controller adjusts driving of the actuator to compensate for the difference in position and/or the difference in speed in order to move the closure element to the expected position and/or speed.

Another aspect of the disclosure is to provide a method for controlling movement of a closure member of a vehicle. The method includes the steps of receiving a motion input or an automatic mode initiation input to control movement of the closure member to the open position. The method continues with the step of controlling the movement of the closure member by commanding the actuator using the movement input or the automatic mode initiation input. The next step of the method is monitoring at least one of an actual velocity and an actual position of the shutter using at least one shutter feedback sensor configured to sense at least one of the actual velocity and the actual position of the shutter. The method continues with the step of calculating at least one position difference between an expected position of the closure element and the actual position of the closure element and a speed difference between an expected speed of the closure element and the actual speed of the closure element. The method also includes the step of adjusting the actuation of the actuator to compensate for the position difference and/or the speed difference in order to move the closure element to the expected position and/or the expected speed.

Another aspect of the disclosure is the provision of a power operated closure member actuation system for moving a closure member of a vehicle between an open and a closed position relative to a vehicle body. The power operated closure member actuation system includes a locking mechanism having a ratchet having a ratchet locking feature and a ratchet engagement feature, a ratchet biasing member, a pawl, and a pawl biasing member. The ratchet is movable between a latch release position corresponding to a latch member release position in which the ratchet is positioned to release a latch and two different latch retaining positions in which the ratchet is positioned to holds the closer. The two different latch retaining positions include a secondary latch latching position corresponding to a secondary latch position and a primary latch latching position corresponding to a primary latch position. The biasing member of the ratchet is configured to bias the ratchet toward the latch release position. The pawl is movable between a ratchet holding position in which the pawl engages the ratchet locking feature and holds the ratchet in its primary closer catch position and a ratchet release position in which the pawl is disengaged from the ratchet locking feature. The pawl is in its ratchet release position when the ratchet is in its latch release and secondary latch catch position. The pawl biasing member is configured to bias the pawl toward its ratchet hold position, and a power release actuator is operable to move the pawl from the ratchet hold position to the ratchet release position. The The system includes a door seal provided between the closure member and the vehicle body. The door seal is in a compressed state when the closure member is in the closed position to exert a sealing force on the closure member to move the closure member toward the closure member release position. An actuator is coupled to the closure member and the vehicle body to move the closure member relative to the vehicle body. The system also includes at least one closure member feedback sensor configured to sense a position of the closure member. The system also includes a controller in communication with the at least one closure member feedback sensor, the actuator, and the power release actuator. The controller is configured to receive a command to control movement of the closure member to the open position. The controller is also configured to command the power release actuator to move the pawl to the ratchet release position. The controller monitors the position of the closure member using the at least one closure member feedback sensor and calculates a seal load difference between the sealing force applied to the closure member and a nominal sealing force. The controller generates a command that uses the seal load differential to control an actuator output force acting on the closure member from the actuator to supplement the seal load force. The controller additionally controls movement of the shutter by commanding the actuator, using the command, to vary the actuator output force acting on the shutter and move the shutter to the shutter release position, wherein when the shutter is in the shutter release position, Release position is, the ratchet has been moved to the closer release position.

One aspect of the present disclosure is to provide a power operated closure member actuation system for moving a closure member of a vehicle. The system includes an actuator coupled to the closure member and a vehicle body and configured to move the closure member relative to the vehicle body. A controller is in communication with the actuator and configured to receive either a motion input associated with a powered assist mode or an automatic mode initiation input associated with an automatic mode. The controller sends the actuator a motion command based on a number of automatic shutter movement parameters in automatic mode and a force command based on a number of powered shutter movement parameters in powered assist mode to vary the output force of the actuator acting on the Closing member acts to move the closing member. The controller is also configured to monitor and analyze the historical operation of the power operated closure member actuation system using an artificial intelligence learning algorithm. The controller then adjusts the plurality of automatic shutter movement parameters and the plurality of powered shutter movement parameters accordingly.

Another aspect of the disclosure is to provide a method for controlling movement of a closure member of a vehicle using a power operated closure member actuation system. The method includes the step of receiving a motion input associated with a powered assist mode or an automatic mode initiation input associated with an automatic mode. The next step of the method is to send a movement command to an actuator based on a number of movement parameters of the automatic closure element in automatic mode and a force command based on a number of movement parameters of the driven closure element in powered assistance mode to the output force of the actuator to change, which acts on the closure member to move the closure member. The method continues with monitoring and analyzing the historical operation of the powered closure member actuation system using an artificial intelligence learning algorithm and adjusting the plurality of automatic closure member movement parameters and the plurality of powered closure member movement parameters accordingly.

According to a further aspect of the disclosure, a non-contact obstacle detection system for a motor vehicle is provided which includes a control unit, at least one non-contact obstacle sensor which is coupled to the control unit in order to detect obstacles in the vicinity of a closure element of the motor vehicle, a motion sensor system which is connected to the control unit is coupled to detect movement of the closure member and a power actuator coupled to the closure member and the controller to move the closure member gene, wherein the controller is configured to detect movement of the closure member using the motion detection system, not detecting an obstacle using the at least one non-contact obstacle sensor, and changing movement of the closure member using the power actuator in response to no obstacle being detected , while the movement of the shutter element is detected. In a related aspect, the controller is further configured to stop movement of the closure member using the power actuator and/or a braking mechanism in response to no obstacle being detected while movement of the closure member is detected.

According to another aspect of the disclosure, a method of operating a non-contact obstacle detection system for a motor vehicle is provided, comprising the steps of: determining whether a closure element is in an open position, determining whether no obstacle is detected using at least one non-contact obstacle sensor, determining whether the closure member is moving, and changing movement of the closure member in response to the closure member moving and no obstacle being detected. In a related aspect, the step of changing the movement of the closure member in response to the closure member moving and no obstruction is detected is further defined as terminating movement of the closure member using a power actuator coupled to the closure member and the controller for Moving the closure member and/or a braking mechanism in response to the closure member moving and no obstacle being detected.

According to a further aspect of the disclosure, a non-contact obstacle detection system for a motor vehicle is provided which has a controller, at least one motion sensor which is coupled to the controller in order to detect a change in movement or inclination of the motor vehicle, and at least one force actuator or a braking mechanism coupled to the closure member and the controller to change movement of the closure member, such that the controller is configured to detect a change in movement or orientation of the motor vehicle using the movement sensor and the movement of the closure member using the at least one force actuator and the braking mechanism in response to detecting a change in movement or orientation of the motor vehicle while detecting movement of the closure member. In a related aspect, the controller is configured to alter movement of the closure member by applying a resisting force against movement of the closure member.

Further areas of application will emerge from the present description. The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.

character list

• 1 ist eine perspektivische Ansicht eines Beispiel-Kraftfahrzeugs, das mit einem kraftbetätigten Verschlusssystem ausgestattet ist, das sich zwischen der vorderen Fahrgast-Schwenktür und der Fahrzeugkarosserie befindet, gemäß den Aspekten der Offenbarung;
• 2 ist eine perspektivische Innenseitenansicht eines in 1 gezeigten Verschlusselements, bei dem verschiedene Komponenten nur zur Verdeutlichung entfernt wurden, in Bezug auf einen Teil der Fahrzeugkarosserie, der mit dem kraftbetriebenen Verschlusselement-Betätigungssystem gemäß den Aspekten der Offenbarung ausgestattet ist;
• 3 zeigt ein Blockdiagramm des Systems zur Betätigung eines kraftbetriebenen Verschlusselements gemäß den Aspekten der Offenbarung;
• 4 zeigt ein weiteres Blockdiagramm des kraftbetriebenen Betätigungssystems für das Verschlusselement zum Bewegen des Verschlusselements in einem automatischen Modus gemäß den Aspekten der Offenbarung;
• Die 5 und 5A veranschaulichen das System zur Betätigung des Kraft-Verschlusselements, das als Teil der Fahrzeugsystemarchitekturen gemäß den Aspekten der Offenbarung dargestellt ist;
• 6 zeigt ein weiteres Blockdiagramm des kraftbetriebenen Betätigungssystems für das Verschlusselement zur Bewegung des Verschlusselements in einem kraftbetriebenen Assistenzmodus gemäß den Aspekten der Offenbarung;
• 7 zeigt das System zur Betätigung des Kraft-Verschlusselements als Teil der Systemarchitektur des Fahrzeugs, das dem Betrieb im elektrischen Assistenzmodus gemäß den Aspekten der Offenbarung entspricht;
• 8 zeigt eine Benutzerschnittstelle des Systems zur Betätigung von Kraft-Verschlusselementen gemäß den Aspekten der Offenbarung;
• 9 zeigt eine Anzahl von Benutzer-Bewegungssteuerungsparametern, die von einem Benutzer geändert werden können, und eine Anzahl von Hersteller-Bewegungssteuerungsparametern, die von einem Hersteller gemäß den Aspekten der Offenbarung geändert werden können;
• 10 veranschaulicht, dass die Benutzerschnittstelle einen Touchscreen einer im Kraftfahrzeug angeordneten Steuerkonsole umfasst, die im Automatikmodus gemäß den Aspekten der Offenbarung bedienbar ist;
• 11 zeigt eine Anzahl von gespeicherten Bewegungssteuerungsparametern, die dem Automatikmodus zugeordnet sind und entsprechenden Speicherplätzen in einer Speichervorrichtung des kraftbetätigten Verschlusselementsystems gemäß den Aspekten der Offenbarung zugeordnet sind;
• 12 zeigt ein zusätzliches Blockdiagramm des Kraft-Verschlusselement-Betätigungssystems im automatischen Modus gemäß den Aspekten der Offenbarung;
• 13 zeigt ein Beispiel für Änderungen in einem Tastverhältnisregister, die einer Änderung eines Pulsbreitenmodulations-Tastverhältnisses im Automatikmodus gemäß den Aspekten der Offenbarung entsprechen;
• 14 zeigt gespeicherte Bewegungssteuerungsparameter, die in der Speichervorrichtung gespeichert sind, und übersetzte Änderungen in einem Bewegungsprofil im automatischen Modus gemäß den Aspekten der Offenbarung;
• 15 zeigt zusätzliche gespeicherte Bewegungssteuerungsparameter, die in der Speichervorrichtung gespeichert sind, einschließlich einer Türprüfungsempfindlichkeit und eines Bewegungsprofils gemäß den Aspekten der Offenbarung;
• Die 16A und 16B zeigen Anpassungen eines Bewegungsprofils in Bezug auf die Geschwindigkeit des Verschlusselements für jeden der mehreren Winkel des Verschlusselements gemäß den Aspekten der Offenbarung;
• 17 veranschaulicht, dass die Benutzerschnittstelle den Touchscreen der im Kraftfahrzeug angeordneten Steuerkonsole umfasst, die gemäß den Aspekten der Offenbarung im elektrischen Assistenzmodus bedienbar ist;
• 18 zeigt eine Anzahl von gespeicherten Bewegungssteuerungsparametern, die dem angetriebenen Assistenzmodus zugeordnet sind und entsprechenden Speicherplätzen in der Speichervorrichtung des kraftbetätigten Verschlusselement-Betätigungssystems gemäß den Aspekten der Offenbarung zugeordnet sind;
• 19 zeigt ein zusätzliches Blockdiagramm des Systems zur Betätigung des kraftbetriebenen Verschlusselements im Modus der Kraftunterstützung und der Erzeugung eines Kraftbefehls unter Verwendung der Vorkompensation gemäß den Aspekten der Offenbarung;
• 20 zeigt ein zusätzliches Blockdiagramm des Systems zur Betätigung des kraftbetriebenen Verschlusselements im Modus der Kraftunterstützung und der Erzeugung des Kraftbefehls unter Verwendung der Nachkompensation gemäß den Aspekten der Offenbarung;
• 21 zeigt Anpassungen der Kraftprofile in Bezug auf eine Kraft des Verschlusselements für jeden einer Anzahl von Verschlusselementwinkeln mit Randbedingungen gemäß den Aspekten der Offenbarung;
• die 22-27 veranschaulichen die Schritte eines Verfahrens zur Steuerung der Bewegung des Verschlusselements auf der Grundlage einer Benutzerpräferenz gemäß den Aspekten der Offenbarung;
• die 28A und 28B zeigen beispielhafte Profiländerungen, die auf der Eingabe über die Benutzerschnittstelle gemäß den Aspekten der Offenbarung basieren;
• 29 zeigt ein Beispiel für die Bewegung des Verschlusselements außerhalb einer Anzahl von vorab gespeicherten Kalibrierungsgrenzen gemäß den Aspekten der Offenbarung;
• 30 zeigt einen Bewegungsbereich des Verschlusselements zwischen einer offenen und einer geschlossenen Position gemäß den Aspekten der Offenbarung;
• Die 31 und 32 veranschaulichen einen Bewegungsbereich des Verschlusselements zwischen einer offenen und einer geschlossenen Position, wobei die durch ein Aufschlagen verursachten Geschwindigkeitsspitzen gemäß den Aspekten der Offenbarung veranschaulicht werden;
• 33 zeigt die Änderungen der Geschwindigkeit, mit der sich das Verschlusselement in die offene Position bewegt, in Abhängigkeit von einem Winkel des Verschlusselements in einem Anti-Zuschlag-Modus gemäß den Aspekten der Offenbarung;
• 34 zeigt die Änderungen der Geschwindigkeit, mit der sich das Verschlusselement in die geschlossene Position bewegt, in Abhängigkeit vom Winkel des Verschlusselements im Anti-Zuschlag-Modus gemäß den Aspekten der Offenbarung;
• 35 veranschaulicht eine Hysterese, die in das System zur Betätigung des Kraftschlussorgans implementiert ist, indem die für wichtige Schaltpunkte verwendeten Vergleichsgrenzen gemäß den Aspekten der Offenbarung dynamisch aktualisiert werden;
• die 36A und 36B zeigen den Betrieb des Controllers sowohl im Hilfsmodus als auch im Anti-Zuschlag-Modus gemäß den Aspekten der Offenbarung;
• 37 veranschaulicht die Beziehung zwischen der Geschwindigkeit des Verschlusselements und dem Modus, in dem das Steuergerät gemäß den Aspekten der Offenbarung arbeitet;
• 37A zeigt ein illustratives Verfahren für den Übergang zwischen dem Automatikmodus und dem Kraft-Assistenzmodus gemäß den Aspekten der Offenbarung;
• die 38 und 39 veranschaulichen Schritte eines Verfahrens zur Steuerung der Bewegung des Verschlusselements auf der Grundlage einer Position und/oder der Geschwindigkeit des Verschlusselements unter Verwendung des kraftbetriebenen Betätigungssystems für das Verschlusselement gemäß den Aspekten der Offenbarung.
• 40 zeigt die Anpassungen eines Bewegungsprofils in Bezug auf die Bewegung des Verschlusselements für jeden der mehreren Verschlusselementwinkel gemäß den Aspekten der Offenbarung;
• 41 zeigt Anpassungen der Kraftprofile in Bezug auf eine Kraft des Verschlusselements für jeden einer Anzahl von Winkeln des Verschlusselements mit Randbedingungen gemäß den Aspekten der Offenbarung;
• 42 veranschaulicht die Schritte eines Verfahrens zur Steuerung der Bewegung des Verschlusselements auf der Grundlage von mindestens einer Umgebungsbedingung des Fahrzeugs 10 gemäß den Aspekten der Offenbarung;
• 43 ist ein Client-Server-Netzwerkdiagramm gemäß einer beispielhaften Ausführungsform,
• 44 ist eine perspektivische Teilansicht des Kraftfahrzeugs mit dem Verschlusselement, das mit einer Verriegelungsvorrichtung ausgestattet ist, gemäß den Aspekten der Offenbarung;
• 45 ist eine isometrische Ansicht der Verriegelungsanordnung, die allgemein die Komponenten eines Verriegelungsmechanismus, eines Verriegelungsfreigabemechanismus, eines Kraftfreigabeaktuators, eines Verriegelungssperrmechanismus, eines Kraftverriegelungsaktuators und eines Sperrfreigabemechanismus zeigt, wobei die Verriegelungsanordnung gemäß den Aspekten der Offenbarung in einem nicht verriegelten Modus arbeitet;
• 46 zeigt verschiedene Positionen des Verschlusselements gemäß den Aspekten der Offenbarung;
• die 47A-47D zeigen die Schaltzustände des Verriegelungsstatus der Verriegelungsanordnung gemäß den Aspekten der Offenbarung;
• 48 zeigt ein Beispiel für ein Bewegungsprofil eines Verschlusselements, das zeigt, wie eine Geschwindigkeit des Verschlusselements durch eine alternde Dichtungslast gemäß den Aspekten der Offenbarung beeinflusst werden könnte;
• 49 und 50 veranschaulichen die Schritte eines Verfahrens zur Steuerung der Bewegung des Verschlusselements des Fahrzeugs gemäß den Aspekten der Offenbarung;
• die 51 und 52 veranschaulichen die Schritte eines Verfahrens zur Steuerung der Bewegung des Verschlusselements des Fahrzeugs unter Verwendung des kraftbetriebenen Betätigungssystems für das Verschlusselement, das ebenfalls gemäß den Aspekten der Offenbarung bereitgestellt wird;
• 53 ist ein Blockdiagramm von Komponenten eines Systems zur Ausführung eines Lernalgorithmus unter Verwendung eines neuronalen Netzes und/oder zum Training des neuronalen Netzes gemäß einigen Ausführungsformen der vorliegenden Erfindung;
• 54 zeigt eine Reihe von Knoten, die ein neuronales Netzmodell gemäß einer beispielhaften Ausführungsform bilden;
• die 55A und 55B veranschaulichen ein Betriebsverfahren für das elektrische Verschlusssystem zum Bewegen einer Tür aus einer vollständig verriegelten Position im Automatikbetrieb gemäß einer beispielhaften Ausführungsform;
• die 56A und 56B zeigen ein Betriebsverfahren für das elektrische Verschlusssystem zum Schließen der Tür aus einer offenen Position gemäß einer beispielhaften Ausführungsform;
• 57 zeigt ein Betriebsverfahren des kraftbetätigten Verschlusselement-Betätigungssystems zum Bewegen der Tür, wenn die Steuerung im Kraft-Assistenzmodus aus einer angehaltenen Türposition arbeitet, gemäß einer illustrativen Ausführungsform;
• 58 zeigt ein Betriebsverfahren des kraftbetriebenen Verschlusselement-Betätigungssystems zur Steuerung der Türbewegung während eines ungeplanten Stopps, wenn die Tür im Automatikmodus betrieben wird, gemäß einer illustrativen Ausführungsform;
• 58A zeigt ein Türbewegungsdiagramm, das die Türbewegung während des Automatikbetriebs vor einer Unterbrechung, die Türbewegung während des Kraft-Assistenzmodus nach einer Unterbrechung des Automatikbetriebs und anschließend die Wiederaufnahme des Automatikbetriebs mit einem Bewegungsprofil, das die Türbewegung vor der Unterbrechung nicht überschreitet, gemäß einer beispielhaften Ausführungsform darstellt;
• 59 zeigt ein Betriebsverfahren des kraftbetriebenen Verschlusselement-Betätigungssystems zur Steuerung der Bewegung der Tür aus einer Position mit kleinem Winkel, die größer ist als die sekundäre Position im Automatikmodus, in Übereinstimmung mit einer illustrativen Ausführungsform;
• 60 zeigt ein Betriebsverfahren für das System zur Betätigung des kraftbetriebenen Verschlusselements zur Kontrolle der Tür, wenn die Tür im automatischen Modus oder im kraftbetriebenen Assistenzmodus gesteuert wird, in Übereinstimmung mit einer illustrativen Ausführungsform;
• 60A zeigt ein Tür-Kontrollkraftprofil als Funktion des Türwinkels gemäß einer beispielhaften Ausführungsform;
• 61 veranschaulicht ein Verfahren zur Betätigung des kraftbetriebenen Verschlusselements, während eine Windkraft auf die Fahrzeugtür einwirkt, in Übereinstimmung mit einer illustrativen Ausführungsform;
• 61A und 61B sind Diagramme, die die Änderungen des gemessenen Stroms als Ergebnis der manuellen Steuerung der Tür durch einen Benutzer gemäß einer beispielhaften Ausführungsform darstellen;
• 62A illustriert ein Betriebsverfahren des Systems zur Betätigung des kraftbetriebenen Verschlusselements, um keine Hindernisse zu erkennen, während die Bewegung des Verschlusselements erkannt wird, in Übereinstimmung mit einer illustrativen Ausführungsform;
• 62B und 62C veranschaulichen die Betriebsverfahren des Systems zur Betätigung des kraftbetriebenen Verschlusselements, um eine manuelle Betätigung des Verschlusselements zu erkennen, wenn der Benutzer mit Hilfe des berührungslosen Hindemiserkennungssystems erkannt wird, in Übereinstimmung mit illustrativen Ausführungsformen;
• 63 veranschaulicht ein Verfahren zur Betätigung des kraftbetriebenen Verschlusselements, um eine Bewegung des Fahrzeugs zu erfassen, während die Bewegung des Verschlusselements erfasst wird, in Übereinstimmung mit einer illustrativen Ausführungsform;
• 64 veranschaulicht ein Betriebsverfahren des Systems zur Betätigung des kraftbetriebenen Verschlusselements, um zu erkennen, dass keine Hindernisse vorhanden sind und sich das Fahrzeug bewegt, während die Bewegung des Verschlusselements erkannt wird, gemäß einer beispielhaften Ausführungsform;
• 65 zeigt ein Betriebsverfahren für das Kraft-Verschlusselement-Betätigungssystem zum Bewegen einer Tür aus einer geschlossenen Türposition, wenn sich die Tür in einem gefrorenen Zustand befindet, in Übereinstimmung mit einer illustrativen Ausführungsform;
• 66 veranschaulicht ein Verfahren zur Betätigung des kraftbetriebenen Verschlusselements zum Bewegen einer Tür aus einer geschlossenen Türposition, wenn sich die Tür in einem mechanisch blockierten Zustand befindet, in Übereinstimmung mit einer illustrativen Ausführungsform;
• 67 zeigt ein Verfahren, das von der Steuerung des Systems zur Betätigung des kraftbetriebenen Verschlusselements ausgeführt wird, um eine Betätigungskraft zum Bewegen der Tür zu berechnen, in Übereinstimmung mit einer illustrativen Ausführungsform;
• 68 zeigt ein System-Blockdiagramm des Kraft-Verschlusselement-Betätigungssystems, das für die Ausführung des Verfahrens von 67 ausgebildet ist, in Übereinstimmung mit einer illustrativen Ausführungsform;
• 69 ist ein Überlagerungsalgorithmus, der von der Steuerung des Kraft-Verschlusselement-Betätigungssystems in Übereinstimmung mit einer illustrativen Ausführungsform ausgeführt wird;
• 70 ist eine perspektivische Teilansicht des Aktuators des kraftbetätigten Verschlusselement-Betätigungssystems, die die Drehmomente um die Türschamierachse entsprechend dem Überlagerungsalgorithmus von 69 in Übereinstimmung mit einer illustrativen Ausführungsform zeigt; und
• 71 ist ein Blockdiagramm des Überlagerungsalgorithmus, der von der Steuerung des Kraft-Verschlusselement-Betätigungssystems ausgeführt wird und die Einbeziehung von Drehmomenten von Hilfstürsystemen gemäß einer illustrativen Ausführungsform veranschaulicht.

The drawings described herein are only for the purpose of illustrating selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure.

• 1 12 is a perspective view of an example motor vehicle equipped with a power closure system located between the front swing passenger door and the vehicle body, in accordance with aspects of the disclosure;
• 2 is an inside perspective view of a 1 The closure member shown, with various components removed for clarity, relates to a portion of the vehicle body equipped with the power closure member actuation system according to aspects of the disclosure;
• 3 Figure 12 shows a block diagram of the system for actuating a power operated closure member in accordance with aspects of the disclosure;
• 4 Figure 12 shows another block diagram of the powered closure member actuation system for moving the closure member in an automatic mode in accordance with aspects of the disclosure;
• the 5 and 5A 12 illustrate the system for actuating the power closure member presented as part of vehicle system architectures in accordance with aspects of the disclosure;
• 6 Figure 12 shows another block diagram of the powered closure member actuation system for moving the closure member in a power assist mode in accordance with aspects of the disclosure;
• 7 shows the system for actuating the power closure element as part of the system architecture of the vehicle operating in corresponds to electric assistance mode according to aspects of the disclosure;
• 8th Figure 12 shows a user interface of the system for actuating power fasteners in accordance with aspects of the disclosure;
• 9 Figure 12 shows a number of user motion control parameters that can be changed by a user and a number of manufacturer motion control parameters that can be changed by a manufacturer, in accordance with aspects of the disclosure;
• 10 Illustrates that the user interface comprises a touch screen of an in-vehicle control console operable in automatic mode according to aspects of the disclosure;
• 11 12 shows a number of stored motion control parameters associated with the automatic mode and associated with corresponding memory locations in a memory device of the power operated closure member system in accordance with aspects of the disclosure;
• 12 Figure 12 shows an additional block diagram of the power latch actuation system in automatic mode, in accordance with aspects of the disclosure;
• 13 12 illustrates an example of changes in a duty cycle register corresponding to a change in a pulse width modulation duty cycle in automatic mode, in accordance with aspects of the disclosure;
• 14 10 shows stored motion control parameters stored in the storage device and translated changes in a motion profile in automatic mode, according to aspects of the disclosure;
• 15 10 shows additional stored motion control parameters stored in the storage device, including a door check sensitivity and a motion profile, in accordance with aspects of the disclosure;
• the 16A and 16B 13 show adjustments of a motion profile with respect to the speed of the shutter for each of multiple angles of the shutter according to aspects of the disclosure;
• 17 Illustrates that the user interface comprises the touch screen of the control console located in the motor vehicle operable in the electric assist mode according to aspects of the disclosure;
• 18 12 shows a number of stored motion control parameters associated with the powered assist mode and associated with corresponding memory locations in the memory device of the power closure member actuation system in accordance with aspects of the disclosure;
• 19 Figure 12 shows an additional block diagram of the system for operating the power closure member in power assist mode and generating a force command using pre-compensation in accordance with aspects of the disclosure;
• 20 Figure 12 shows an additional block diagram of the system for actuating the power closure member in the power assist mode and generating the force command using post-compensation in accordance with aspects of the disclosure;
• 21 Figure 12 shows adjustments of force profiles with respect to fastener force for each of a number of constrained fastener angles in accordance with aspects of the disclosure;
• the 22-27 12 illustrate the steps of a method for controlling movement of the closure member based on user preference, in accordance with aspects of the disclosure;
• the 28A and 28B 12 show exemplary profile changes based on user interface input, according to aspects of the disclosure;
• 29 Figure 12 shows an example of movement of the closure member outside of a number of pre-stored calibration limits, in accordance with aspects of the disclosure;
• 30 12 shows a range of movement of the closure member between an open and a closed position, in accordance with aspects of the disclosure;
• the 31 and 32 13 illustrate a range of movement of the closure member between an open and a closed position illustrating velocity spikes caused by an impact in accordance with aspects of the disclosure;
• 33 12 shows the changes in the speed at which the closure member moves to the open position as a function of an angle of the closure member in an anti-slam mode, in accordance with aspects of the disclosure;
• 34 12 shows the changes in the speed at which the shutter moves to the closed position as a function of the angle of the shutter in anti-slam mode, in accordance with aspects of the disclosure;
• 35 12 illustrates hysteresis implemented in the system for actuating the frictional engagement member by dynamically updating the comparison limits used for important shift points, in accordance with aspects of the disclosure;
• the 36A and 36B Figure 12 shows the operation of the controller in both the assist mode and the anti-surcharge mode according to aspects of the disclosure;
• 37 12 illustrates the relationship between shutter speed and the mode in which the controller operates in accordance with aspects of the disclosure;
• 37A 12 shows an illustrative method for transitioning between automatic mode and power assist mode, in accordance with aspects of the disclosure;
• the 38 and 39 12 illustrate steps of a method for controlling movement of the closure member based on a position and/or speed of the closure member using the power operated closure member actuation system according to aspects of the disclosure.
• 40 12 shows the adjustments of a motion profile related to the movement of the shutter for each of the plurality of shutter angles according to aspects of the disclosure;
• 41 12 shows adjustments of force profiles with respect to closure member force for each of a number of constrained closure member angles, in accordance with aspects of the disclosure;
• 42 12 illustrates the steps of a method for controlling movement of the closure member based on at least one environmental condition of the vehicle 10, in accordance with aspects of the disclosure;
• 43 12 is a client-server network diagram according to an example embodiment.
• 44 12 is a partial perspective view of the motor vehicle with the closure member equipped with a locking device according to aspects of the disclosure;
• 45 12 is an isometric view of the latch assembly generally showing the components of a latch mechanism, a latch release mechanism, a power release actuator, a latch locking mechanism, a power latch actuator, and a lock release mechanism, the latch assembly operating in an unlatched mode in accordance with aspects of the disclosure;
• 46 shows different positions of the closure member according to aspects of the disclosure;
• the 47A-47D show the switching states of the locking status of the locking arrangement according to the aspects of the disclosure;
• 48 Figure 12 shows an example of a closure member motion profile showing how closure member velocity might be affected by aging seal load in accordance with aspects of the disclosure;
• 49 and 50 illustrate the steps of a method for controlling movement of the closure member of the vehicle according to aspects of the disclosure;
• the 51 and 52 illustrate the steps of a method for controlling movement of the closure member of the vehicle using the power operated closure member actuation system also provided in accordance with aspects of the disclosure;
• 53 Figure 12 is a block diagram of components of a system for executing a learning algorithm using a neural network and/or training the neural network in accordance with some embodiments of the present invention;
• 54 Figure 12 shows a series of nodes that make up a neural network model according to an example embodiment;
• the 55A and 55B 13 illustrate a method of operation for the power latch system to move a door from a fully latched position in automatic mode according to an exemplary embodiment;
• the 56A and 56B FIG. 12 shows a method of operation for the power latch system for closing the door from an open position according to an example embodiment; FIG.
• 57 Figure 12 shows a method of operation of the power latch actuation system for moving the door when the steering wheel tion operates in power assist mode from a stopped door position, according to an illustrative embodiment;
• 58 10 shows a method of operation of the powered closure member actuation system for controlling door movement during an unplanned stop when the door is operated in automatic mode, according to an illustrative embodiment;
• 58A 12 is a door motion diagram depicting door motion during automatic operation before a pause, door motion during power assist mode after an pause in automatic operation, and then resuming automatic operation with a motion profile that does not exceed the door motion before the pause, according to an example embodiment ;
• 59 Figure 10 shows a method of operation of the powered closure member actuation system for controlling movement of the door from a low angle position greater than the secondary position in automatic mode, in accordance with an illustrative embodiment;
• 60 Figure 12 shows an operating method for the system for actuating the power latch to control the door when controlling the door in automatic mode or in power assist mode, in accordance with an illustrative embodiment;
• 60A 12 shows a door control force profile as a function of door angle according to an exemplary embodiment;
• 61 12 illustrates a method of actuating the power closure member while a wind force is applied to the vehicle door, in accordance with an illustrative embodiment;
• 61A and 61B 12 are graphs depicting the changes in measured current as a result of manual control of the door by a user according to an exemplary embodiment;
• 62A 12 illustrates a method of operation of the system for actuating the power operated closure member so as not to detect obstacles while detecting movement of the closure member, in accordance with an illustrative embodiment;
• 62B and 62C 10 illustrate the operating methods of the system for actuating the power operated closure member to detect manual operation of the closure member when the user is detected using the non-contact obstacle detection system, in accordance with illustrative embodiments;
• 63 12 illustrates a method of actuating the power operated closure member to detect movement of the vehicle while movement of the closure member is detected, in accordance with an illustrative embodiment;
• 64 12 illustrates a method of operation of the system for actuating the power operated closure member to detect that there are no obstacles and the vehicle is moving while detecting movement of the closure member, according to an exemplary embodiment;
• 65 Figure 10 shows a method of operation for the power closure member actuation system for moving a door from a closed door position when the door is in a frozen condition, in accordance with an illustrative embodiment;
• 66 12 illustrates a method of actuating the power closure member to move a door from a closed door position when the door is in a mechanically locked condition, in accordance with an illustrative embodiment;
• 67 Figure 12 shows a method performed by the power closure member actuation system controller to calculate an actuation force to move the door, in accordance with an illustrative embodiment;
• 68 FIG. 12 shows a system block diagram of the force closure member actuation system used to carry out the method of FIG 67 is formed in accordance with an illustrative embodiment;
• 69 Figure 12 is an overlay algorithm performed by the force closure member actuation system controller in accordance with an illustrative embodiment;
• 70 12 is a partial perspective view of the actuator of the power latch actuation system showing the torques about the door hinge axis according to the superposition algorithm of FIG 69 in accordance with an illustrative embodiment; and
• 71 Figure 12 is a block diagram of the overlay algorithm used by the force closure member actuation system controller and illustrating incorporating torques of auxiliary door systems according to an illustrative embodiment.

DETAILED DESCRIPTION

In the following description, details are set forth in order to facilitate the understanding of the present disclosure. In some instances, certain circuits, structures, and techniques have not been described or shown in detail so as not to obscure the disclosure.

In general, at least one embodiment of a power actuated fastener system or a user alterable system constructed in accordance with the teachings of the present disclosure is now disclosed. The exemplary embodiment is provided so that this disclosure will be thorough, and will fully convey the scope to those who are skilled in the art. Numerous specific details are listed, such as: B. Examples of specific components, devices, and methods to provide a thorough understanding of embodiments of the present disclosure. Those skilled in the art will appreciate that specific details need not be employed, that example embodiments may be embodied in many different forms, and neither should be construed to limit the scope of the disclosure. In some example embodiments, well-known methods, well-known device structures, and well-known technologies are described in detail.

First, in 1 An example of a motor vehicle 10 is shown including a first passenger door 12, or even an example closure member 12, pivotally attached to a vehicle body 14 by an upper door hinge 16 and a lower door hinge 18, shown in phantom. In accordance with the present disclosure, the pivotable connection between the first passenger door 12 and a vehicle body 14 incorporates a power latch actuation system 20 . In a preferred configuration, the power closure member actuation system 20 generally includes a power operated actuator mechanism or actuator 22 mounted within an interior cavity of the passenger door 12 and a rotary drive mechanism driven by the power operated actuator mechanism 22 and drivingly coupled to a hinge component , which is associated with the lower door hinge 18. The powered rotation of the rotary drive mechanism causes controlled pivotal movement of the passenger door 12 relative to the vehicle body 14. According to this preferred configuration, the power operated actuator mechanism 22 is rigidly coupled in close proximity to a door-mounted hinge component of the upper door hinge 16, while the rotary drive mechanism is coupled to a vehicle mounted hinge component of the lower door hinge 18 is coupled. However, those skilled in the art will recognize that alternative mounting configurations for the electric shutter actuation system 20 are available to accommodate available mounting space. Such an alternative installation configuration may include mounting the power operated operating mechanism to the vehicle body 14 and drivingly connecting the rotary drive mechanism to a door mounted hinge component associated with either the upper door hinge 16 or the lower door hinge 18 .

The upper door hinge 16 and the lower door hinge 18 each include a door-mounting hinge portion and a body-mounting hinge portion that are pivotally connected together by a hinge pin or pivot. The hinge component mounted on the door is hereinafter referred to as a door hinge band, while the hinge component mounted on the body is hereinafter referred to as a body hinge band. Although the power latch actuation system 20 is shown only in connection with the passenger door 12, those skilled in the art will recognize that the power latch actuation system may be used with any other closure element (e.g., door or liftgate) of the vehicle 10, such as a passenger door . B. the rear passenger doors 17 and the tailgate 19 can be connected.

The power closure member actuation system 20 is generally disclosed in 2 shown and serves, as already mentioned, for the controlled pivoting of the vehicle door 12 relative to the vehicle body 14 between an open and a closed position. As in the 4 and 5 As shown, the lower hinge 18 of the power latch actuation system 20 includes a door hinge 28 connected to the vehicle door 12 and a body hinge 30 connected to the vehicle body 14. The door hinge 28 and the body hinge 30 of the lower door hinge 18 are along a connected generally vertically oriented pivot axis A via a hinge pin 32 to establish the pivotal connection between the door hinge 28 and the body hinge 30 . However, any other mechanism or device may be used to make the pivotal connection between the door hinge 28 and the body hinge 30 without this departs from the scope of the present disclosure.

As in 2 Best illustrated, the power latch system 20 includes a power operated operating mechanism 22 having a motor and transmission assembly 34 rigidly connectable to the vehicle door 12 . The motor and gear assembly 34 is configured to generate rotational force. In the preferred embodiment, the motor and transmission assembly 34 includes an electric motor 36 which is coupled to a speed reduction/torque multiplication assembly such as a torque converter. B. a planetary gear with high translation 38 is coupled. The high-ratio planetary gear set 38 may include multiple stages so that the motor and gear assembly 34 can produce rotational power with a high output torque from a very low speed of the electric motor 36 . However, any other arrangement of the motor and transmission assembly 34 to generate the required rotational force may be used without departing from the scope of the present disclosure.

The engine and transmission assembly 34 includes a bracket 40 for connecting to the vehicle door 12. The mounting bracket 40 is configured to connect to the vehicle door 12 adjacent the door mounted door hinge associated with the upper door hinge 16 can. As in 2 As further shown, this mounting of the motor assembly 34 near the upper door hinge 16 of the vehicle door 12 places the power operating mechanism 22 of the power operated latch operating system 20 in close proximity to the axis of rotation A . The mounting of the motor and transmission assembly 34 near the upper door hinge 16 of the vehicle door 12 minimizes the effect that the power operated closure member actuation system 20 can have on the moment of inertia (ie, axis of rotation A) of the vehicle door 12, thereby restricting movement of the vehicle door 12 between their open and closed positions is enhanced or relieved. As in 2 1, mounting the motor and transmission assembly 34 near the upper door hinge 16 of the vehicle door 12 also allows the actuation system of the power latch actuation system 20 to be located in front of an A-pillar glass run channel 35 connected to the vehicle door 12. thereby avoiding any interference with the glass window function of the vehicle door 12. Stated another way, the actuation system 20 may be housed in a portion 37 of an interior door cavity 39 within the vehicle door 12 that is not in use, thus reducing or eliminating interference with the existing hardware/mechanisms within the vehicle door 12. Although the force closure member Alternatively, although actuation system 20 is shown adjacent to upper door hinge 16 of vehicle door 12, power latch actuation system 20 may be mounted elsewhere within vehicle door 12 or even to vehicle body 14 without departing from the scope of the present disclosure.

The power operated closure member actuation system 20 further includes a rotary drive mechanism that is rotated by the power operated actuation mechanism 22 . As in 2 As illustrated, the rotary drive mechanism includes a drive shaft 42 connected to an output member of the gearbox 38 of the motor and gearbox assembly 34 and extending from a first end 44 disposed adjacent the gearbox 38 to a second end 46. The rotating output component of the motor and gearbox assembly 34 may include a first adapter 47 such as a square socket or the like to connect the first end 44 of the driveshaft 42 directly to the rotating output of the gearbox 38 . Additionally, although not specifically shown, a disconnect clutch may be interposed between the rotating output of the transmission 38 and the first end 44 of the driveshaft 42 . In one configuration, the clutch would normally be normally engaged (ie, de-energized) and could be selectively energized (ie, turned on) to disengage. In other words, the optional clutch would drivingly couple the driveshaft 42 to the engine and transmission assembly 34 without the application of electrical energy, while the clutch would require the application of electrical energy to disengage the driveshaft 42 from the driven connection with the transmission 38 decouple. Alternatively, the clutch could be designed to be switched on and off by power. The clutch can be engaged and disengaged with any suitable type of clutch mechanism, e.g. B. with a set of sprags, rollers, a wrap spring, friction plates or other suitable mechanism. The clutch is provided to allow the door 12 to be manually moved by the user 75 between its open and closed positions relative to the vehicle body 14 . Such a separating clutch could be arranged between the output of the electric motor 36 and the input of the transmission 38, for example. The placement of this optional clutch may depend, among other things, on whether or not the transmission 38 includes a "backdriving" transmission. In one possible configuration, the power operated actuator mechanism 22 is without a clutch mechanism and thus a direct permanent coupling is provided between the engine and the output of the power operated actuator mechanism 22 (e.g., a coupling to the vehicle body 14). In such a configuration, the gear assembly 34 may possibly be a back-drivable gear.

The second end 46 of the driveshaft 42 is coupled to the body hinge band 30 of the lower door hinge 18 to transmit rotational power from the engine and transmission assembly 34 through the body hinge band 30 directly to the door 12 . To accommodate angular movement due to pivotal movement of the door 12 relative to the vehicle body 14, the rotary drive mechanism also includes a first universal joint or U-joint 45 disposed between the first adapter 47 and the first end 44 of the drive shaft 42, and a second universal joint or U-joint 48 which is arranged between a second adapter 49 and the second end 46 of the drive shaft 42. Alternatively, constant velocity joints can also be used instead of the U-joints 45, 48. The second adapter 49 can also be a square socket or the like, which is designed for rigid attachment to the hinge strap 30 of the lower door hinge 18 . However, other means of making the drive attachment may be used without departing from the scope of the disclosure. The rotation of the drive shaft 42 by operation of the motor and gear assembly 34 serves to actuate the lower door hinge 18 by rotating the body hinge band 30 about its axis of rotation to which the drive shaft 42 is attached and relative to the door hinge band 28 . As a result, the actuation system 20 is able to effect movement of the vehicle door 12 between its open and closed positions by imparting rotational force “directly” to the body hinge strap 30 of the lower door hinge 18 . While the engine and transmission assembly 34 is connected to the vehicle door 12 adjacent the upper door hinge 16 , the second end 46 of the driveshaft 42 is attached to the body hinge band 30 of the lower door hinge 18 . Depending on the space available in the door cavity 39, it may be possible to mount the motor and transmission assembly 34 adjacent the door mounted hinge component of the lower door hinge 18 and the second end 46 of the driveshaft 42 directly to the vehicle mounted hinge component of the upper door hinge 16 connect to. Alternatively, when the engine and transmission assembly 34 is connected to the vehicle body 14 , the second end 46 of the driveshaft 42 could be attached to the door hinge strap 28 .

3 1 shows a block diagram of the power-operated closure element actuation system 20 of a power-operated door system 21 for moving the closure element (e.g. the vehicle door 12) of the vehicle 10 between an open and a closed position relative to the vehicle body 14. As described above, the electric actuation system for the closure member 20 includes the actuator 22 coupled to the closure member (e.g., the vehicle door 12) and the vehicle body 14 . The actuator 22 is configured to move the closure member 12 relative to the vehicle body 14 . The electrical actuation system for the closure member 20 also includes a controller 50 that is coupled to the actuator 22 and communicates with other vehicle systems (e.g., a body control module 52) and is also powered by the vehicle 10 (e.g., from a vehicle battery 53).

Controller 50 is operable in at least one of the following modes: automatic mode (responsive to an input to initiate automatic mode 54) and assist mode (responsive to motion input 56). In the automatic mode, the controller 50 controls the movement of the closure element through a predefined movement profile (e.g. to open the closure element). The assistance mode differs from the automatic mode in that the movement input 56 from the user 75 can be given continuously in order to move the closure element, in contrast to a one-off input by the user 75 in the automatic mode. Commands 51 from the vehicle systems may include, for example, instructions to the controller 50 to open, close, or stop movement of the closure. Such control inputs as inputs 54, 56 may also include other types of inputs 55 such as e.g. B. an input from a body control module that can receive a wireless command to control the door opening based on a signal such. B. a wireless signal from the key fob 60 or other wireless device such. B. a mobile phone, is received, or by a sensor arrangement that is provided on the vehicle, such as. B. a radar or optical sensor array that detects an approach of a user such. a gesture or a gait, e.g. B. the user 75 walking when the user 75 approaches the vehicle. Also shown are other components that may affect the operation of the power latch actuation system 20, such as: In addition, environmental conditions 59 (rain, cold, heat, etc.) may be monitored by the vehicle 10 (e.g., by the body control module 52) and/or the controller 50. The controller 50 also includes an artificial intelligence learning algorithm 61 (e.g. a set of nodes containing an in 54 form the neural network model shown), which is explained in more detail below.

As in 4 As shown, the controller 50 is configured to receive the automatic mode initiation input 54 and to transition to the automatic mode to issue a movement command in response to receiving the automatic mode initiation input 54 or the movement command 62 input. The automatic mode initiation input 54 may be a manual input at the closure itself or an indirect input at the vehicle (e.g., closure switch 58 on the closure, switch on a key fob 60, etc.). For example, input to initiate automatic mode 54 may be provided by a user or operator actuating a switch (e.g., closure member switch 58), making a gesture near vehicle 10, or using a key fob 60 near vehicle 10 Vehicle 10 has. It should also be appreciated that other automatic mode initiation inputs 54 are contemplated, such as: B., but not limited to a proximity of the user 75, which is detected by a proximity sensor.

In addition, the closure member actuation system 20 includes at least one closure member feedback sensor 64 to determine at least one of a position, a speed, and an attitude of the closure member. Thus, the at least one closure member feedback sensor 64 senses signals from either the actuator 22 by counting revolutions of the electric motor 36, the absolute position of an extendable member (not shown), or from the door 12 (e.g., an absolute position sensor on a door control as an example) and can provide position information to the controller 50. The feedback sensor 64, which communicates with the controller 50, is part of a feedback system or a motion detection system for directly or indirectly detecting the movement of the door, e.g. B. by detecting changes in speed and position of the closure element or associated components. The motion detection system can e.g. B. be hardware-based (e.g. a Hall sensor unit and associated circuitry) to control the movement of a target on the closure element (e.g. on the hinge) or the actuator 22 (e.g. on a motor shaft). and/or may also be software based (e.g. using code and logic to execute a ripple counting algorithm), e.g. B. is executed by the controller 50. Other types of position, velocity, and/or orientation detectors such as accelerometers and inductive-based sensors can be used without limitation.

The power latch actuation system 20 additionally includes at least one non-contact obstacle detection sensor 66, which may be part of a non-contact obstacle detection system coupled to the controller 50, e.g. B. electrically coupled is. The controller 50 is configured to determine whether an obstacle is detected using the at least one non-contact obstacle detection sensor 66 (e.g., using a non-contact obstacle detection algorithm 69), and may, for example, control movement of the closure member in response to determining that the obstacle has been detected. The system for non-contact obstacle detection can also be designed in such a way that it calculates the distance between the closure element and the object or obstacle or a user as an object or obstacle and the door 12 . For example, the non-contact obstacle detection system may be configured to perform time-of-flight calculations to determine distance using a radar-based sensor 66 or to characterize the object as a user or human versus a non-human object, for example based on the determination of the Reflectivity of the object using a radar based sensor 66 and system. The non-contact obstacle detection system can also be configured to determine when an obstacle is detected, e.g. B. by detecting reflected waves of the object or the obstacle or the user, which are sent from the obstacle sensor 66. The non-contact obstacle detection system can also be arranged to determine when an obstacle is not detected, for example by not detecting reflected waves from the object or obstacle or the radar user transmitted by the obstacle sensor 66 . The operation and example of the at least one non-contact obstacle detection sensor 66 and system are described in U.S. Patent Application No. 2018/0238099 discussed, which is incorporated herein by reference.

In the automatic mode, the controller 50 may include one or more movement profiles 68 for the closure element, which are generated by the controller 50 in generating the movement command 62 (e.g. using a movement command generator 70 of the controller 50) in view of the obstacle detection by the at least one non-contact obstacle detection sensor 66 can be used. In the automatic mode, the motion command 62 has a predefined motion profile 68 (e.g. acceleration curve, speed speed curve, deceleration curve, and finally stops at an open position) and is continuously optimized via user feedback (eg automatic mode initiation input 54).

In 5 1, the force-force closure member actuation system 20 is shown as part of a vehicle system architecture 72 consistent with operation in the automatic mode. The force fastener actuation system 20 includes a user interface 74, 76 configured to recognize user interface input from a user 75 via an interface 77 (e.g., a touch screen) to change at least one stored motion control parameter , which is associated with the movement of the shutter element. Thus, the controller 50 of the power fastener actuation system 20 or user modifiable system is configured to present the at least one stored motion control parameter on the user interface 74,76.

The body control module 52 communicates with the controller 50 via a vehicle bus 78 (e.g., a Local Interconnect Network or LIN bus). The body control module 52 may also communicate with the key fob 60 (eg, wirelessly) and a shutter switch 58 configured to output a shutter trigger signal via the body control module 52 . Alternatively, the shutter switch 58 could be connected directly to the controller 50 or otherwise communicate with the controller 50 . The body control module 52 may also be in communication with an environmental sensor (e.g., temperature sensor 80). The controller 50 is also configured to change the at least one stored motion control parameter in response to detecting the user interface input. A screen communications interface controller 82 associated with the user interface 74, 76 may communicate with a shutter communications interface controller 84 associated with the controller 50 via the vehicle bus 78, for example. In other words, the closure communication interface controller 84 is coupled to the vehicle bus 78 and the controller 50 to enable communication between the controller 50 and the vehicle bus 78 . Thus, the user interface input can be communicated from the user interface 74, 76 to the controller 50.

A vehicle incline sensor 86 (eg, an accelerometer) is also coupled to the controller 50 to detect incline of the vehicle 10 . The vehicle pitch sensor 86 outputs a pitch signal corresponding to the pitch of the vehicle 10, and the controller 50 is further configured to receive the pitch signal and either a force command 88 ( 6 ) or adjusts the movement command 62 accordingly. While the vehicle incline sensor 86 may be separate from within the controller 50, the vehicle incline sensor 86 may also be integrated into the controller 50 or into another control module, such as a controller. B. the body control module 52, can be integrated, but is not limited to.

The controller 50 is further configured to perform at least an initial boundary condition check prior to generation of the command signal (e.g., force command 88 or motion command 62) and an in-process boundary check during generation of the command signal. Such limit checks prevent movement of the closure member and operation of the actuator 22 outside of a number of predetermined operating limits or boundary conditions 91 and are discussed in more detail below.

The controller 50 may also be coupled to a vehicle lock 83 . In addition, the controller 50 is coupled to a storage device 92 having at least one memory location for storing at least one stored motion control parameter associated with controlling the movement of the closure member (e.g., door 12). Storage device 92 may also store one or more closure member motion profiles 68 (e.g., motion profile A 68a, motion profile B 68b, motion profile C 68c) and constraints 91 (e.g., the number of predetermined operating limits such as minimum limits 91a and maximum limits 91b). Storage device 92 also stores original equipment manufacturer (OEM) modifiable door movement parameters 89 (e.g., door control profiles and deployment profiles).

The controller 50 is configured to generate the motion command 62 using the at least one stored motion control parameter to control an actuator output force acting on the closure member to move the closure member. A pulse width modulation unit 101 is coupled to the controller 50 and configured to receive a pulse width control signal and to output an actuator command signal corresponding to the pulse width control signal.

Similar to in 5 displays 5A the power closure actuator system 20 as part of another vehicle system architecture 72' operable in automatic mode and powered assist mode. The body control module 52 can also be connected to at least one environment sensor 80, 81 hen to capture at least one environmental condition 59. In particular, the at least one environmental sensor 80, 81 can be at least one of a temperature sensor 80 or a rain sensor 81. While the temperature sensor 80 and the rain sensor 81 may be connected to the body control module 52, they may alternatively be incorporated into the body control module 52 and/or another unit, such as an engine. B. the controller 50, can be integrated, without being limited to this. In addition, other environmental sensors 80, 81 are also conceivable.

The controller is also coupled to the latch 83, which includes a latch motor 99 (for latching the closure member 12 in the closed position). The latch 83 also includes a number of primary and secondary latch position sensors or switches 85 that provide feedback to the controller 50 as to whether the latch 83 is in a primary latched position or a secondary latched position, for example.

Again, the vehicle incline sensor 86 (eg, an accelerometer or inclinometer) is coupled to the controller 50 to sense the incline of the vehicle 10 . The vehicle pitch sensor 86 outputs a pitch signal corresponding to the pitch of the vehicle 10, and the controller 50 is further configured to receive the pitch signal and either the force command 88 ( 6 ) or adjusts the movement command 62 accordingly. Accordingly, for example, the motion command 62 may be adjusted so that the door 12 moves at the same speed and motion profile as if the door 12 were moved by a motion command such as on level ground. As a result, the actuator 22 may move the door 12 such that the motion profile (e.g., speed versus door position) is the same on a grade or follows the motion profile as if the vehicle were not on a grade. In other words, the user sees no visual difference in the representation of door movement (velocity and position) when the vehicle 10 is on an incline or not. For example, the force command 88 can be set to move the door 12 with the same resistive force experienced by the user as compared to moving the door with a force command on level terrain. As a result, the actuator 22 can move the door such that the force required for a user to move the door 12 when the vehicle is on an incline is equal to the force required for a user to move the door when the vehicle is on an incline the vehicle is not on an incline. In other words, the occupant experiences the same reactive drag force of the door that opposes the occupant's input force whether or not the vehicle 10 is on an incline.

A pulse width modulation unit 101 is also coupled to the controller 50 and configured to receive a pulse width control signal and to output an actuator command signal corresponding to the pulse width control signal. The controller 50 includes a processor or other processing unit 110 that communicates with the storage device 92 . Thus, the controller 50 is coupled to the storage device 92 to store a number of automatic shutter member movement parameters 68, 93, 94, 95 for the automatic mode and a number of powered shutter member movement parameters 96, 100, 102, 106 for the powered assist mode stored and used by the controller 50 to control movement of the closure member (e.g., door 12 or 17). In particular, the number of automatic closure member motion parameters 68, 93, 94, 95 includes at least one of the closure member motion profiles 68 (e.g. a number of closure member velocity and acceleration profiles), a number of closure member stop positions 93 (see e.g. B. 46 ), a shutter control sensitivity 94 and a number of shutter control parameters 95 . The plurality of driven motion parameters 96, 100, 102, 106 for the closure member include at least one of a plurality of fixed parameters of the closure member model 96 and a force command generator algorithm 100, as well as a closure member model 102 and a plurality of closure member component profiles 106. In addition, the storage device 92 stores a date, mileage, and the Cycle count 97. The storage device 92 may also store constraints (e.g., multiple predetermined operating limits) used for limit checking to prevent movement of the closure member and operation of the actuator 22 outside of a plurality of predetermined operating limits or constraints.

Accordingly, the controller 50 is configured to receive either the motion input 56 associated with the powered assist mode or the automatic mode initiation input 54 associated with the automatic mode. The controller 50 is then configured to send the actuator 22 either a motion command 62 based on the plurality of automatic shutter element motion parameters 68, 93, 94, 95 in automatic mode or the Sends force command 88 based on the plurality of powered closure member movement parameters 96, 100, 102, 106 in powered assist mode to vary the actuator output force acting on closure member 12 to move closure member 12. The controller 50 additionally monitors and analyzes the historical operation of the powered shutter actuation system 20 using the artificial intelligence learning algorithm 61 and adjusts the plurality of automatic shutter movement parameters 68, 93, 94, 95 and the plurality of power shutter movement parameters 96, 100, 102, 106 accordingly.

As described above, the power latch actuation system 20 may include an environmental sensor 80 , 81 in communication with the controller 50 and configured to sense at least one environmental condition of the vehicle 10 . Thus, the historical operation monitored and analyzed by the controller 50 using the artificial intelligence learning algorithm 61 may include the at least one environmental condition of the vehicle 10 . Thus, the controller is further configured to determine the plurality of parameters for movement of the automatic shutter 68, 93, 94, 95 and the plurality of parameters for movement of the powered shutter 96, 100, 102, 106 based on the at least one environmental condition of the vehicle 10 adjusts.

As in 6 Best illustrated, the controller 50 is also configured to receive the motion input 56 and enter the power assist mode to issue the force command 88 (e.g., using a force command generator 98 of the controller 50 as a function of a force command algorithm 100, a door model 102, boundary conditions 91 and a number of closure member 106 profile elements, as discussed in more detail below) modified by the artificial intelligence 61 learning algorithm. The controller 50 is also configured to generate the force command 88 to control an actuator output force acting on the closure member to move the closure member. Thus, the controller 50 varies an actuator output force acting on the closure member to move the closure member in response to receiving the movement input 56 . In force assist mode, the force command 88 has a particular force profile (e.g., can be modified to change the user's experience with the closure member, e.g., by making it lighter or heavier, or based on changes in environmental conditions and is modified by the artificial intelligence learning algorithm 61, e.g., by increasing or decreasing the power assist for the user 75). The force command 88 is z. B. continuously optimized based on current user feedback. A user motion sensor 104 is coupled to the controller 50 and configured to sense motion input 56 from the user 75 on the closure member to move the closure member. The feedback of the door movement 105 is also returned to the user 75 by the closure element (e.g. the door 12). Here, too, the electrical actuation system for the closure element (20) comprises at least one feedback sensor for the closure element (64) for determining the position and/or the speed of the closure element. The at least one shutter feedback sensor 64 senses shutter position and/or speed, as described above for the automatic mode, and may provide corresponding position/motion information or signals to the controller 50 indicative of how the user 75 is performing interacts with the closure element. For example, the at least one closure member feedback sensor 64 may determine how fast the user 75 is moving the closure member (e.g., door 12). The position or tilt sensor 86 can also determine the angle or tilt of the shutter, and the electrical actuation system for the shutter 20 can compensate for such an angle to assist the user 75 and any effects on the movement of the shutter caused by the change of angle (e.g., changes in how gravity can affect the closure element differently based on the angle of the closure element relative to a ground plane).

like the inside 5 Vehicle system architecture shown is in 7 Illustrated is a vehicle system architecture 72" consistent with the operation of the closure member power operated actuation system 20 of FIG 6 corresponds to in the powered assistance mode. Again, the power closure member actuation system 20 includes the user interface 74, 76 configured to recognize user interface input to alter at least one stored motion control parameter associated with movement of the closure member. The controller 50 of the power operated closure member actuation system 20 or user modifiable system is configured to display the at least one stored motion control parameter on the user interface 74, 76 (e.g., displayed parameters and functions 111). The controller 50 is also designed in such a way that it at least changes a stored motion control parameter stored in storage device 92 in response to detecting the user interface input. Thus, storage device 92 stores the at least one stored motion control parameter and other closure member parameters 106 used by system 20 to assist user 75 in moving the closure member, such as closure member 106b weight 106a and dimensions, closure member inertia 106c, closure member friction 106d, others Closure element attributes 106e, any mathematical models of the closure element (e.g., models of the closure element (e.g., closure element model 102), any models of the physical components 108 (e.g., door seal model 108a, time/wear/temperature-based model 108b) that the Affect movement of the closure element and can change over time, for example due to wear, and door functions 109 (e.g. anti-trap protection, door control).

Accordingly, the controller 50 is configured to generate the force command 88 based on the at least one stored motion control parameter and the at least one environmental condition 59 to control the actuator output force acting on the closure member to move the closure member. Again, the closure communications interface controller 84 is coupled to a vehicle bus 78 and to the controller 50 to enable communication between the controller 50 and the vehicle bus 78 . The pulse width modulation unit 101 is coupled to the controller 50 and configured to receive the pulse width control signal and to output the actuator command signal corresponding to the pulse width control signal. As in 5 For example, the closure communication interface controller 84 is coupled to the vehicle bus 78 and the controller 50 to enable communication between the controller 50 and the vehicle bus 78 .

As in 8th Best illustrated, the user interface 74, 76 of the force fastener actuation system 20 may include a mobile device 74 configured to communicate with the controller 50 wirelessly. Alternatively or in addition to the mobile device, the user interface 74 , 76 may include a control console 76 located in the vehicle 10 . In any event, the user interface 74, 76 displays the at least one stored motion control parameter and transmits the user interface inputs to the controller 50. The controller 50 includes a processor or other computing unit 110 that communicates with the memory device 92 in which the at least one stored motion control parameters is stored.

As in 9 As best illustrated, the at least one stored motion control parameter of the force fastener actuation system 20 may be changed by the user 75 using the user interface 74, 76, for example. Thus, the at least one stored motion control parameter can include a number of user motion control parameters that can be changed by the user 75 via the user interface 74,76. However, manufacturers 107 using the power latch actuation system 20 in a vehicle 10 may prefer to restrict the modification of certain parameters to ensure desirable operation of the power latch actuation system 20. Consequently, the at least one stored motion control parameter may also include a number of manufacturer motion control parameters that are modifiable by manufacturer 107 (e.g. modified using OEM interface 112 and stored in storage device 92, as in 5 shown, or elsewhere, as in 7 shown). Such manufacturer motion control parameters 89 as e.g. B. jump-up profiles (movement profile for the presentation of the closure element for the user 75) cannot be changed by the user 75. For example, the deployment of the latch can be adjusted to ensure that the latch 83 properly transitions to an open state (e.g., a latch 83 pawl that is too slow may re-engage, a latch 83 ratchet that is too fast may not freak out).

A closer look at the automatic mode shows 10 that the user interface 74, 76 comprises a touch screen 113 of the control console 76 arranged in the vehicle 10, which is configured in such a way that it displays the at least one stored motion control parameter and receives the inputs of the user interface. As shown and as previously discussed, the display communications interface controller 82 is in communication with the shutter communications interface controller 84. A touch screen controller 114 is coupled to the touch screen 113 and the display communications interface controller 82 and is configured such that it transmits the user interface input to the controller 50 via the on-screen communication interface control unit 82 . 10 also shows the at least one stored motion control parameter entered by user 75 for automatic mode can be set or changed. The at least one stored motion control parameter may include a shutter opening and closing speed, a shutter open stop position, and a door control sensitivity; however, it should be appreciated that additional or different parameters can be used for the at least one stored motion control parameter.

11 12 shows that the at least one stored motion control parameter includes a number of stored motion control parameters associated with the automatic mode and mappable to corresponding memory locations in memory device 92. FIG. One of the memory locations is for a bad weather detected speed 123. The user interface 74, 76 displays the current value stored in the memory device 92 and the limits to which the user 75 is allowed to change these values, e.g. B. based on system calibration limits. In this way, the user 75 is unable to exceed the operating parameter value that could damage the closure member (e.g., door 12) during operation. For example, the user 75 cannot set an opening-closing speed that would cause the closure member to slam the hard stop in the open position, which could result in damage to the hinges.

As in 12 As shown, upon receipt of automatic mode initiation input 54, controller 50 transitions to automatic mode. As above with reference to the 5 and 7 described, the pulse width modulation unit 101 is coupled to the controller 50 and configured to receive the pulse width control signal and to output an actuator command signal corresponding to the pulse width control signal. An H-bridge 116 is coupled to the pulse width modulation unit and configured to apply a control voltage to the actuator 22 based on the actuator command signal. A force signal generator 118 is coupled to the controller 50 (or may itself be part of the controller 50) and is configured to generate a pulse width modulated control signal to actuate an actuator 22 of the powered closure member actuation system 20 to close the closure member (e.g., using the controller 50's motion command generator 70 triggered by the automatic mode initiation input 54, the door switch 58, or commands 55 from the vehicle 10 and receiving position feedback from the actuator 22, 64). Thus, the controller 50 is configured to receive the user interface input to change the at least one stored motion control parameter using the user interface 74,76. Controller 50 is also configured to modify the at least one stored motion control parameter stored in storage device 92 and generate either a force command 88 or a motion command 62 for application to force signal generator 118 using the at least one stored motion control parameter . Additionally, the user interface 74, 76, the force signal generator 118, the storage device 92, and the controller 50 may comprise an electronic control system for the force fastener actuation system 20, for example.

Here, too, the controller 50 is designed such that it receives the position and/or the speed of the closure element from the at least one closure element feedback sensor 64 in the automatic mode. The controller 50 calculates the motion command 62 based on the position and/or speed of the shutter and a function of a target motion speed 120 and a motion speed adjustment factor 122 in response to receiving the input 54 to initiate automatic mode using a motion command calculator 124 of the controller 50 im automatic mode. The controller 50 generates a pulse width modulation control signal based on the motion command 62 using a duty cycle register 126 and a comparator 128 of the pulse width modulation control signal generator 118 of the controller 50 in automatic mode. The controller 50 also communicates with the shutter switch 58 configured to output the shutter trigger signal (e.g., via the body control module 52). Thus, the automatic mode initiation input 54 may be the shutter release signal from the shutter switch 58 .

13 shows an example of changes in the duty cycle register corresponding to a change in the pulse width modulation duty cycle from 50% to 55%. Such a change can be triggered by the calculation of the drive command 62 by the drive command calculator of the controller 50 . Consequently, the PWM duty cycle of the PWM control signal increases as shown.

14 FIG. 12 shows stored motion control parameters stored in storage device 92. FIG. Each of the stored motion control parameters can e.g. B. in a change of the movement profile in relation to a speed of the closure element for each be translated from several angles of the closure element. As shown, a pop-up position (e.g., for presenting the closure member to the user 75) is achieved by ramping the speed of the closure member to a first predetermined speed. Thereafter, the speed of the closure element is increased to a second predetermined speed Vswing, which remains constant for a calculated duration based on a planned stop position. The speed of the shutter is ramped down from the second predetermined speed until the shutter reaches the scheduled stop position. Such a second predetermined speed or speed of movement may be set by the user 75, as shown.

15 12 shows additional stored motion control parameters stored in storage device 92, including a door control sensitivity and a motion profile. The motion or movement profile may be adjusted by a user selectable delay (e.g., when the shutter speed decreases from the second predetermined speed until the shutter reaches the planned stop position). For example, user 75 can change a maximum deceleration rate. The sensitivity of the door control may allow the user 75 to determine shutter velocities (A, B, C, D) and shutter angles or positions (ε, δ, γ, β, α, θ, α', β ') e.g. for both opening and closing directions.

the 16A and 16B 12 show adjustments in motion profile with respect to shutter velocity for each of multiple shutter angles. As shown, the velocity and positions are manipulated in response to changes or adjustments to the stored motion control parameters by the user 75, including an open stop position of the closure member ( 16A) and a second predetermined speed Vswing, which is adjusted ( 16B) .

As described above, the controller 50 is configured to receive the motion input 56 and transition into the electric assist mode in response. As in 10 above includes the in 17 illustrated user interface 74, 76 the touch screen of the vehicle 10 arranged in the control console. In addition to displaying the at least one stored motion control parameter for the automatic mode, the touchscreen is configured to display the at least one stored motion control parameter and receive user interface inputs for the power assist mode. For example, a "feel" of the closure member as the user 75 moves it (ie, motion input 56) may be set via the user interface 74, 76 in addition to the closure member inspection profiles and positions. Again, the screen communications interface controller 82 is in communication with the shutter communications interface controller 84. The touch screen controller 114 is coupled to the touch screen and screen communications interface controller 82 and is configured to accept user interface inputs via the screen communication interface control unit 82 transmits to the controller 50 . In this way, the at least one stored motion control parameter can be adjusted or changed by the user 75 for the powered assistance mode. 18 12 shows that the plurality of stored motion control parameters associated with the powered assistance mode may be mapped to corresponding storage locations in storage device 92. FIG. Such memory locations may include, for example, door control positions 115, a strong door control profile 117a, and a soft door control profile 117b. Again, the user interface 74, 76 displays the current value stored in the storage device 92 and the limits to which the user 75 is permitted to change these values based on system calibration limits, for example. Therefore, the user 75 cannot exceed the operating parameter value that could damage the closure element during operation. For example, the user 75 cannot move the closure member past a certain speed when the closure member is at an extreme incline.

As in 19 Best shown, the controller 50 is also configured to receive the position and/or speed of the shutter from the at least one shutter feedback sensor 64 in the power assist mode. Therefore, the controller 50 is configured to calculate the force command 88 based on the motion input 56 and the position and/or speed of the closure member using the force command algorithm 100 in a force command calculation module 119 of the force command generator 98 and the closure member model 102 of the controller 50 in the driven Assistance mode determined. In particular, the motion input 56 may be a force command calculation output triggered by the force command calculation module 119 . For example, the output of the force command calculator may correspond to the function (X(multiplier) x door parameter), e.g. B. 1.1 x the weight of the door. Thus, the controller 50 is configured to generate a pulse width modulation control signal based on the force command 88 to vary the actuator output force acting on the closure member to control movement of the closure member using the pulse width modulation control signal generator 118 of the controller 50 to support powered assistance mode.

More precisely, as in 19 As shown, the controller 50 calculates the force command 88 using pre-compensation and is further configured to calculate the force command 88 based on the motion input 56 and a function of a force sensitivity factor 130 and the closure member model 102 in response to receiving the motion input 56 in the driven Auxiliary mode calculated. The controller 50 is also configured to generate a pulse width modulation control signal based on the force command 88 using the duty cycle register 126 and the comparator 128 of the pulse width modulation control signal generator 118 of the controller 50 in the powered assist mode. For example, based on the sensitivity change made by the user, the system 20 applies the force sensitivity factor to the force command calculations, resulting in a change in the input value for the duty cycle calculation by the pulse width modulation control signal generator. In this case, the sensitivity change is performed as part of the force command calculations (preprocessing). For example, the weight of the closure member is increased by a multiplication factor and the force command 88 is increased to move the closure member with more force, simulating a lighter physical closure member (e.g., the door 12).

As in 20 Alternatively, best illustrated, the controller 50 may calculate the force command 88 using post-compensation. In post-compensation, the controller 50 calculates the force command 88 as a function of an initial force command 132 calculated from the motion input 56 and the closure member model 102 and the force sensitivity factor 130 in response to receiving the motion input 56 in the powered assist mode. The controller 50 is also configured to generate a pulse width modulation control signal based on the force command 88 using the duty cycle register 126 of the pulse width modulation control signal generator 118 of the controller 50 in the powered assist mode. Again, the force command algorithm 98 and the closure member model 102 are stored in the memory device 92 coupled to the controller 50 . The fastener model 102 uses the number of model parameters 106 including at least one of a fastener weight attribute and a fastener friction attribute and a fastener inertia attribute and a fastener length attribute. For example, based on the sensitivity change made by the user, the system 20 applies the force sensitivity factor 130 to the result of the force command calculations 132, resulting in a change in the input value for the duty cycle calculation by the pulse width modulation control signal generator. Sensitivity is changed by adjusting force command 88 (post-processing).

21 12 shows the fit of the force profiles with respect to the force experienced by the fastener (e.g., measured at a fastener handle) for each of the multiple fastener angles. As already mentioned, the controller 50 is configured to perform at least one of the following two checks: the initial constraint check before the generation of the command signal and the in-process constraint check during the generation of the command signal. As shown, example boundary conditions 91 (eg, the number of predetermined operating limits) for the powered assist mode are shown in relation to a predetermined assist force Fswing provided by the actuator 22 over the entire range of movement of the closure member up to the stop position. The default assistant may be adjusted as shown, but such adjustments are checked by the controller 50 to ensure they do not exceed the constraints 91 . Thus, the controller 50 uses the boundary conditions 91 in addition to the closure member 102 model, the force sensitivity compensation factor 130, and the force command algorithm 98 when generating the force command 88 in the powered assist mode.

As in the 22-27 Best illustrated, a method for controlling movement of a closure member based on a user preference is also provided. The procedure that initially refers to 22 relates comprises the steps of: 200 starting a user preference mode; and 201 reading the at least one stored motion control parameter from a storage device 92. The method continues by having 202 at least one stored ter motion control parameter associated with controlling the movement of the closure member is presented using a user interface 74,76. The method also includes the step 204 of receiving a user interface input on the user interface 74, 76 corresponding to a change in the at least one stored motion control parameter. The method continues with step 206 where the at least one stored motion control parameter is changed in response to detecting the user 75 interacting with the user interface 74,76. The next step of the method is 208, writing a modification of the at least one stored motion control parameter to the storage device 92 based on the user interface input. The method then includes the steps 209 of starting a door command generator function and 210 of detecting a motion input 56 to move the closure member and entering a powered assist mode in response thereto. The method continues with step 212 of reading the at least one stored motion control parameter that has changed in the storage device 92 in the power assist mode. The method also includes the step 214 of generating a force command 88 or a motion command 62 using the at least one stored motion control parameter (e.g., generating the force command 88 based on the motion input 56 and using the at least one stored motion control parameter in the power assist mode), to control an actuator 22 acting on the shutter to move the shutter. The method may also include the step 216 of commanding movement of the closure member by the actuator 22 receiving the force command 88 to vary an actuator output force acting on the closure member to move the closure member in the powered assist mode.

Referring to the 23 and 24 the method for controlling the movement of a closure element based on user preference comprises the steps 200, starting a user preference mode, and 201, reading the at least one stored movement control parameter from a storage device 92. The method continues with step 202, in which at least one stored motion control parameter associated with controlling the movement of the closure member is displayed using a user interface 74,76. Next, a number of predetermined operating limits of the at least one stored motion control parameter are displayed 218 on the user interface 74, 76 based on a number of previously stored calibration limits. The method proceeds to step 204, where a user interface input is received on the user interface 74, 76 corresponding to a change in the at least one stored motion control parameter within a number of pre-stored calibration limits (e.g., boundary conditions 91). The next step of the method is 208, writing a change in the at least one stored motion control parameter to the storage device 92 based on the user interface input. The method then includes steps 220, starting a door operation mode, and 221, detecting a motion input 56 to move the closure member or an automatic mode initiation input 54 and entering a powered assist mode in response to detecting the motion input 56 and entering an automatic mode in response upon receipt of the automatic mode initiation input 54 . The method continues by 212 , reading the at least one stored motion control parameter that has been changed from the storage device 92 .

As previously mentioned, the controller 50 is configured to perform at least an initial constraint check prior to the generation of the command signal and an in-process constraint check during the generation of the command signal. Thus, the next step in the method is 222, performing an initial boundary check. More specifically, step 222, which performs the initial boundary check, may be as in 25 best shown, include step 224 determining whether a battery voltage is within the number of pre-stored calibration limits. Next, at 226, a battery voltage error is registered in response to the battery voltage not being within the plurality of pre-stored calibration limits. The initial limit check 222 may proceed to step 228 where, in response to the battery voltage being within the plurality of pre-stored calibration limits, a determination is made as to whether an attitude of the vehicle 10 is within the plurality of pre-stored calibration limits. The initial limit check 222 may also include the step 230 of registering a vehicle attitude error in response to the attitude of the vehicle 10 not being within the number of pre-stored calibration limits. Next, the initial limit check 222 includes step 232, which determines whether an ambient temperature is within the plurality of prestored calibration limits is in response to the attitude of the vehicle 10 being within the plurality of pre-stored calibration limits. The method proceeds to step 234, where an ambient temperature error is registered in response to the ambient temperature not being within the plurality of pre-stored calibration limits. Next, at 236, in response to the ambient temperature being within the plurality of pre-stored calibration limits, it is determined whether the obstacle detection is within the plurality of pre-stored calibration limits, and at 237 the force command 88 or motion command 62 is defined to move the closure member. The initial limit check 222 additionally includes the steps 238 of registering an obstacle detection error in response to the obstacle detection not being within the plurality of pre-stored calibration limits, and 239 preventing the generation of the one of the force command 88 and the motion command 62.

As in 26 Best illustrated, the method may also include the step 240 of generating the force command 88 or motion command 62 based on the battery voltage and a default force command 88 or default motion command for a predetermined battery voltage (e.g., a normal battery voltage , indicated as digit 240a). The method may also include the step 242 of generating the force command 88 or movement command 62 based on the attitude of the vehicle 10 and a default force command 88 or a default movement command 62 for a predetermined attitude of the vehicle 10 (e.g., the vehicle 10 at a flat surface indicated as numeral 242a). Next 244, adjusting the force command 88 or motion command 62 based on the ambient temperature and a default force command or motion command 62 for a predetermined ambient temperature (e.g., a temperature of 15 degrees Celsius, indicated as numeral 244a). The method may also include the step 246 of generating the force command 88 or motion command 62 based on the obstacle detection and a default force command or motion command 62 for a predetermined obstacle detection (e.g., an obstacle within a predetermined angular range of the door, specified as Paragraph 246a) is adjusted.

In this way, the controller 50 makes an adjustment to the force command 88 or the motion command 62 . For example, if at an extreme vehicle pitch, if continued movement of the closure member at a certain speed may result in overheating of the motor 36 of the actuator 22, the closure member can still be opened at such inclination if the speed of movement of the closure member differs from that set by the user selected preferred speed is changed by the controller 50, but at a slower speed and without overheating the motor 36. Thus, rather than going into a manual mode (in which the shutter member is moved solely by the user 75), the user 75 can still choose a have powered operation, but at a reduced power level, so that the system 20, e.g. B. the drive motor 36 is not damaged. Because user preferences can be achieved on a flat surface, the limit tests ensure that performance can be met at other vehicle 10 inclines or conditions.

Back to the 23 and 24 : The method proceeds to step 248 where it is determined whether there is an initial error during the initial limit check. The next step in the method is to prevent issuance of force command 88 or movement command 62 at 250 and to stop the closure member at 252 in response to the detection of the initial failure. The method continues with step 254, where either the force command 88 or the motion command 62 based on the position and/or speed of the closure member and the force command 88 based on the motion input 56 using the at least one stored motion control parameter in response is generated upon non-detection of the initial error.

Next, the method includes the step 256 of performing an in-process limit check during the generation of the force command 88 or the motion command 62. As in FIG 27 Best illustrated, step 256, which performs in-process limit checking during generation of force command 88 or motion command 62, may include step 258 of determining whether an acceleration curve of a motion profile is within acceleration limits (e.g., between a maximum acceleration limit 258a and a minimum acceleration limit 258b) of the number of pre-stored calibration limits or boundary conditions 91. The in-process limit check 256 may also include the step 260 of registering an acceleration error if the acceleration curve is not within the acceleration limits. The in-process limit check 256 may also include the step 262 of determining whether a speed curve is within the speed limits zen (eg, between a maximum velocity limit 262a and a minimum velocity limit 262b) of the plurality of pre-stored calibration limits or constraints 91 when the acceleration curve is within the acceleration limits. In addition, the in-process limit check 256 also includes step 264, where a speed error is registered in response to the speed curve not being within the speed limits. Next, the in-process limit check 256 includes the step 266 of, in response to the deceleration curve being within the deceleration limits, determining whether a deceleration curve is within the deceleration limits (e.g., between a maximum deceleration limit 266a and a minimum deceleration limit 266b). the number of previously stored calibration limits. The in-process limit check 256 additionally includes the step 268 of registering a deceleration error if the deceleration curve is not within the deceleration limits. The method proceeds to step 270, where it is determined whether an obstacle is detected within the obstacle detection limits (eg, between a maximum distance detection limit 270a and a minimum distance detection limit 270b) of the number of pre-stored calibration limits or constraints 91 if the obstacle is within the obstacle detection limits is recognized. The in-process limit check 256 also includes the steps 271 of determining that the force command 88 or motion command 62 is valid, and 272 registering an obstacle detection error in response to the detected obstacle not being within the obstacle detection limits, and 273 stopping the closure member ( e.g. door stop, door check or manual mode).

Back to 24 : The method continues by determining at 274 whether there is a process error during limit checking during the process. The method continues with step 276 to prevent the issuance of the force command 88 or the movement command 62 and 278 to stop the closure member in response to the detection of the process error. The next steps of the method are 280, commanding movement of the closure member by actuator 22 receiving force command 88 or movement command 62 to control an actuator output force acting on the closure member to move the failure of the closure member , and 281, ending the procedure ( 23 ). The method also includes step 282 which returns to step 256 where the in-process limit checking is performed if the in-process error is not detected. the 28A and 28B show example profile changes based on user interface input (user selectable door stop position in 28A and user-selectable speed in 28B) . Also shown are examples of the number of pre-stored calibration limits for the motion profiles 68.

29 Figure 12 shows an example of shutter movement outside of the multiple pre-stored calibration limits. As illustrated, the actuator 22 may be commanded to decelerate the closure member upon detection of the process error during process limit testing to ensure the closure member stops before reaching the hard stop position. As indicated at 284, the door pitch is changing (e.g., the user 75 has jacked up one side of the vehicle 10 to change a tire, causing the door to gain speed during opening). At digit 286, the door speed is increasing beyond a calibration limit (limit 91) (e.g., motor 36 would not be sufficient to decelerate the door before it hits a hard stop if the speed is allowed to continue increasing). At 288 a process error is detected, the motor 36 is commanded to decelerate the door to ensure that the door stops before reaching the hard stop position and the maximum full travel position is displayed at 290.

Thus, the user interface 74, 76 may display user-modifiable limits depending on the boundary conditions 91 or the number of pre-stored calibration limits, for example in response to sensing the condition of the vehicle 10 (battery level, tilt, temperature), and/or the controller 50 can check before operation whether the closure element can be moved (initial limit check) and the controller 50 can be configured to check during operation (in process) whether the limits are not exceeded, for example due to extreme user input when the vehicle 10 is in an extreme operating condition (e.g., hot temperature, extreme incline).

30 12 shows a range of movement of the closure member (e.g., door 12) between the open and closed positions. While the open position and the closed position are shown as being 90 degrees apart, other configurations and movements of the closure member 12 should be contemplated (e.g., the open position and the closed position may be more or less than 90 degrees apart). Based on the position and/or speed of the closure member 12 sensed by the at least one closure member feedback sensor 64, the controller 50 may control the actuator 22 to prevent or minimize slamming of the closure member 12 (e.g., .to prevent abuse by the user 75). The conditions for controlling the slam depend on the direction of the slam (open or close) and the angle at which the slam is detected. In the 30 The X and Y angles shown are example conditions for the closing control in the opening and closing directions, respectively, and a full angle of movement is indicated as 30°.

Abuse by slamming the closure member 12 can result in damage to the vehicle latch 83, the vehicle door 12 and the door hinges 16, 18, and also damage the actuator 22 if the slamming causes the actuator 22 to exceed an operating rating of the actuator. For example, slamming shut of the closure member 12 itself may cause the actuator 22 to be operated beyond an operating rating, which may result in damage to the actuator 22, resulting in reduced life and performance, and eventual failure requires actuator 22 replacement or repair. In one example, slamming of the closure member 12 may cause the actuator 22 to operate above an operating rating and, for example, cause the motor 36 of the actuator 22 to rotate above a maximum speed limit of the motor 36, resulting in damage above such speed limit of the motor 36 in the form of detachment of coil windings due to high centrifugal forces in the configuration in which the actuator 22 includes a brushed DC motor, or other types of damage. Such slamming of the closure member 12 may cause the motor 36 to exceed the maximum speed limit, particularly when a reduction gear is coupled to the motor output, resulting in an increase in the speed of the motor 36 due to slower movement of the closure member 12 . Additionally, misuse of the slam responsive actuator 22 to mitigate slam induced damage to the vehicle door, latch, door hinges or the like may also cause damage to the responsive actuator 22, for example as a result controlling the actuator 22 to reduce the speed of the closure member 12 caused by a slamming without controlling the actuator 22 to exceed operational limits or ratings of the actuator 22 to achieve such speed reductions, for example, to ensure that the closure member 12 is stopped before it experiences a hard stop. For example, the present disclosure contemplates controlling the actuator 22 to respond to an impact event within the operational limits of the actuator 22 to prevent and/or mitigate damage to the actuator 22 resulting from an impact event, and, for example, controlling the actuator 22 to maintaining actuator 22 operation below a maximum motor 36 speed (e.g., excessive speed may result in coil winding). e.g., excessive speed may cause coil windings to loosen or become disconnected), maximum power rating of motor 36 (e.g., excessive power supplied to motor 36 of actuator 22 may result in damage to the electrical components and/or result in overheating), a maximum back electromotive force (EMF) output power (e.g., when a motor 36 can be driven backwards as a result of a closure member 12 slamming shut without reducing the speed of the reverse driven motor 36 this can result in excessive back emf being generated by motor 36, which can result in overloading of electronic components such as controller 50 or other back EMF protection circuitry), maximum thermal output (e.g., B. Operating the motor 36 for an extended period of time in a stuck or slow moving shutter due to door tilt 12 against which the actuator 22 must control the movement of the door 12) and a maximum electrical braking power (e.g. (e.g., excessive power to motor 36 of actuator 22 may damage electrical components and/or result in overheating). Other limit values or nominal values of the actuator are conceivable, e.g. B. any limits or limits associated with a reduction gear coupled to the output of the motor 36.

As in 31 1, there is an example of the closure member 12 slamming towards the open position. Specifically, at numeral 302, the door begins to open in automatic mode, but the user 75 decides to swing the door open toward the open position, resulting in an initial speed of the closure member exceeding a predetermined maximum speed threshold Vmax, defined as a Peak 304 is shown which is sensed by the controller 50, resulting in the speed of the motor being driven backwards through a reduction gear This is because the impact exceeds a maximum rated speed of the motor 36, which can result in damage such as the motor coils of a brushed DC motor separating. In addition, a large EMF spike can be generated by the impact within the motor, causing damage to the electronic components associated with the motor 36 .

Similarly illustrated 32 an example of a flapping of the closure element 12 in the direction of the open position. Specifically, at digit 306, the door begins to open in automatic mode, but the user 75 decides to slam the door open toward the open position, resulting in an initial speed of the closure member 12 exceeding a predetermined maximum speed threshold Vmax, defined as a spike 308 is shown, which is sensed by the controller 50, resulting in the speed of the motor 36 being driven backwards through a reduction gear, since the impact exceeds a maximum speed of the motor 36, which can lead to damage, such as this that the motor coils of a brushed DC motor separate. In addition, the impact in the motor 36 can generate a large EMF spike that can damage electronic components associated with the motor 36 .

The control techniques described herein detect such an impact event as causing the closure member 12 to exceed a predetermined maximum speed threshold, and in response the controller 50 controls the actuator 22 to resist movement of the closure member 12 toward the open position. for example, by using dynamic braking control or rheostatic braking control of engine 36 or DC injection braking control as examples. To keep the actuator 22 within its operating limits or ratings, the controller 50 described herein may be configured to control the actuator 22 to allow the closure member 12 to move to or before a hard stop position position (e.g., a secondary locked position) where a velocity (such as a non-zero velocity) has been reduced by a degree by the actuator 22 without operating the actuator 22 to a limit that may cause damage thereto, such as in 32 1, as a result of detection of an impact event, for example, as a result of the closure member 12 exceeding a Vmax or predetermined velocity threshold in response to the actuator 22 being controlled to resist movement of the closure member 12 before the door 12 develops potential energy and can increase their speed. Because the actuator 22 is designed to resist movement of the door, and not a mechanical brake or clutch or other type of mechanical linkage, the actuator can instantaneously reduce the speed of the closure member 12 in response to a user-triggered slam control and reduce the speed of the closure member 12 within the safe operating limits of the actuator 22 without causing undue stress on the actuator 22 (shown as dashed lines in FIGS 31 and 32 ). As a result, the effects of the impact on the vehicle door 12 and components such as the latch 83 and the hinges 16, 18 can be mitigated, and damage to the actuator 22 can be avoided.

Thus, the controller 50 of the powered closure member actuation system 20 is configured to monitor the position and/or the speed of the closure member 12 using the closure member feedback sensor 64 . The controller 50 is also configured to generate a command to decrease the speed of the closure member 12 as the closure member moves toward the open position or the closed position based on the position and/or speed of the closure member 12 . The controller 50 is additionally configured to control movement of the closure member 12 by commanding the actuator 22 to vary an actuator output force acting on the closure member 12 to move the closure member 12 . The controller 50 is configured to control movement of the closure member 12 by the actuator 22 to resist movement of the closure member toward the open position or the closed position without exceeding an operating rating of the actuator that may damage the actuator , based on the position and speed of the shutter 12 determined using the shutter feedback sensor 64 , which may be, for example, an accelerometer sensor 87 in communication with the controller 50 . For example, to increase the sensitivity of detecting an impact event so that the controller can quickly respond and begin controlling the actuator to resist door movement caused by an impact, the accelerometer 87 may be provided opposite the door hinges and as part of the latch . The surcharge control discussed here depends on the Rich direction of the slam (eg, slamming the closure member 12 to the open or closed position) and the position or angle (for swing doors) of the closure member 12 at which the slam is sensed. Consequently, the speed of the closure element 12 can be an angular speed. A first predetermined shutter angle Φ or X° ( 30 ) is an important condition for the flapping in the opening direction (ie the movement of the shutter towards the open position) and a second predetermined shutter angle θ or Y° ( 30 ) is shown as an important condition for slamming in the closing direction (ie movement of the shutter towards the closed position).

As already mentioned, the controller 50 can be operated in at least one of the two modes “automatic mode” and “motor support”. In addition, the controller 50 can also be operated in an anti-slam mode. To put it more precisely, the controller 50 is designed in such a way that it controls the actuator 22 either in automatic mode or in the assistance mode in order to move the closure element 12 . The controller 50 then determines whether the speed of the closure member 12 is greater than a predetermined maximum speed threshold. The controller 50 is then configured to continue to control the actuator 22 in either the automatic mode or the motor assist mode to move the closure member 12 in response to the closure member 12 speed not being greater than the predetermined maximum speed threshold. Additionally, the controller 50 is configured to exit either the automatic mode or the assist mode and enter the anti-slam mode when the speed of the closure member 12 is greater than the predetermined maximum speed threshold.

As explained above, the controller 50 is coupled to the pull-in actuator or motor 99 of the latch 83, which moves the closure member (e.g., the door 12) from a secondary latched position to a primary latched position. Therefore, the controller 50 is further configured to recognize a direction of movement of the closure member 12 . The controller 50 is configured to determine whether the angle of the closure member 12 is less than the first predetermined closure member angle Φ in response to determining that the closure member 12 is moving toward the open position.

As in 33 Best illustrated, the controller 50 is generally configured such that as the closure member 12 moves toward the open position, it varies a rate of deceleration of the closure member 12 as the closure member moves toward the open position, responsively on the angle of the closure element 12 in the anti-slam mode. The controller 50 is also configured to ensure that the angular velocity Vswing of the shutter 12 is zero at a first predetermined shutter angle Φ prior to an open hard stop. A minimum delay 310 and a maximum delay 312 and an example maximum delay 314 are shown. The deceleration of the angular velocity Vswing depends on the angle at which the slam is detected and ensures that the angular velocity of the door is = 0°/s at a predetermined distance before the hard impact. The closer the impact is detected to the hard stop, the faster the door is braked.

More specifically, the controller 50 is configured to control the actuator 22 to reduce the velocity Vswing of the shutter 12 to allow an open hard stop when it is determined that the angle of the shutter 12 is not less than the first predetermined shutter angle Φ. The controller 50 controls the actuator 22 to reduce the speed of the closure member 12 to zero at or before the open position upon determining that the angle of the closure member 12 is less than the first predetermined closure member angle Φ. The controller 50 then determines whether a manual control is recognized and, upon determining that the manual control is not recognized, determines whether the closure member 12 is in the open position. The controller 50 is configured to revert to sensing the direction of movement of the closure member 12 if it determines that the closure member 12 is not in the open position. The controller 50 exits the anti-slam mode upon determining that the closure member 12 is in the open position. Additionally, the controller 50 controls the actuator 22 in power assist mode and exits the anti-slam mode in response to determining that the manual control has been recognized.

As in 34 Best illustrated, as the closure member 12 moves toward the closed position, the controller 50 is configured to verify that the angle of the closure member 12 is greater than a second predetermined closure member angle θ while the closure member 12 is in the anti -Suppression mode moves towards the closed position. The controller 50 is also designed so that he the closure member 12 on a vorbe correct reference speed Vswing depending on the angle of the shutter 12 when checking that the angle of the shutter 12 is greater than the second predetermined shutter angle θ. The controller 50 is additionally configured to maintain the predetermined reference speed Vswing until the closure member 12 moves to a secondary locking position. The controller 50 decelerates the closure member 12 to a predetermined engagement speed V tightening position in response to verifying that the angle of the closure member 12 is not greater than the second predetermined closure member angle θ. The controller 50 is configured to allow the closure member 12 to move to the primary latched position at the predetermined latching speed Vtight. A minimum deceleration 316 and a maximum deceleration 318 as well as an example deceleration 320 after the Y position (the door moves directly to the fully closed position) are shown.

So if a slam in the closing direction is detected, the controller 50 allows the door to close completely. The controller 50 examines the door angle at the time the slam is detected. If the impact is detected at a door position greater than angle Y, the controller will slow the door to a Vswing speed and hold it until the door enters the closure zone of closure (angle Y is defined as fully closed + TBD Degree). If the door slam is initiated at an angle Y less than the door's home position, the controller 50 will decelerate the door, but the door will close directly to the fully closed position. The rate of deceleration of Vswing depends on the angle at which the impact is detected and ensures that the angular velocity of the door = Vswing °/s is at a predetermined distance in front of the secondary position of the trap. The closer the door slam is detected to the latch, the quicker the door will slow down.

More specifically, the controller 50 determines whether the angle of the shutter is greater than the second predetermined shutter angle θ when it detects that the shutter is moving toward the closed position. The controller 50 is configured to control the actuator 22 to reduce the speed of the closure member 12 to allow the closure member 12 to enter the primary latched position upon determining that the angle of the closure member 12 is no greater than the secondary predetermined shutter angles θ. The controller 50 controls the actuator 22 to decrease the speed of the closure member 12 to allow the closure member 12 to enter the secondary locking position upon determining that the angle of the closure member 12 is greater than the second predetermined closure member angle θ. is designed to determine whether manual control is recognized. The controller 50 controls the actuator 22 into the power assist mode and exits the anti-slam mode in response to determining that manual control has been recognized. In addition, the controller 50 determines whether the closure member 12 is in the secondary locked position when it determines that the manual control was not recognized. The controller 50 is further configured to control the pull-in actuator 99 to move the closure member 12 to the primary latched position upon determining that the closure member 12 is in the secondary latched position. The controller 50 is also configured to generate a warning signal (e.g., to provide audible or haptic feedback to the user 75) during control of the suit actuator 99 and return to detect the direction of movement of the closure member 12. The controller 50 returns to control the actuator 22 to reduce the speed of the closure member 12 to allow the closure member 12 to enter the secondary latched position upon determining that the closure member 12 is not in the secondary latched position.

As in 35 Best illustrated, the controller 50 implements hysteresis by dynamically updating the comparison limits used for important switching points in the algorithm. More specifically, the controller 50 is configured to allow continued movement of the closure member 12 in automatic mode as long as the angular velocity of the closure member 12 is (i) at a predetermined reference velocity Vswing, or (ii) within an automatic mode upper gap UG between a predetermined reference speed Vswing and an automatic upper angular velocity UL, or (iii) within an automatic mode lower gap LG between the predetermined reference speed Vswing and an automatic lower angular velocity LL. The controller 50 switches to the assist mode when the angular velocity of the shutter member 12 is less than the automatic lower angular velocity LL or greater than the automatic upper angular velocity UL. The controller 50 is configured to enter the anti-slam mode once the angular velocity of the closure member 12 reaches an upper high speed threshold HSB that is greater than the predetermined maximum speed threshold SL. In addition, the controller 50 is designed such that it switches back to the assistance mode as soon as the angular speed of the closure element 12 falls to a lower high-speed threshold HSA, which is lower than the predetermined maximum speed threshold SL. This avoids the algorithm jumping back and forth in the case of low noise and tolerances in the speed measurement.

the 36A and 36B 12 illustrate operation of the controller 50 in both motor assist mode and anti-stall mode. As in 36B As shown, an anti-slam gap area 321 associated with anti-slam mode and a manual force-assist area 322 associated with powered-assist mode are shown, and the controller 50 can switch between these two modes based on shutter 12 speed. In other words, after executing the anti-slam mode, the controller 50 must be able to switch back to the force assist mode when the speed returns to a normal reference value. this is in 36B represented by arrows to show the ability to switch between modes and should not be confused with the speed difference when accelerating/decelerating.

37 Figure 12 illustrates the relationship between shutter speed and the mode in which the controller 50 operates. The arrow labeled 323 indicates that the user 75 is accelerating the door out of the Vswing range and the arrow labeled 324 indicates that the user 75 is decelerating the door out of the Vswing range. The power assist mode range is shown as 326 , the power assist mode range as 328 , the automatic mode range as 330 , and an automatic speed range as 332 . 37A FIG. 4 illustrates a method 401, such as performed by the controller 50, to switch between the automatic mode and the power assist mode based on a detected deviation from a reference speed profile beyond the speed thresholds, e.g. from the upper (UL) and lower (LL) speed thresholds, as a result of manual movement of the door 12 by a user. The non-contact sensing system may be used in conjunction with method 401 to determine if the door 12 is being moved near the door 12 by a user. The method 401 can include the following steps: providing a reference speed profile 403, e.g. B. Retrieve a stored door motion/velocity profile from memory, e.g. B. the memory 92, with which the door 12 is moved in accordance, and then in step 405 comparing or determining the difference between the reference speed profile and the actually detected speed 407 of the door 12 to account for any deviations or errors of the door movement from the reference speed profile and then determining in step 409 whether the deviation is greater than a threshold speed level that is either a predetermined threshold above the reference speed at an actual door angle or a predetermined threshold below the reference speed at an actual door angle. If the controller 50 determines in step 409 that the deviation does not exceed the predetermined threshold, the method continues with the controller 50 continuing to control the door 12 in the automatic mode in step 411 and returns to step 403 . If in step 409 the controller 50 determines that the deviation exceeds the predetermined threshold, the method continues with the controller 50 transitioning to the power assist mode in step 413 . Next, in step 415, upon receipt of an automatic mode command, e.g. a door close command using the automatic mode, determines that the speed of the door is zero, or in other words that the door is stationary, the controller 50 will close the door. If the door is stationary, in step 411 the controller 50 may continue to control the door in automatic mode. If the controller 50 does not determine that the door is stationary when the automatic mode command is received, the controller 50 may continue to control the door in the power assist mode at step 413 . Checking whether the door is stationary before controlling the door in automatic mode ensures that the power assist mode is not overridden, e.g. B. by an automatic mode command from a switch inside the vehicle, by a remote control fob or similar to ensure that the user operating the door using power assist mode maintains control of the door in power assist mode, without being overridden by another mode of system 20 operation. Therefore, the power assist mode, where the user is in control and touches the door, takes precedence over other control sources.

As in the 38 and 39 Best illustrated, a method of controlling movement of a closure member 12 of the vehicle 10 between an open and a closed position relative to the vehicle body 14 based on the position and/or speed of the closure member 12 is also provided. The procedure includes the steps 400, starting the door command generator function; and 401, moving the closure member 12 relative to the vehicle body 14 using an actuator 22 of the electric closure member actuation system 20 coupled to the closure member 12 and the vehicle body 14 (e.g., toward the open position). As previously mentioned, the controller 50 is operable in at least one of the following modes: automatic mode, power assist mode, and anti-hammer mode. Therefore, the method also includes the step of controlling the actuator 22 in one of the automatic mode and power assist mode to move the closure member 12 . The method continues with step 402 where a position and/or a speed of the closure member 12 is determined using a closure member feedback sensor 64 of the powered closure member actuation system 20 . The next step of the method is 404 monitoring the position and/or speed of the closure member 12 using a controller 50 of the power operated closure member actuation system 20 coupled to the closure member feedback sensor 64 and the actuator 22 .

Next, at 406, it is determined whether the speed of the closure member 12 is greater than a predetermined maximum speed threshold. The method also includes step 408 of continuing to control the actuator 22 in either the automatic mode or the assist mode to move the closure member 12 in response to the speed of the closure member 12 being no greater than the predetermined maximum speed threshold. The next steps of the method are 410, exiting the automatic mode or the assist mode, and 412, entering the anti-slam mode in response to the speed of the closure member 12 being greater than the predetermined maximum speed threshold.

In general, the method also includes the step of generating a command to decrease the speed of the closure member 12 when the closure member 12 moves toward the open position or the direction based on the position and/or the speed of the closure member 12 using the controller 50 closed position moves. The method continues with the movement of the closure member 12 being controlled by the actuator 22 being commanded to vary an actuator output force acting on the closure member 12 to move the closure member 12 .

With reference to 39 the method also includes step 414, in which a direction of movement of the closure element 12 is detected. Thus, if the closure member 12 is moving toward the open position, the method proceeds to step 416 where, in response to determining that the closure member 12 is moving toward the open position, it is determined whether the angle of the closure member 12 is less than a first predetermined shutter angle Φ. The next step of the method is to control 418 the actuator 22 to reduce the speed of the shutter 12 to allow an open hard stop in response to determining that the angle of the shutter 12 is not less than the first predetermined shutter angle Φ is. The method then includes step 420 of controlling the actuator 22 to reduce the speed of the closure member 12 to zero at or before the open position when the angle of the closure member 12 is determined to be less than the first predetermined closure member angle Φ is. The method continues with steps 422 of determining whether a manual control is detected and 424 of determining if the manual control is not detected, determining whether the closure member 12 is in the open position, away. The next step of the method is to return to detecting a direction of movement of the closure member 12 in response to determining that the closure member 12 is not in the open position 426. The method continues with steps 428, exiting the anti-slam mode in response to determining that the closure member 12 is in the open position, and 430, controlling the actuator 22 in the power assist mode and exiting the anti-slam mode in response to determining that the manual control is recognized.

If the closure member 12 is moving toward the closed position, the method includes step 432 of determining whether the angle of the closure member is greater than one in response to determining that the closure member 12 is moving toward the closed position second predetermined shutter angle is 0. The method continues by controlling the actuator 22 at 434 to decrease the speed of the closure member 12 so that the closure member 12, in response to determining that the angle of the closure member 12 is not greater than the second predetermined closure member angle θ, in the primary locking position can occur. The method also includes step 436 in which the actuator 22 is controlled to reduce the speed of the closure member 12 to allow the closure member 12 to enter the secondary locking position when the angle of the closure member 12 is determined to be greater than the second predetermined closure member angle θ. The method also includes steps 438 of determining whether manual control is detected and 439 of controlling the actuator 22 in the powered assist mode and 440 of exiting the anti-lug mode if it is determined that the manual control is recognized. The next step of the method is 442, responsive to determining that the manual control was not recognized, to determine whether the closure member 12 is in the secondary position. The method proceeds to step 444 where the tightening actuator 99 is controlled to move the closure member 12 to the primary latched position when the closure member 12 is determined to be in the secondary latched position. Next, at 446 an alarm signal is generated during control of the tightening actuator 99 and a return is made at 448 to sense the direction of movement of the closure member 12 . The method continues by again commanding the actuator 22 at 450 to decrease the speed of the closure member 12 to allow the closure member 12 to enter the secondary latched position if the closure member 12 is determined not to be in the secondary latched position .

As previously mentioned, the controller 50 implements hysteresis by dynamically updating the comparison limits used for important switching points in the algorithm. Therefore, the method further comprises the step of allowing further movement of the closure member 12 in the automatic mode as long as the angular velocity of the closure member 12 is: (i) at a predetermined reference velocity Vswing, or (ii) within an automatic mode upper gap UG between a predetermined reference velocity Vswing and an automatic upper angular velocity UL, or (iii) is within an automatic mode lower gap LG between the predetermined reference velocity Vswing and an automatic lower angular velocity LL. The method continues by entering the power assist mode in response to the angular velocity of the closure member 12 being less than the automatic low angular velocity LL or greater than the automatic upper angular velocity UL. The method also includes the step of transitioning to the anti-slam mode as soon as the angular velocity of the closure member 12 reaches an upper high speed threshold HSB greater than the predetermined maximum speed threshold SL. The method also includes the step of switching back to the power assist mode as soon as the angular velocity of the shutter 12 decreases to a lower high speed threshold HSA lower than the predetermined maximum speed threshold SL.

As in the 12 and 13 As illustrated, the controller 50 is configured to receive the at least one environmental condition to adjust the force command 88 and/or the motion command 62 . Thus, the controller 50 generates either a force command 88 or a motion command 62 which is provided to the force signal generator 118 using the at least one environmental condition. The movement speed adjustment factor 122 may be correlated to the environmental condition. For example, a sensed environmental condition under a temperature reading of 0 degrees Celsius can be correlated with a velocity adjustment factor 122 adjusted to result in a ten percent increase in target movement speed, and for example a sensed environmental condition under a temperature reading of -10 degrees Celsius can be correlated with a speed adjustment factor 122, which is adjusted to result in a 15 percent increase in target movement speed. Here, too, the input 54 for initiating the automatic mode can be the trigger signal for the closure element from the closure element switch 58 . It is recognized that the controller 50 can be arranged to generate a movement command 62 in other ways depending on the environmental conditions.

Specifically illustrated 13 exemplary duty cycle register changes corresponding to a change in pulse width modulation duty cycle from 50% to 55%. Such a change may be triggered by the calculation of the motion command 62 by the motion command calculator of the controller 50 based on the at least one environmental condition. Again, the PWM duty cycle of the PWM control signal increases as shown.

Back to 19 : The force command 88 based on the ambient condition can be increased, for example, if the ambient condition is measured below a temperature value of 0 degrees Celsius, and is adjusted so that the closure element in response to a manual input from the user 75, which is a slightly another physical closure element (e.g., the door 12) is simulated to be moved with more force. For example, the weight of the closure element is increased by a multiplication factor that correlates with the environmental conditions. It is recognized that the controller 50 may be configured to generate a force command 88 in other ways depending on ambient conditions.

As in 20 Alternatively, as shown, the controller 50 may calculate the force command 88 using post-compensation. In post-compensation, the controller 50 calculates the force command 88 as a function of an initial force command 132 calculated from the motion input 56, the closure member model 102, the at least one environmental condition, and the force sensitivity factor 130 in response to receiving the motion input 56 in the powered assist mode.

40 12 shows the adjustments of a motion profile related to the movement of the shutter for each of the multiple angles of the shutter depending on the sensed environmental conditions and compared to a normal or standard speed 500. A given speed of the shutter Vswing can e.g. B. increased or decreased depending on the temperature, as indicated by numeral 502 (e.g., if the sensed temperature is warmer or colder than the predetermined thresholds).

41 12 shows the fits of a force profile related to the force experienced by the fastener (e.g., measured at a handle of the fastener) for each of multiple angles of the fastener as a function of the sensed environmental condition. A predetermined assist force Fswing is provided by the actuator 22 over the full range of motion of the closure member up to a check position where the assist force increases to a higher predetermined assist force Fcheck and then back down to Fswing to a stop position where the assist force Fstop is applied to the closure member. This assist force can be increased or decreased depending on environmental conditions such as temperature. For example, this assistant depending on the environmental conditions, such. wind, to keep the closure member in a door control position during perceived wind conditions.

As in 42 Best illustrated, a method of controlling movement of a closure member 12 based on at least one environmental condition of the vehicle 10 is also provided. The method includes step 600 of receiving either a motion input 56 or an automatic mode initiation input 54 to initiate movement of the closure member 12 in a powered assist mode in response to receipt of the motion input and in an automatic mode in response to receipt of the automatic mode -Initial input control. The method continues with step 602, where the at least one environmental condition of the vehicle 10 is detected using an environmental sensor. The method continues with step 604, in which either a movement command 62 in automatic mode or a force command 88 in assistance mode is generated depending on the at least one environmental condition. As described above, the environmental sensor 80, 81 may be a temperature sensor 80 such that the method may further include the step 606 of adjusting the motion command 62 or the force command 88 based on an ambient temperature of the vehicle 10. Similarly, if the environmental sensor is a rain sensor 81, the method may include step 608 in which the motion command 62 or the force command 88 is adjusted based on the detected rain. The next step of the method is to command movement of the closure member 12 at 610 by the actuator 22 receiving either the move command 62 or the force command 88 to vary an actuator output force acting on the closure member 12 to Closure element 12 to move.

In 43 Illustrated is a communication system 699 in which the environmental sensor 80, 81 is replaced or supplemented by a network connection to a remote server 701 that provides local weather information or environmental conditions 705 over a cellular or wireless network 706. The BCM 52 may be equipped with a communications interface 700 and a GPS module 702 configured to receive GPS data, e.g. B. from a GPS satellite 704 receives. The communication interface 700 can be a wireless interface, e.g. B. a cellular network-based wireless interface that acts as a client to the current GPS information (e.g., location information 707) retrieved from the GPS module 702 to the remote server 701 over the wireless network 706 transmit, wherein the remote server 701 is configured so that it responds and transmits environmental data to the communication interface 700 via the wireless network 706 depending on the provided current GPS position information, such as z. B. temperature, wind speed, precipitation, humidity, pressure and the like. The controller 50 manages the door controls described above tion techniques and procedures using such environmental information provided over the network.

In 44 The motor vehicle 10 is shown having a vehicle body 14 defining an opening 814 to an interior passenger compartment. The closure element, e.g. B. the rear passenger door 17 is pivotally mounted to the vehicle body 14 for movement between an open position (shown) and a fully closed position to open and close the opening 814 with the latch assembly 83, respectively. Examples of the latch assembly 83 can be found in US Publication No. 2018/0100331, which is hereby incorporated by reference. Although the rear passenger door 17 is illustrated, it should be understood that the latch assembly 83 may alternatively or additionally be used for the door 12 and/or the power latch actuator system 20 may be used for the rear passenger door 17 . The latch assembly 83 is attached to the rear passenger door 17 near an edge portion 17A and includes a latch mechanism 83 ( 45 ) releasably engageable with a shutter 820 fixedly secured to a recessed edge portion 814A of opening 814 . As will be explained in more detail below, the latch assembly 83 can engage the striker 820 and releasably hold the closure member 17 in its fully closed position. An outer handle 822 and an inner handle 824 are provided for selectively actuating a latch release mechanism of the latch assembly 83 to release the striker 820 from the latch mechanism 830 and allow subsequent movement of the closure member 17 to its open position. An optional lock button 826 provides a visual indication of the locked condition of the lock assembly 83 and can also be actuated to mechanically change the locked condition of the lock assembly 83 . A weatherseal or door seal 828 is attached to the edge portion 814A of the opening 814 in the vehicle body 14 and is configured to be resiliently compressed upon engagement with a corresponding sealing surface of the closure member 17 when the closure member 17 is locked in place by the latch mechanism 830 of the latch assembly 83 fully closed position so as to create a sealed interface therebetween which is designed to prevent the ingress of rain and debris into the passenger compartment whilst minimizing e.g. audible wind noise.

As in 45 Best shown, the latch assembly 83 includes a latch mechanism 830, a latch release mechanism 832, a latch tightening mechanism 134, a power release actuator 136, the latch motor or power latch actuator 99, a latch release mechanism 840, and a power latch release actuator. Although shown separately and schematically, those skilled in the art of vehicle closures will understand that the specific functions provided by one or more of the above actuators (836, 99) can be combined to provide coordinated actuation of two or enable more of the mechanisms mentioned.

The various components of the latch assembly 83 are oriented and/or positioned to establish an unlocking mode when the vehicle door 17 is in its open position and the latch assembly 83 is engaged by the striker 820 in 45 is shifted. The various components of the power latch-latch assembly 83 may alternatively be oriented and/or positioned to establish a "locked-unlocked" or "secondary locked" mode when the vehicle or rear passenger door 17 is in a first or "soft "closed" (ie, partially closed) position in which the shutter 820 is held by the latch mechanism 830. Additionally, the various components of latch assembly 83 may also be oriented and/or positioned to establish a "latched" or "primary latched" mode when door 17 is in a second or "hard closed" (ie, fully closed) position is located in which the closer 820 is held by the locking mechanism 830. Movement of the vehicle door 17 from its partially closed position to its fully closed position may be manual based on the closing force applied by the vehicle operator, or alternatively via a power latching action configured to provide a "soft close" based on a power latch Allows locking actuator 99, which actuates locking mechanism 834.

The latch assembly 83 includes a frame plate 850 and a plate cover 852 ( 44 ) that support and enclose the above mechanisms and actuators. The frame plate 850 is a rigid member configured to be securely attached to the edge portion 17A of the vehicle door 17 and defines an entry opening 854 through which the closer 820 extends as the vehicle door moves 17 moves relative to the vehicle body 14 . The locking mechanism 830 is illustrated as a single ratchet and pawl assembly having a ratchet 856 and a pawl 858 in this non-limiting example. The ratchet 856 is rotatably supported relative to the frame plate 850 by a ratchet pivot 160 . The ratchet 856 is formed to include a contoured guide channel 862 terminating in a latch receiving pocket 864, a ratchet engagement feature or latch notch 866, a latch notch 868, and a first cam surface 870 located between the latch notch 866 and the latch notch 868 extends. The ratchet 856 is also formed to have an arcuate extension 872 with a second cam surface 874 extending between a lug-shaped end segment 876 and the latching notch 168 . A ratchet biasing member, represented schematically by arrow 878, is configured to normally bias ratchet 856 to rotate about ratchet pivot 860 in a first or "release" direction (i.e., counterclockwise in 45 ) rotates. The ratchet 856 is in 45 rotated to a normally open position with guide channel 862 generally aligned with entry opening 854 in frame plate 850 . As will be explained in more detail below, the ratchet 856 is capable of a range of motion between its closer release position, two different closer catch positions, which include a secondary closer catch position (ie, the "soft-closed" position) and a primary closer catch position (ie, the "hard closed" position) and moveable to a ratchet overrun position.

The pawl 858 is journaled for pivotal movement relative to a pawl pivot 880 extending from the frame plate 850 . The pawl 858 is configured to have a body segment with a locking shoulder 884 adapted to abut against the first cam surface 870 of the ratchet 856 in response to movement of the ratchet 856 between its secondary and primary closer catch positions. Latch shoulder 884 of pawl 858 is also configured to engage latch notch 866 when ratchet 856 is in its primary latch catch position. The pawl 858 also includes a release tab segment 886 and a switch tab segment 888. The force release 836 acts on or is coupled to the release tab segment 886 of the pawl 858 via the pawl release mechanism 832 and can cause the pawl release mechanism 832 to selectively move the pawl 858 between a ratchet release position and move to a ratchet hold position. A jack switch 890 (one of the in 5A primary and secondary ratchet position sensors or switches 85 shown) is mounted to the frame plate 850 and aligned with the cam segment 888 of the pawl 858 to provide a definite pawl position signal when the pawl 858 is in its ratchet release position. A pawl biasing member (not shown) is provided to normally bias pawl 858 in a first rotational direction (e.g., clockwise in 45 ) towards their ratchet holding position. The pawl 858 is in 45 shown in its ratchet release position and allowed to move to its ratchet hold position.

While the latch release mechanism 832 is shown only schematically, it can be actuated by those skilled in the art in a first or "unactuated" state to position the pawl 858 in its ratchet holding position, and in a second or "actuated" state to position the Position pawl 858 in its ratchet release position. Typically, latch release mechanism 832 is configured to be actuated by one or more manually operated release mechanisms in addition to power release actuator 836 . For example shows 45 8 schematically shows an inner trigger mechanism 833 arranged to connect an inner handle 824 to the latch release mechanism 832 to allow selective triggering of the latch mechanism 830 by actuation of the inner handle 824. FIG. Also shown schematically is an outside release mechanism 835 arranged to connect an outside handle 822 to the latch release mechanism 832 to allow selective release of the latch mechanism 830 via actuation of the outside handle 822 . The power release actuator 836, shown only schematically, may include any type of powered device (e.g., electric motor, etc.) that can be actuated to provide a power release function.

As previously mentioned, the latch assembly 83 also includes a latch mechanism 834 controlled by a power operated latch actuator 99 and a latch release mechanism 840 which is controlled by a power operated latch release actuator (not shown). Lock-on mechanism 834 generally includes a tightening lever 200 and a tightening linkage 202, while tightening-release mechanism 840 generally includes a release lever 204 and an actuation lever (not shown). The tightening linkage 202 is operatively coupled to the release lever 204 such that selective actuation of at least one of the two operating members, namely the power-tightening actuator 99 and the power tightening release element, causes a coordinated movement of these two components. Although shown only schematically, the power-to-pull actuator 99 and the power-to-pull release actuator are available as power-to-pump actuators such as e.g. B. electric motors, to allow selective control of the actuation of the lock tightening mechanism 834 and / or the suit release mechanism 140 to allow.

The pull lever 900 is rotatably attached to the frame plate 850 via a pull lever pivot 910 . The tightening connection 902 is an elongate member having a first end segment, a second end segment, and an intermediate segment therebetween. The intermediate segment of the tightening link 902 includes an elongated, contoured guide slot 922. A tightening roller 924 is rotatably mounted on the tightening lever pivot 910 and includes a peripheral flange 926 defining a notch and an opening 928 in which the tightening lever 900 is retained. Because of this arrangement, rotation of the cinching roller 924 in a cinching direction (i.e., counterclockwise) through the controlled operation of the force cinching actuator 99 results in rotation of the cinching lever 900 between its cinching start position and its cinching stop position. The suit unlatching mechanism 840 is operable to pivot the suit link 902 (when in its unlocked position) between its suit link engaged position and its suit link release position.

The release lever 904 is rotatably attached to the frame plate 850 by a release lever pivot 940 and is configured to include a drive lug 942 retained in the guide slot 922 in the tightening link 902, an actuator lug 944 and a switch lug segment 946. A release lever switch 948 is mounted on frame 850 and oriented to provide a definite release lever position signal relative to release lever 904 position. It is also noted that the latch assembly 83 includes a retention pin 980 attached to the frame plate 850 near the second end segment of the tightening link 902 . In the event of an impact, the retaining pin 880 ensures that the tightening connection 902 hits hard.

46 10 shows various positions 1000, 1002, 1004, 1006, 1008, 1010, 1012, 1014, 1016, 1018 of the closure element (e.g. door 12 or 17), including a mechanical positive stop position 1000, a fully open position 1002, an example of an expected position 1004 of the closure element 12, 17, an example of an actual position 1006 of the closure element 12, 17 and a difference or delta 1008 between the expected position 1004 and the actual position 1006. The in 45 The shown positions 1000, 1002, 1004, 1006, 1008, 1010, 1012, 1014, 1016, 1018 of the closure member 12, 17 also include a pop-up position 1010, a closure member or latch open position 1012, a latch secondary or secondary strike - Catch position 1014 (corresponding to a secondary latch position), a latch or latch full latch position or primary strike catch position 1016 (corresponding to a primary latch position), and a latch or latch override position 1018. Positions 1000, 1002 shown , 1004, 1006, 1008, 1010, 1012, 1014, 1016, 1018 are given as examples only; other positions and configurations of the closure element 12, 17 are conceivable.

the 47A-47D 12 show the switching states of the locking status of the locking arrangement 83 (e.g. using the sensors 190, 248). For example, the position of the closure element 12, 17 can be determined using the sensors 190, 248 of the locking arrangement 83. The at least one shutter feedback sensor 64 and/or a motor position sensor coupled to actuator 22 may alternatively or additionally be used to determine shutter position and/or velocity, as discussed.

48 Figure 6 shows an example of a closure member motion profile 68 showing how the velocity of the closure member 12, 17 might be affected by an aging seal load. As described above, the controller 50 is configured to receive either a motion input 56 or an automatic mode initiation input 54 to control movement of the closure member 12, 17 to the open position. The controller 50 is also arranged to control the movement of the closure member 12, 17 by commanding the actuator 22 using the movement input 56 or the automatic mode trigger input 54. As shown, receipt of motion input 56 and/or automatic operation initiation input 54 may also result in electrical shutter actuation system 20 commanding latch assembly 83 to unlock/unlock (e.g., using the enable -Actuator 836) so that the closure element 12, 17 can open under a sealing load into the pop-up position. The clasp element 12, 17 continues its movement under force (z. B. by the actuator 22) seamlessly to the opening request z. B. at a predetermined angle. The aged sealing load of seal 828 reduces the rate of extension (ie, the rate differential represented by the dashed line and identified by numeral 1020) until the ratchet 156 can no longer rotate from its primary or secondary position.

Therefore, the controller 50 is additionally arranged to determine the actual speed and/or the actual position of the closure element 12, 17 using the at least one closure element feedback sensor 64 (or using the lock status switches, as in 47A-47D shown) monitored. The controller 50 also calculates at least one position difference (e.g. in 46 represented as delta 1008) between the expected position 1004 of the closure element 12, 17 and the actual position 1006 of the closure element 12, 17 and the speed difference (e.g. in 48 shown) between an expected speed of the closure element 12, 17 and the actual speed of the closure element 12, 17. The controller 50 can then adjust the activation of the actuator 22 in order to compensate for the difference in position and/or the difference in speed in order to move the closure element 12, 17 in move to the expected position and/or speed. In this way, the controller 50 of the power operated actuation system for the closure member 20 can maintain consistent performance of the actuator 22 by adding different levels of performance (e.g., from the actuator 22) to account for losses through the door seal 828 or other component wear or lubrication changes to be added during the life of the vehicle. The controller 50 could also consider the date, mileage and cycle count 97 stored in the storage device 92 ( 5 ) are stored when determining the amount of compensation that might be required.

The controller 50 is also arranged to determine whether the closure member 12, 17 has moved to the expected position. The controller 50 may then return to adjust the instruction to the actuator 22 to compensate for the position difference 1008 and/or the speed difference to move the closure member 12, 17 in response to determining that the closure member 12, 17 does not move into the expected moved to the expected position and/or speed. The controller 50 is also configured to determine whether the closure member 12, 17 has moved to an end position in response to determining that the closure member 12, 17 has moved to the expected position. The controller 50 may then return to monitor the actual speed and/or position of the closure member 12, 17 using the at least one closure member feedback sensor 64 if it determines that the closure member 12, 17 does not move to the open position has moved. The controller 50 is also configured to command the actuator 22 to stop movement of the closure member 12, 17 upon detecting that the closure member 12, 17 has moved to the end position. Furthermore, since the controller 50 may also communicate with a latch 83, the controller 50 is configured to command a latch 83 to release. For example, the controller 50 may be configured to interface with the power release actuator 836 ( 45 ) commands the pawl 158 to be moved to the ratchet release position.

As in the 49 and 50 Best illustrated, a method of controlling movement of the closure member 12, 17 of the vehicle 10 is also provided. The method includes step 1100 of receiving either a motion input 56 or an automatic operation initiation input 54 to control movement of the closure member 12, 17 to the open position. The method may also include step 1102 of commanding a latch 83 to release. The method can then include step 1104, in which the movement of the closure element 12, 17 is controlled by controlling the actuator 22 via the movement input 56 or the input 54 for the initiation of automatic operation. The method continues by 1106 monitoring an actual speed and/or position of the closure member 12, 17 using at least one closure member feedback sensor 64 configured to detect the actual speed and/or position of the closure member 12 , 17 (the actual position of the closure element can be monitored, for example, via locking signals, door position signals or a position signal from the door actuator). Next, the method includes step 1108, in which a position difference between an expected position of the closure element 12, 17 and the actual position of the closure element 12, 17 and/or a speed difference between an expected speed of the closure element 12, 17 and the actual speed of the closure element 12, 17 is calculated (e.g. the load of the seal 828 cannot move the closure element so that the Ver latch 83 moved from the secondary position). The method continues with step 1110, in which the activation of the actuator 22 is adjusted in such a way that the position difference and/or the speed difference is compensated for in order to move the closure element 12, 17 into the expected position and/or the expected speed ( e.g., the closure member is moved to the expected position to which it would be moved by the load of seal 828, e.g., using proportional-integral-derivative (PID) control). For example, as discussed, such compensation could also take into account the date and mileage and cycle counter 97 stored in storage device 92 ( 5A) are saved.

If the closure element 12, 17 does not move in the expected manner, e.g. B. due to an increase in friction due to lack of lubrication at the hinges or in the gearing of the actuator, a change in the operation of the motor (e.g. wear of the motor brushes, etc.), the electrical actuation system for the shutter 20 can compensate for this (see 49 ). The method can thus additionally include step 1112, in which it is determined whether the closure element 12, 17 has moved to the expected position. The next step of the method is 1114, the return to the step of adjusting the command to the actuator 22 to compensate for the calculated difference to move the closure member 12, 17 to the expected position and/or speed in response upon finding that the closure element 12, 17 has not moved to the expected position. The method may proceed to step 1116 where, in response to determining that the closure member 12, 17 has moved to the expected position, it is determined whether the closure member 12, 17 has moved to an end position. Then the method includes step 1118 of returning to the step of monitoring the actual velocity and/or position of the shutter 12, 17 using the at least one shutter feedback sensor 64 configured to detect the actual speed and/or the actual position of the closure element 12, 17 is detected if it is determined that the closure element 12, 17 has not moved to the end position. The method also includes step 320, in which the actuator 22 is commanded to stop the movement of the closure element 12, 17 when it is determined that the closure element 12, 17 has moved to the end position.

As previously mentioned, the seal load may vary depending on the temperature and aging of the seal 828. Therefore, the method can proceed to step 1122, in which it is determined whether the closure element 12, 17 has moved to the open position (e.g. whether the load of the seal 828 has moved the closure element to a position in which latch 83 has moved past the secondary position). The method may continue with step 1124, which returns to the step of monitoring a speed or a position of the closure member 12, 17 using the at least one closure member feedback sensor 64 configured to detect an actual position of the closure member 12 , 17 in response to determining that the closure member 12, 17 has not moved to the open position. The method also includes step 1126 in which the actuator 22 is commanded to move the closure member 12, 17 in either an automatic mode or in a power assist mode when the closure member 12, 17 is detected to be moving to the open position (ie normal door control can begin).

Back to 12 : The controller 50 is also configured to receive the at least one environmental condition used in adjusting the force command 88 and/or the motion command 62, and the force command 88 and/or the motion command 62 may also be used by the learning algorithm 61 with artificial intelligence based on the controller 50 monitoring and analyzing the historical operation of the force closure member actuation system 20 . Thus, the controller 50 generates either a force command 88 or a motion command 62 for application to the force signal generator 118 which is modified by the artificial intelligence learning algorithm 61 .

According to an example of operation, the movement speed adjustment factor 122 may be correlated with environmental conditions and/or modified by the artificial intelligence 61 learning algorithm. For example, a sensed environmental condition under a temperature reading of 0 degrees Celsius can be correlated with a velocity adjustment factor 122 adjusted to result in a ten percent increase in target movement speed, and for example a sensed environmental condition under a temperature reading of -10 degrees Celsius can be correlated with a speed adjustment factor 122, which is adjusted to result in a 15 percent increase in target movement speed. Based on the monitoring and analysis of the historical operation of the force fastener system 20 by the Controller 50 can also change speed adjustment factor 122 through artificial intelligence learning algorithm 61 . In particular, the controller 50 can adjust the number of automatic shutter movement parameters 68, 93, 94, 95 based on the monitoring and analysis of the historical operation of the force shutter system 20 used in determining the movement command 62 using the artificial intelligence learning algorithm 61 will. Again, the controller 50 generates a pulse width modulation control signal based on the motion command 62 using a duty cycle register 126 and a comparator 128 of the pulse width modulation control signal generator 118 of the controller 50 in automatic mode. It will be appreciated that the controller 50 may be configured to generate a movement command 62 dependent on environmental conditions and/or otherwise modified by the artificial intelligence 61 learning algorithm.

Back to 13 : Duty cycle register changes corresponding to a change in pulse width modulation duty cycle may be triggered by the motion command 62 computation by the controller 50 motion command calculator based on the at least one environmental condition and/or as modified by the artificial intelligence 61 learning algorithm. Consequently, the PWM duty cycle of the PWM control signal increases as shown.

Back to 19 : The controller 50 is also configured to receive the position and/or the speed of the shutter from the at least one sensor 64 for shutter feedback in the power assist mode. Therefore, the controller 50 is configured to determine the force command 88 based on the motion input 56 and the position and/or speed of the closure member using the force command algorithm 98 and the closure member model 102 of the controller 50 in the power assist mode. Based on the monitoring and analysis of the historical operation of the powered closure system 20, the controller 50 may adjust the plurality of power closure motion parameters 96, 100, 102, 106 used in determining the force command 88 using the artificial intelligence learning algorithm 61 . Thus, the controller 50 is configured to generate a pulse width modulation control signal based on the force command 88 to vary the actuator output force acting on the closure member to control movement of the closure member using the pulse width modulation control signal generator 118 of the controller 50 in to support the powered assistance mode.

The controller 50 also calculates the force command 88 using pre-compensation and is further configured to calculate the force command 88 based on the motion input 56 and a function of a force sensitivity factor 130, the at least one environmental condition and the closure member model 102, as defined by the Learning algorithm of the artificial intelligence 61 is changed in response to receiving the motion input 56 in the powered assistance mode. For example, if a sensed ambient condition is adjusted below a temperature value of 0 degrees Celsius, the force command 88 based on a sensed environmental condition may be increased to move the closure member with more force in response to a manual input from the user 75, which is a lighter physical closure element (e.g., the door 12) simulates. For example, the weight of the closure element is increased by a multiplication factor that correlates with the environmental conditions. It will be appreciated that the controller 50 may be configured to generate a force command 88 as a function of environmental conditions and/or otherwise modified by the artificial intelligence 61 learning algorithm.

As in 20 Alternatively, as shown, the controller 50 may calculate the force command 88 using post-compensation. In post-compensation, the controller 50 calculates the force command 88 as a function of an initial force command 132 calculated from the motion input 56, the closure element model 102, the at least one environmental condition, and the force sensitivity factor 130 as determined by the artificial intelligence learning algorithm 61 in response is modified upon receipt of the motion input 56 in the powered assist mode. The fastener model 102 uses the number of model parameters 106 including, for example, a fastener weight attribute and a fastener friction attribute, and a fastener inertia attribute and a fastener length attribute. For example, the controller 50 determines a required change in sensitivity depending on the sensed environmental condition, the system 20 applies the force sensitivity factor 130 to the result of the force command calculations 132, resulting in a change in the input value for the duty cycle calculation by the pulse width modulation control signal generator. the Sensitivity is changed by adjusting force command 88 (postprocessing).

Back to 40 : Adjustments of a motion profile relative to shutter movement are shown for each of multiple shutter angles. Such adjustments can be a function of the sensed environmental condition and/or due to adjustments of the automatic movement parameters 68, 93, 94, 95 of the closure element by the learning algorithm 61 with artificial intelligence. A predetermined speed of the closure element Vswing can e.g. B. be increased or decreased depending on the temperature. Similarly, in 41 Fits of a force profile relative to the force experienced by the fastener (e.g., as measured at a handle of the fastener) are shown for each of the multiple angles of the fastener. Such adjustments may be a function of the sensed environmental condition and/or due to adjustments of the powered shutter movement parameters 96, 100, 102, 106 by the artificial intelligence 61 learning algorithm. A predetermined assist force Fswing is provided by the actuator 22 throughout the range of motion of the closure member up to a check position where the assist force increases to a higher predetermined assist force Fcheck and then decreases to Fswing to a stop position where the assist force Fstop is exerted on the closure element. This assistant can, depending on the environmental conditions, such. B. the temperature, can be increased or decreased and can also be changed by the learning algorithm of the artificial intelligence 61. For example, this assistant depending on the environmental conditions, such. B. wind, to keep the locking element in a position in which the door is tested during the perceived wind conditions.

coming back on 43 For example, the force latch actuation system 20 may further include the wireless network interface 700 in communication with the controller 50 and configured to receive at least one environmental condition 705 of the vehicle 10 at a location of the vehicle 10 from the remote server 701 . Thus, the historical operation that is monitored and analyzed using the artificial intelligence learning algorithm 61 includes the at least one environmental condition 705 of the vehicle 10. As a result, the controller 50 is further configured to determine the multiple parameters for movement of the automatic closure member 68 , 93, 94, 95 and the plurality of parameters for movement of the powered closure member 96, 100, 102, 106 based on the at least one environmental condition of the vehicle 10. Similarly, the powered shutter actuation system 20 may include the global positioning system module 702 configured to receive global positioning system data and at least one environmental condition 705 of the vehicle 10 from the global positioning system satellite 704 . Therefore, the historical operation, which is monitored and analyzed using the artificial intelligence learning algorithm 61, includes the global positioning system data, and the controller 50 is further adapted to use the multiple movement parameters 68, 93, 94, 95 of the automatic shutter element and the adjusts a plurality of powered shutter motion parameters 96, 100, 102, 106 based on the global positioning system data.

53 12 shows an example system 1200 for executing the learning algorithm of the artificial intelligence 61 using a neural network 1202 and/or for training the neural network. As previously mentioned, the controller 50 may include the storage device 92 and the processor or other computing unit 110 . The controller 50 also includes a data store 1204, code 1206 (e.g. software instructions for the artificial intelligence learning algorithm 61), the neural network 1202 (e.g. trained), training code 1208 and a historical data set 1210 (e.g. previous inputs and associated vehicle states) are stored in storage device 92 .

An example of a neural network 1202 is in 54 and includes a first input node 1212 (e.g., input for operation), a second input node 1214 (e.g., environmental state or conditions), a third input node 1216 (e.g., vehicle location), and a fourth input node 1218 (e.g., e.g. time of day). Neural network 1202 also includes a first hidden layer 1220, a second hidden layer 1222, a third hidden layer 1224, a fourth hidden layer 1226, a fifth hidden layer 1228, and a sixth hidden layer 1230 connected to input nodes 1212, 1214, 1216, 1218 and interconnected. The neural network 1202 additionally comprises a first output node 1232 (e.g. opening/closing speed of the shutter element), a second output node 1234 (e.g. door stop position), a third output node 1236 (e.g. command to open the window) and a fourth output node 1238 (e.g. automatic closing of the closure element after a time-out period) connected to the buried layers 1220, 1222, 1224, 1226, 1228, 1230. However, there are others Configurations of layers and nodes conceivable.

As in the 51-52 Best illustrated, a method of controlling movement of a closure member 12 of the vehicle 10 using a powered closure member actuation system 20 is also provided. With reference to 51 the method first includes step 1300 of receiving either a motion input 56 associated with a powered assist mode or an automatic mode initiation input 54 associated with an automatic mode. Next, the method includes the step 1302 of sending a motion command 62 based on a plurality of automatic shutter movement parameters 68, 93, 94, 95 in automatic mode and a force command 88 based on a plurality of driven shutter movement parameters 96, 100, 102, 106 in driven assistance mode to the actuator 22 to change an actuator output force acting on the closure member 12 to move the closure member 12. The method proceeds to step 1304 where the historical operation of the powered closure member actuation system 20 is monitored and analyzed using an artificial intelligence learning algorithm 61 and the multiple automatic closure member movement parameters 68, 93, 94, 95 and the multiple powered Closure element movement parameters 96, 100, 102, 106 are adjusted accordingly.

As described above, the number of automatic movement parameters 68, 93, 94, 95 includes at least one of a number of velocity and acceleration profiles 68 for the shutter and a number of stop positions 93 for the shutter and a control sensitivity 94 for the shutter and a number of control profiles 95 for the closure element. The number of powered closure member motion parameters 96, 100, 102, 106 includes at least one of a plurality of fixed closure member model parameters 96 and a force command generator algorithm 100 and a door model 102 and a plurality of closure member component profiles 106 .

As in 52 Best illustrated, if the environmental sensor 80, 81 is a rain sensor 81, the method may further include step 1306 of determining whether the rain sensor 81 is detecting rain (e.g., historical data from the user shows a manual Overriding the current opening cycle to open the closure element 12 more quickly when it rains). The method also includes step 1308 where a first rate algorithm is used to move the closure member 12 when it is determined that the rain sensor 81 has not detected rain. The method may proceed to step 1310, where a second speed algorithm (e.g., the second speed algorithm may implement a higher speed of the closure member 12 than the first speed algorithm) for moving the closure member 12 in response to determining that rain is occurring using the rain sensor 81 is detected is used. So, the second speed algorithm can be based on the user's historical data to optimize the performance.

Because the powered shutter actuation system 20 also includes the global positioning system module 702 ( 43 ) configured to receive global positioning system data and from the global positioning system satellite 704, the method may also include the step of receiving at least one environmental condition of the vehicle 10 at a location of the vehicle 10 from a remote server 701 using a wireless network interface 700 communicating over wireless links (707, 705). The method may also include the step of adjusting the number of automatic shutter movement parameters 68, 93, 94, 95 and the number of powered shutter movement parameters 96, 100, 102, 106 based on the at least one environmental condition of the vehicle 10.

The described artificial intelligence learning enhancement of the door motion control algorithm allows the controller 50 (e.g., in software) to change the outputs 62, 88 of the motion and force algorithm. As an example, an in 54 illustrated neural network implemented in software can be used. The changes can be based on historical user data to detect usage trends (door swing speed, door swing angle, door swing angle based on vehicle location (GPS input - home, office, parking lot), environmental conditions (rain, cold, heat), etc.). The controller 50 then predicts the user's expectations of the door performance based on this historical data. Ultimately, the controller 50 is intended to open the power door 12 as the user 75 would manually in a given situation. The system described here for actuating the electric closure element 20 thus offers a highly optimized solution for the electric door which is unique to each driver. Instead of certain door performance values or parameters are hard-coded into the algorithm, the system described here for actuating the electric closure element 20 ensures that the actual algorithm is changed. The power shutter actuation system 20 described herein advantageously improves the user interface of the vehicle 10 by tailoring power settings for each application, rather than making a single setting for all cases. In addition, the controller 50 can learn and incorporate user patterns to anticipate and optimize the interaction (e.g., on a hot day, if a user always opens the door 12 to cool the vehicle 10, the system 20 can choose a window lower and/or open a door 12 before the operator physically reaches the vehicle 10 to save time). if e.g. For example, if an operator is constantly overriding the 5 p.m. lock function (e.g., in a hurry), the system 20 may perform the 5 p.m. lock function at a faster rate than at other times.

In the 55A until 66 Additionally, some illustrative flow charts of the powered closure member actuation system 20 in operation are shown. For example, is in 55A and 55B a method 1400 for moving a door from a fully latched position in automatic mode is shown. The method begins with the controller 50 receiving an automatic open command at step 1402, for example, from an inside door handle switch or a wireless device such as a key fob, a cell phone, and the like. The method then advances to step 1406 of controlling the latch 83 to release the door from its primary latched position. For example, an electronic signal may be transmitted from the controller 50 to the latch 83 to command the latch 83 to control the latch 83 motor. The method then proceeds to step 1408 in which the actuator 22 is no longer controlled after the latch 83 has been released, e.g. by controlling a power reset function of the latch 83 to return the pawl to a condition in which it can lock the ratchet, or by controlling the latch 83 to maintain its de-energized condition. The method allows the expansive sealing force exerted on the door by the weatherseal about a perimeter of the vehicle body 14 to cause the closure member to be configured to close due to its compressed state between the vehicle body 14 and the door 12 when the door is fully closed to urge the door 12 out of its primary latched position and toward the door 12 pop-up position (e.g., at a door opening angle of 3 degrees) without assistance from the actuator 22. In other words, the Actuator 22 is not energized until door 12 has moved from its primary closed position to its pop-up position under the force of the seal load. Therefore, a powered closure member actuation system 20 is provided having a controller 50 in communication with a latch 83 power release mechanism and an actuator 22 for moving the door 12, the controller 50 being configured to control the power release mechanism to release the latch 83 to allow the door to move to a pop-up position under the influence of a door seal without controlling the actuator 22, or in other words, the actuator 22 is not powered during pop-open under seal load of the door 12, and the controller is further adapted to control the actuator 22 to move the door 12 after the door 12 has reached the pop-up position. The method proceeds to step 1410 with the step of detecting whether the door has moved to the pop-up position, e.g. B. Position 1012 of 46 . If the controller 50 has detected that the door 12 has been moved to the pop-up position, the method moves to step 1412 with the step of controlling activation of the non-contact obstacle detection system, e.g. B. the at least one non-contact obstacle detection sensor 66, continued. In one possible configuration, the non-contact obstacle detection system is activated only during the automatic door mode and is deactivated or activated, but signals to the controller 50 from the non-contact obstacle detection system are ignored by the controller 50 in the power assist mode so as not to trigger interruptions in door movement that are attributable thereto are that the user is in the vicinity of the door 12 during power assist mode, which would be detected by the non-contact obstacle detection system. If the controller 50 did not detect that the door 12 had moved to the pop-up position, a determination is made in step 1414 as to whether a stop command was received from the controller 50 before the door 12 reached the pop-up position. If the controller 50 has not received a stop command, similar to an input 54 to initiate the automatic mode but intends to stop the door 12 before the door 12 has moved to the pop-up position, the method continues at step 1416 with the determination whether the door 12 moves from the primary locking position (see 46 ) has moved away, for example by receiving Hall effect sensor signals from the latch 83 indicative of the various positions of the latch 83 components. When the controller 50 has determined that the door 12 is moving away from the primary latched position , the method returns to step 1410 where it is determined whether the door 12 has moved to the pop-up position. If the controller 50 has determined that the door 12 has not moved from the primary latched position, the method continues with the execution of a stuck or frozen door routine (as shown in Figs 65 and 66 14) proceeds to step 1420 after determining that the door 12 is in a locked condition, such as when an object is leaning against the door 12, or in a frozen condition, such as when there is ice between the door 12 and the vehicle body 14 formed. After the procedure has completed the blocked or frozen door routine (e.g. from the 65 and 66 ), the method returns to step 1416 to determine if the door 12 has successfully moved out of the primary latched position as a result of executing the stuck or frozen door routine. If the controller 50 received a stop command before the door 12 moved to the pop-up position in step 1416, the method proceeds to step 1424 where the latch 83 is reset to allow the pawl to return to locking engagement with the ratchet when the ratchet is returned to a primary closer catch position. Following step 1424, the method advances to the step of not controlling the tightening actuator 99 in step 1426. Following step 1426, the method continues with the step of transitioning the operational state of the powered fastener actuating system 20 from the automatic mode to the manual or power-assisted mode. Subsequent to step 1412, in a step 1430, the controller 50 may determine whether an obstacle has been detected adjacent to the vehicle 10 using the non-contact sensing system and, for example, within a pivot path of the door. If the controller 50 determines in step 1430 that no obstacle is detected adjacent to the vehicle 10 or door 12, in a step 1432 the controller 50 may command the power door actuator 22 to move the door 12 from the pop-up position to the open position or the latch 83 so that the door can move to the pop-up position and the operating mode changes to a power assist mode. The controller 50 may control the actuator 22 to move the door to a planned door position, which may be a predetermined position, such as at step 1432 . B. at a door angle of 75 degrees. The method continues with step 1436 wherein during door movement the controller 50 continues to determine whether an obstacle has been detected adjacent to the vehicle 10 using the non-contact sensing system and within a pivot path of the door 12, for example. For example, while no obstacle was detected in step 1430 or an obstacle within the pivot path of the door 12 was not detected, an obstacle may have moved into the pivot path of the door 12 during the door opening. If no obstruction is detected in step 1436, the method advances to the step where the controller 50 monitors the door position and in step 1438 detects whether the door position has moved to the planned door position. If an obstruction is detected in step 1436, the method proceeds to step 1440 where an unscheduled stop routine is executed to stop door movement. In the next step 1441, once the controller 50 has received a command to resume automatic mode, e.g. e.g., as a result of a user actuating an inside handle switch a second time, return to step 1432 and resume the door motion profile if the system 20 is operating in the automatic mode, such as in a vehicle. a position/velocity motion profile, as discussed in some examples herein, from the point at which door motion was stopped. Transition continuity is assured, ie continuity of operation from the exact same “operating point” without discrete changing of state and control variables, to ensure that the door does not experience sudden jerks and there is a smooth, unnoticeable transition between modes. After repeating the original opening command, the door 12 is moved further according to the opening profile and the process is terminated with the underlying opening profile. The controller 50 may control the door movement after resumption by adjusting the door movement profile to the pre-resume profile within the last 20% of the final door angle (see box 897 in 58A) . The controller 50 may stop door movement after receiving a command to resume door movement with the same profile, e.g. B. with the same slope as the original motion profile of the opening door before resuming. The door movement after the resume command can be controlled so as not to exceed the door profile movement speed, to reduce the occurrence of door vibration and ensure smooth door movement. For example, the system variables and data can be stored in memory before the interruption and retrieved after receiving the resume command to ensure continuous operation from the same operating point before the interruption and after resuming from the interruption. When switching between automatic and power assist mode, e.g. B. from automatic mode to power assistance mode in the event of an interruption in automatic mode or from power assistance When transitioning to automatic mode after a resume command, the force closure member actuation system 20 can exhibit operational continuity from the same operating points, ie, without a discrete change in state and control variables. Therefore, a powered closure member actuation system 20 is provided having a controller 50 in communication with an actuator 22 configured to control the actuator 22 to move the door 12 according to a door motion profile, the controller 50 being configured to do so is that it controls the actuator 20 after a pause in control of the actuator 22 according to the door motion profile before the pause, without exceeding the maximum operating limits of the door motion profile after resuming from the pause. Such exceeding of the operating limits is shown, for example, as line 999 in 58A shown above the door movement profile 997 in automatic mode before the interruption at position 1001. The post-resume movement indicated by line 995 is below the operating limits of line 997 and is being targeted. 58A shows a door movement diagram 991 with the speed as a function of the door angle, which shows the door movement during automatic operation in the opening direction 899 before the interruption 993, the door movement during power support operation after an interruption in automatic operation 995 and then the resumption of automatic operation with a movement profile that shows the door movement before interrupt does not exceed 996, according to an exemplary embodiment. If in step 1438 the controller 50 did not detect or determine that the door 12 had moved to its final door open position, the method returns to step 1430 of monitoring using the non-contact obstacle sensors to determine whether an obstacle is adjacent to the vehicle 10 was detected. If in step 1438 the controller 50 recognized or determined that the door has moved to its planned door opening position, then in step 1444 the controller 50 may control the actuator 22 to stop the door 12 . The controller 50 can anticipate that the door 12 will reach the planned position at a position before the planned position and reduce the speed of the door 12 to match or closely match a closing speed to provide a seamless transition between the power mode of operation and to provide the lock mode in accordance with the exemplary teachings above. Therefore, a powered operating system for a closure element (20) is provided, comprising a control unit (50) connected to an actuator (22) and an additional actuator for controlling the movement of the door (e.g. an actuator of the door presenter or icebreaker ( 2717), a suit actuator (99)), the control unit (50) being adapted to switch control between the actuator (20) and the additional actuator (99) such that the speeds of the door (12) when controlled by the actuator (20) or the additional actuator (99), match or substantially match during the transition of control. After step 1444, the method proceeds to the step where the controller 50 initiates the actuator 22 door testing process (see FIG 60 ) is activated to check the door 12 in the planned position in step 1446 when the door 12 is stationary, for example in the manner described above. If the door is biased (e.g. due to the geometries of the hinges) to swing slightly under gravity towards the open or the closed position, depending on which position the door is in when stationary, it may be required be to supply the actuator 22 with a level of energy sufficient to resist movement of the door due to this bias. Over time, such a power supply for operating the actuator 22 in such a door control mode can be any power source, such as. B. exhaust a backup battery or the like. As a result, the controller 50 can be configured to switch off after a certain period of time, e.g. 15 minutes, controls the actuator 22 to move the door to either the fully open or fully closed position. When the door is moved to the fully closed position, the door monitoring function to prevent door movement would now be taken over by the door latch 83 and the actuator 22 can be de-energized or disabled while retaining power to the power source. If a separate door check device is provided, not as a door check function resulting from the control of the actuator 22 but, for example, as a friction-based braking or detent mechanism, the controller 50 can activate the door check device as an alternative to controlling the actuator 22 to open the door 12 checked in the planned position. If, in step 1430, the controller 50 determines that an obstacle is detected adjacent to the vehicle 10 during door movement, in a step 1432 the controller 50 may command the door to stop. After step 1446, the method may end and the door may remain in the planned hold position until the controller 50 receives a next automatic door mode command or the user controls the door 12 in the power assist mode.

In the 56A and 56B A method 1500 is shown that includes operation of the power closure system 20 to close the Door illustrated from an open position. The method 1500 begins with the controller 50 monitoring for a user or human indication of their intention to close the door 12, e.g. B. by the controller 50 in step 1502 monitoring for an automatic close command, such as. B. from an interior door handle switch, a key fob button or a remote control input, as described herein only by way of example. The door 12 can be in any open position when the controller 50 receives the automatic close command. If the controller 50 determines in step 1502 that a human intended to move the door 12 to the closed and fully latched position, the controller 50 may determine in step 1504 using the non-contact obstacle detection system whether a user is next to or in the Located near door 12. The controller 50 may be able to better distinguish between a human object and a non-human object based on the signals detected by the non-contact obstacle detection system. For example, if the non-contact obstacle detection system includes radar sensors, a human object can be distinguished from a non-human object based on the object's tracking speeds, the object's reflective properties, and the object's size, which are determined by the differences between the transmitted radar waves emitted by the Radar sensor are received after being reflected from the object as a human who can modify the transmitted waves in a detectable way. If the controller 50 determines in step 1504 that a user is near the door 12, e.g. B. within a threshold distance to the door, z. 1 meter, the method may continue at step 1506 with the step of the controller 50 determining whether the door 12 is stationary. This step 1506 can optionally be performed to ensure that the user does not manually move the door to avoid a conflict situation between the user's manual movements of the door being overridden by the automatic control of the door. If the controller 50 does not determine that the door 12 is stationary in step 1506, the controller 50 may proceed to step 1508 where the controller 50 may monitor whether the door 12 has stopped moving and if it has not stopped to move, the controller 50 may continue to monitor whether the door 12 is stationary. If the controller 50 determines in step 1508 that the door is stationary, the method may proceed to the next step of determining whether the door has not moved from stationary in step 1510 for a predetermined amount of time. If in step 1510 the controller 50 determines that the door 12 has not remained stationary for a predetermined amount of time, the method may return to step 1508 to determine whether the door 12 has stopped moving. If the controller 50 determines in step 1510 that the door has been stationary for a predetermined amount of time, or if it proceeds to step 1506, the method advances to the controller 50 which, using the non-contact obstacle detection system, determines whether there is an obstacle in the closing path of the door was detected in step 1516. If the controller 50 determines in step 1516 that an obstacle has been detected in the closing path of the door 12 using the non-contact obstacle detection system, the controller 50 may proceed to step 1518 to execute a scheduled stop position routine to stop the door 12 in the manner described herein (e.g. before touching the obstacle, allowing some contact with the obstacle). If the controller 50 determines in step 1516 that no obstacle was detected in the path of the door 12 to close using the non-contact obstacle detection system, the controller 50 may proceed to step 1520 to control the actuator 22 to move the door to the secondary locked position will. If the controller 50 determines in step 1504 that there is no user near the door, the method may bypass steps 1506 and 1516 and proceed to step 1520 . Optionally, such an override mode may be provided to reduce delays in door closing due to a transient door condition. Also, in bypass mode, a door motion profile can be used that moves the door as fast as possible without the profile having smooth transitions between acceleration sections and constant speed sections, as is the case in automatic mode, so that the user sees a smooth closing of the door can. When there is no user near the door 12 detected by the non-contact obstacle detection system to see such smooth door movement, the door movement can be controlled to optimize the speed of movement in less time than in automatic mode. In one possible configuration, only touch-based obstacle detection can be used during this avoidance. In another possible configuration, both touch-based obstacle detection and non-touch detection can be used, with the actuator 22 controlling door movement at an overall reduced speed when no user is detected near the vehicle to ensure safety during a potentially unattended closure of the door 12 if such a configuration is desired to meet regulatory security requirements. Following step 1520, the method continues to step 1524, where whether an obstacle is detected in the closing path of the door 12 during the closing of the door towards the secondary locking position before the door has moved to the secondary locking position when a user is detected in the vicinity of the door 12. If the controller 50 determined in step 1524 that there is an obstruction in the path of closure of the door 12, the method may continue with the controller 50 executing an unscheduled stop routine in step 1526. If the controller 50 determined in step 1524 that no obstruction is detected in the path of closure of the door 12, the method may continue with the controller 50 controlling the actuator 22 to decrease the door speed before reaching the secondary latch position in step 1528 and may include, for example, controlling the actuator 22 to decrease the door speed prior to reaching the secondary latch position such that the door speed matches or is slightly greater than the predetermined tightening speed set by the Pull-in actuator 99 is determined, thereby providing a smooth transition between door-closing modes (e.g., between automatic mode and automatic and pull-in modes, each controlled by different actuators). Next, after step 1526, the method continues with the step of the controller 50 determining whether a resume command was received in step 1530. If in step 1530 the controller 50 determines that a resume command was received in step 1532, the method continues next in step 1534 wherein the controller 50 determines whether the door angle has stopped at a position less than a small angle position . For example, the small angular position may be ten degrees of the angle of the door 12 relative to the body 14 . If the controller 50 determines in step 1532 that the door angle has stopped at a position less than a small angle position, the method may continue with the controller 50 executing the close small angle routine in step 1534 (see FIG 59 ) runs. If the controller 50 determines in step 1532 that the door angle has not stopped at a position less than a small angular position, the method may continue returning to step 1520 to control the actuator 22 to open the door moved toward the secondary latch position without exceeding the door motion profile prior to stopping motion. When the controller 50 controls the actuator 22 to move the door to the secondary locked position, it can control the actuator 22 not to move the door beyond a door speed that is greater than the door speed during pinching Door by a pinch mechanism. In other words, the door motion is not controlled to revert to tracking the door motion profile before the pause to prevent door oscillation, but rather not to exceed the operating limits of the next operating mode, in this particular example, pinch mode. After steps 1528 and 1534, the method continues with the controller 50 determining in step 1536 whether the door 12 has moved to the secondary latched position. If the controller 50 did not determine in step 1536 that the door 12 moved to the secondary locked position, the method may continue returning to step 1520 to control the actuator 22 to move the door 12 to the secondary locked position moved. If the controller 50 determined that the door 12 was moved to the secondary locked position in step 1536 , the method may proceed to step 1538 where the controller 50 disables the actuator 22 . Next, the method may continue with activation of the suit actuator 99 to move the door 12 from the secondary locked position to the primary locked position at step 1542 . Next, the method may continue with the controller 50 in step 1546 determining whether an object is detected during the locking process and whether an entrapment condition is occurring or is about to occur using the contact obstacle detection system and/or the non-contact obstacle detection system. If the controller 50 determines in step 1546 that an object is detected during the tightening operation, the method may proceed to step 1548 in which the controller 50 disables the tightening actuator 99 . The method may next proceed to step 1550 to activate actuator 22 to reverse door movement toward the second position. An additional actuator, such as B. the door presenter 2717, can be activated additionally or alternatively. The method may continue to step 1552, where if no obstacles are detected in step 1546, the controller 50 determines whether the door 12 has reached the fully closed position as a result of actuation of the latch motor 99. If the controller 50 does not determine that the door 12 has reached the fully closed position or the primary latched position in step 1552 , the method may return to step 1542 . If the controller 50 determines in step 1502 that a human did not intend the door 12 to move, e.g. B. because the command to close the door from a vehicle control system, z. an autonomous vehicle control system, the method may bypass the steps associated with a human-originated command and proceed to step 1558, where the controller 50, using sensing sensors in and around the vehicle 12 determines whether the user has left the passenger compartment, e.g. B. whether he got out of the vehicle 12. For example, the controller 50 may communicate with a passenger seat sensor that indicates when a user is off the seat because a sensed weight has been lifted from the sensor. Next, the method proceeds to step 1560, wherein the controller tracks the user's movement away from the vehicle 12 using the obstacle detection system, which includes the obstacle detection system detecting areas adjacent to the door 12, as well as other long-range sensor systems, such as that for the ADAS system used sensor system when the vehicle 12 is equipped with such a system, and may include other detection or vision systems. Next, the method proceeds to step 1562 where the controller 50 determines whether the user has moved a predetermined distance from the closure member 12, e.g. B. because he is outside a proximity zone. For example, a non-contact detection system such as an FMCW radar-based system capable of detecting distance may be used. Next, in step 1564, once the controller 50 has determined that the user has left the proximity of the vehicle in step 1525, the method may continue with the controller 50 controlling the vehicle door in a maximum operating mode, such as maximum lock - and opening speeds, as the risk of obstacles being encountered by a user after determining that the user has left the vehicle's close range is mitigated by the inherent distance, or when additional security is required for unattended closing by the user, The controller 50 may control the vehicle door 12 at a slower operating speed, increasing obstacle detection sensitivity and door stop response time. In addition, additional steps such as B. Issuing warning messages while the door is closing adding noise to the surroundings, ensuring the door is stationary to avoid conflict between force assist mode and automatic mode, scanning for obstacles which reduces the chance of false detections , bypassed and not performed. Therefore, a powered closure member actuation system 20 is provided that includes a controller 50 in communication with an obstacle detection system (e.g., a non-contact obstacle detection system) and an actuator 22, wherein the controller 50 is configured to operate the actuator 20 in an override mode controls to move the door from an initial position to an end position faster or in a shorter period of time when a user is not detected near the door using the obstacle detection system than when a user is detected near the vehicle door.

In 57 16 is a flowchart of a method 1600 illustrating operation of the power latch operator system 20 to move the door when the power latch operator system 20 is operating in power assist mode from a stopped door position. The method begins with the controller 50 monitoring whether a user or human is within a proximity detection zone sensed by the non-contact obstacle detection system and is possibly approaching the door, indicating a user who may be opening the door 12 in the want to move force assist mode in step 1602 . The system 20 can already be in an automatic mode during this step or it can also be stationary. The method proceeds to step 1604 where the controller 50 determines whether a user has been detected in the vicinity of the door 12 by the proximity sensing system. If the controller 50 determines in step 1604 that a user has been detected by the proximity sensing system as being near the door, the method may continue in step 1606 with the controller 50 determining the holding force of the door control force, such as that of the The resisting force generated by actuator 22 or other braking mechanism when door 12 is subjected is reduced or eliminated when a door control function is active in anticipation of the user attempting to move the door manually and allowing the user to to avoid detecting a hold. If the controller 50 determines in step 1604 that a user was not detected by the proximity sensing system as being near the door, the method may return to step 1604 . Next, the method proceeds to step 1608, where the controller 50 monitors whether a user has taken manual control of the door, for example by using a door movement system (e.g., a sensor system) to monitor door movement when the door already standing still. If the controller 50 determines in step 1610 that a user has taken manual control of the door in step 1612, the controller 50 may transition to the power assist mode in step 1610 and control the actuator 22 in the power assist mode, as described in more detail herein , such as when the user has moved beyond the position limits of the door control function after overcoming the door control drag, which may have been reduced or eliminated in step 1606. For example, the controller 50 can change either the position of the door or the Detect door movement or both as a condition for transition to power assist mode. Following step 1612, the method proceeds to step 1614, wherein the controller 50 disables the NCOD (Non-Contact Obstacle Detection) system or ignores any signals from the NCOD system indicating that an object has been detected because it is the user is constantly near the door during the power assist operation and because the user can control the door manually and judge whether the door should be stopped or moved accordingly to avoid colliding with an obstacle. Therefore, a powered closure member actuation system 20 is provided that includes a controller 50 in communication with an obstacle detection system (e.g., a non-contact obstacle detection system) and an actuator 22, wherein the controller 50 is configured to control the actuator 20 in automatic mode and processes signals from the obstacle detection system, and is further adapted to control the actuator 20 in power assist mode and ignores signals from the obstacle detection system. In another possible configuration, the controller 50 may ignore signals from the obstacle detection system from a subset of detection zones, such as when a user closes the door while standing outside and to the side of the vehicle, the obstacle detection system having a detection zone that reflects the outward facing volume next to the vehicle is where the user would have to stand to move the door to a closed position using a sensor provided in an exterior door handle, for example. The controller 50 may consider signals from the obstacle detection system sensor that inward of the door to detect objects between the door and the vehicle body 14, such as B. signals from an inward sensor such. B. an inward-facing radar sensor, which is provided behind an inner panel, or an outward-facing sensor, which is arranged on a rocker panel. In one possible configuration, the controller 50 may consider signals from a contact-based sensor when operating in power-assist mode, such as. B. Signals from the anti-pinch bar as an example. When the system 20 is operated in a manual mode, the obstacle detection system signals may be ignored. Following step 1614, the method may continue with the controller 50 determining, in step 1616, whether the user has stopped manually controlling the door at a position between the fully open and secondary locked positions. For example, in power assist mode, the user can bring the door to a standstill under their manual control, or the user can release the door so that any manual input to the door by the user ceases. If the controller 50 determines in step 1616 that a user has ended manual control of the door, the method continues in step 1618 wherein the controller 50 controls the actuator 22 in the door control mode. The controller 50 may alternatively or additionally control another electromechanical door control or braking device when provided as part of the power latch actuator system 20 . Following step 1618, the method may next continue with activating the non-contact sensing system in step 1620 and returning to step 1604 to detect if a user has moved out of range of the door or if the user is within range of the door to assist the controller 50 in making further decisions about controlling the door, e.g. B. to determine whether wind could move the door when receiving an automatic close command, to control the door accordingly, to ensure the safety of the user next to the door. Following step 1614, the method may continue with the controller 50 determining, in step 1622, whether the user has stopped manually controlling the door at a position between the secondary locked position and the primary locked position. For example, the user can apply a force to the door in front of the secondary door position that drives the door past the secondary position and directly into the primary latched position. If the controller 50 determines in step 1622 that the user has stopped manually controlling the door in a position between the secondary locked position and the primary locked position, the method may continue in step 1624 by not controlling the actuator 22 to open a door -Provide control function at the door between these positions. Next, the method may proceed to step 1626 to enable the non-contact obstacle detection system to detect pinch events. The controller 50 may activate the non-contact obstacle detection system or the contact sensor system to prevent entrapment upon determining that the door has been moved to the secondary door position. Next, the method may continue at step 1628 to activate the lock actuator 99 to lock the door 12 in the primary locking position. The door 12 is then in the primary latched position and the method can be terminated. Therefore, a powered closure member actuation system 20 is provided that includes a controller 50 in communication with an obstacle detection system (e.g., a non-contact obstacle detection system and a non-contact based obstacle detection system) and at least one actuator for moving the door, wherein the controller 50 is adapted to receive signals from the obstacle detection system based on the operating mode of the door in at least one of a power assistance mode, an automatic mode, a manual mode and processed or received in a lock mode.

In 58 1 is a flowchart illustrating a method of operation of the power latch system 20 for controlling the door during an unplanned stop when the door is being moved by the power latch system 20 configured in automatic mode. The unscheduled stop routine begins at step 1710, wherein the controller 50 must determine the cause of the pause in motion and control the actuator 22 or other braking mechanism, if present, or both, to stop motion of the door. Next, the method may continue from step 1710 to step 1728, where the controller 50 waits to receive an automatic door mode command to resume door movement before the movement pause occurred in step 1726. Once the automatic mode command to resume door movement in automatic mode has been received, the method may proceed to step 1746, described below. The controller 50 may determine in step 1710 that the cause of the motion interruption is from an external source, e.g. B. by the controller 50 detecting a delta current from the actuator signal control lines caused by an external force acting on the door 12 over a predetermined period of time. If in step 1728 the controller 50 determines that the cause of the motion interruption is from an external source, then in step 1732 the controller 50 next determines whether the non-contact obstacle detection system detects an object, which may be a user as the object. If the controller 50 determines in step 1730 that the non-contact obstacle detection system has detected an object, the method may continue in step 1732 to interpret the intervention as a user-commanded manual input (e.g., a request to open the door , close, or stop, with the user being recognized by the non-contact obstacle detection system. Next, the method proceeds to step 1734, where the controller 50 enters a force assist mode to assist the user in manually moving the door. as illustratively described hereinabove Next, the method proceeds to step 1736 where the controller 50 disables the non-contact obstacle detection system since the user is now assumed to be in control of the door and able to stop the door and move to avoid obstacles touching the door and therefore in force assist mode k an interruption in door movement, e.g. B. slowing down or stopping the door when an obstacle is detected. If the controller 50 determines in step 1732 that the non-contact obstacle detection system did not detect an object, the method may continue in step 1738 to interpret the intervention as a non-operator input (for example, a non-user force may be applied to the door, e.g. due to a gust of wind or a mechanical disturbance). Next, the method continues to step 1740, where the controller 50 controls the actuator 22 to stop door movement. Next, the method proceeds to step 1742 where the controller 50 determines whether an automatic door mode command or a power door mode command has been received. Therefore, a powered closure element actuation system 20 is provided that has a controller 50 that is connected to an obstacle detection system (e.g., a contact-based obstacle detection system or a non-contact obstacle detection system), a door movement detection system (e.g., such as an absolute position sensor for detecting door movement or a Hall sensor for sensing motor shaft position, or a ripple counting system for counting ripples in the motor current indicative of rotation of the motor, or other circuit and sensing configurations) and an actuator 22, with the controller 50 being configured to control the actuator 20 controls to stop the door in response to an obstacle not being detected with the obstacle detection system and detection of door movement with the door movement detection system. If the controller 50 determines in step 1742 that an automatic mode command is received from the controller, the method proceeds to step 1746 where the controller 50 controls the actuator 22 to continue moving the door to the planned door opening position in automatic mode. If the controller 50 determines in step 1742 that a power assist mode command is received from the controller 50, the method proceeds to step 1748 where the controller 50 executes the power assist mode routine to cause door 12 to move Taxes.

In 59 17 is a method of controlling the door 12 from a slack position greater than the secondary position in the automatic mode 1760, also referred to as the close slack position command routine. The method begins with the controller 50 in step 1762 determines whether a command to close the door has been received, e.g. B. when the door 12 was previously stopped in a small door open angle position and the controller 50 received a command to resume the door in automatic mode. The method continues next when the controller 50 receives a door close command at step 1764 to control the actuator 22 in automatic mode and, for example, to control the actuator 22 to accelerate the door to a speed at which the Door 12 is moved to the secondary locked position. The controller 50 may control the actuator 22 to stop the door 12 in the secondary locked position at zero speed, or it may control the actuator 22 to bring the door to the secondary locked position at approximately zero speed is moved. The controller 50 may control the actuator 22 to move the door 12 in the secondary locked position at a speed consistent with the latching speed described above. Next, the method continues to step 1766 where the controller 50 determines or recognizes whether the door 12 has been moved to the secondary locked position. If the controller 50 determines in step 1776 that the door 12 has entered the secondary locked position, the method proceeds to step 1768 where the controller 50 disables the actuator 22 . Alternatively, the controller 50 may monitor the door position as it approaches the secondary closed position and control the actuator 22 to slightly reduce the speed of the door 12 before the door reaches the secondary closed position so that the door 12 moves at a speed from zero or near zero to the secondary closed position, or to match the detent speed. Alternatively, the controller 50 may control the actuator 22 to allow a certain rate of approach of the door to ensure that the latch is engaged at least in the secondary latched position. If the controller 50 does not determine in step 1776 that the door 12 has entered the secondary locked position, the method returns to step 1774 . Next, the method proceeds to step 1770 to activate the suit actuator 99 to move the door 12 from the secondary locked position toward the primary locked position in a manner described in detail above . Therefore, a powered actuation system for the closure member 20 is provided which includes a controller 50 which communicates with a door movement detection system (e.g. Hall sensors provided in the latch 83 to detect the state of the latch 83 which is the indicating position of the door 12), a tightening mechanism for moving the door from a tightening start position, e.g. a secondary locked position, to a tightening end position, e.g. a primary locked position, at a tightening speed, and an actuator 22, wherein the controller 50 configured to control the actuator 22 to move the door 12 to the suit start position at a rate that matches (eg, approximately or exactly matches) the suit speed.

In 60 A method 1800 for controlling or holding the door 12 after controlling the door in automatic mode or power assist mode, also referred to as a stepless door control function or routine, is now shown. The method begins at step 1802 with the controller 50 controlling the actuator 22 to control the door 12 in the stopped position, or in other words, the door control function using the actuator 22 is on. In the next step 1806, the controller 50 monitors door movement. If the controller 50 does not detect door movement in step 1806, for example after 0.75 seconds of no movement, the method in step 1808 does not control the actuator 22 to resist movement or move the door to conserve energy. or alternatively, the controller 50 can control the actuator 22 to provide some resistance to the movement, for example using a field oriented braking (FOC) method if the actuator 22 is equipped with a brushless motor, for example, and then return to step 1806. or alternatively, the controller 50 can control the actuator 22 to provide some resistance to the movement, such as when the door is biased in a direction away from a stopped position due to the hinge orientation or configuration, to resist at least the bias that to move door 12 when in the controlled pos is located. If the controller 50 detects door movement in step 1808, the method proceeds to step 1810 to detect if a user is near the door 12 using the non-contact obstacle detection system. In other words, after the door has stopped and the door control function is activated, the controller 50 does not supply power or increases the power supply to the actuator 22 to hold/control the door in this stopped position only when the controller 50 detects a deviation from the stopped position. Therefore, the door control function performed by the controller 50 need not continuously apply a force to the door to hold the door in the controlled position, but only when the door 12 is detected to be moving out of the controlled position. The door can be trained to be in balance and not in rich direction of the closed or the open position is biased. There is therefore provided a powered actuation system for the closure member (20) comprising a control unit (50) in communication with a door movement detection system and an actuator (22), the control unit (50) being adapted to drive the actuator (20) so that it applies no control force to the door (12) when the door is not moving from a stationary position and to apply a control force to the door when it is determined using the door movement detection system that the Door moved away from the stationary position with the control force counteracting an external force moving the door away from the stationary position. For example, in step 1810, the controller 50 may be configured to determine whether the obstacle is not a user based on tracking the user in an area adjacent to the door 12, detecting features such as size, reflectivity if the non-contact obstacle system is a radar-based system of the user adjacent to the door 12, and/or the use of any PKE/FOB system in conjunction with a wireless identification device that the user may be carrying. If in step 1810 the controller 50 detects an obstacle or a non-user is in the vicinity of the door 12, the method proceeds to step 1812 where the controller 50 controls the actuator 22 to increase the door control force or resistance against increase the movement of the door 12 based on the door position and the door control force profile above the force assisted force, for example using force profiles as illustratively described herein. Next, the method proceeds to step 1814, where the controller 50 determines or detects whether the door position is at a predetermined position or distance from the stop position (before the door was moved). If in step 1814 the controller 50 determines or recognizes that the door position is in a predetermined position or a predetermined distance from the stop position, the method continues in step 1816 to disable the door control function, in other words, to not to control the actuator 22 to resist door movement. Therefore, the controller 50 controls the actuator 22 to return the door 12 to the controlled home position when a deviation of the door does not exceed an angular change in door position. During this angle change, the controller 50 increases the resisting force opposing the force causing the door to move away from the controlled door position until the door has passed the predetermined position or distance from the stop position, as in FIG 60A to see. During this process, in one possible configuration, a maximum power output to the actuator 22 may be limited by the controller 50 to save energy, for example 30 watts. Next, the method continues with step 1818 of controlling the door 12 in a power assist mode. If the controller 50 does not detect that a user is near the door 12 in step 1810, the method proceeds to step 1820 where the controller 50 controls the actuator 22 to resist door movement to to stop the door movement. For example, a gust of wind can cause the door to move when no user has been detected. Next, the method proceeds to step 1822, where the controller 50 controls the actuator 22 to return the door to the position prior to door movement. This possible configuration can be compared to a configuration where a user intentionally moves the door to a new position, where the door control function is reset if the door is stopped in such a new position, which may be permissible if the NCOD system detects a user next to the door 12, whereas a configuration in which the door is moved by an external force not exerted by a user detected using the obstacle detection system can be returned to its initial stationary position , to avoid the door moving over time from its initial door control position and eventually hitting an obstacle or moving to a position where it is in the path of obstacles, e.g. B. in a lane or a pedestrian or bicycle path. Next, the method continues to step 1824 where the controller 50 uses a door check profile with an increased holding force or a more aggressive door check profile. For example, the controller 50 applies a larger resisting force within a smaller door travel angle, or the response time is shortened and the resisting response force is increased. Next, the method proceeds to step 1826 where the controller 50 determines whether a user has been detected near the door 12 using the non-contact obstacle detection system, and in other words, whether a user is now approaching the door 12 is where the user is likely to want to control the door manually or in power assist mode. If the controller 50 determines in step 1826 that a user has been recognized, the method proceeds to step 1828 wherein the controller 50 anticipates a normal door control profile, or a normal reaction force and time, or even a less aggressive door control profile uses lower reaction forces of the user who controls the door manually, so that the user step in the increased door control force 1824 does not have to overcome. From step 1828, the method continues with a return to step 1806. If the controller 50 determines in step 1826 that a user was not recognized, e.g. B. because he has moved away from the vicinity of the door 12, the method proceeds to step 1832, wherein the controller 50 uses a normal door control profile or even a less aggressive door control profile after a predetermined time has elapsed after the Controller 50 has not recognized a user with the non-contact obstacle detection system. From step 1832 the method returns to step 1806. Therefore, a powered closure member actuation system 20 is provided that includes a controller 50 in communication with an obstacle detection system and an actuator 22, the controller 50 being configured to operate the actuator 20 so controls to exert a first control force on the door 12 when an obstacle, such as a user, is detected near the door using the obstacle detection system, and to exert a second control force on the door, different from the first control force differs, e.g. is larger or smaller, when an obstacle or a user is not detected near the door 12 using the obstacle detection system. Additionally is in 60A Illustrated is an example force profile 1799 applied to door 12 by actuator 22 after door 12 has been moved to a stop position 1801 by controller 50 controlling actuator 22 in automatic mode or in power assist mode, in which the Door control function is activated. During operation in the door control mode, the controller 50 controls the actuator 22 with a generated reference force D in either the assist mode or in the automatic mode until the door 12 reaches the end angle 1801 at which the reference force D jumps to a higher value of the control force C, the is maintained as a reference force while the door position is between door angles 1803, 1805. Alternatively, the door 12 can be controlled to stop at end angle 1801, with the actuator 22 not being energized after the door has stopped until a deviation from end angle 1801 is detected, whereupon the controller 50 detects door movement and the reference force D controls so that it increases to the higher value of the control force C. When the door position reaches knee angle 1803 or 1805, the reference force begins to increase. Any user attempting to manually move the door will experience increased resistance to the manual force applied to the door. At certain door angles 1807, 1809, the resisting force remains constant over angular movement of the door 12 and thereafter returns to the reference force D generated. Further beyond a release angle position 1811, the door control function can be disabled or turned off. If the door position does not go beyond the release angle position 1811, the actuator 22 can be controlled so that the door returns to the end angle 1801, or the door control profile can be reinitialized at this new end angle 1801, or in other words, the door control force profile from 60A is re-centered around the new end angle 1801. As in 60A As illustrated, controller 50 may increase or decrease the control force (ranging between A and C) according to various considerations, such as vehicle 10 or door 12 condition, to provide an asymmetric and dynamic stepless door control function. For example, if the controller 50 determines that the vehicle 10 is on an incline that tends to exert gravity on the door 12 to push the door closed, the door control force B may be shifted or increased. to further resist movement of the door only in the closing direction, to resist external gravity tending to impart closing movement to the door. Likewise, the door detent force B can be shifted or reduced to further resist door movement in the open direction only, so that a user does not have to overcome both external gravity and the door detent force B when attempting to move the door in the open direction. 60A shows such an asymmetrical door holding force profile, which can also be provided as a symmetrical door holding force profile. Therefore, a powered closure member actuation system 20 is provided that includes a controller 50 coupled to a vehicle sensor for sensing vehicle condition, such as vehicle speed. B. a pitch or orientation of the vehicle, and an actuator 22, wherein the controller 50 is adapted to control the actuator 20 to apply a door control force during a direction of door movement, which differs from the door control force during another direction, such as B. the opposite, the door movement differs.

In 61 Illustrated is a method for determining a motion override condition of operation of the power closure system 20 to move the door in automatic mode, e.g. B. caused by a user grabbing the door 12 during its movement with the intention of moving the door 12 either manually or in a power assist mode and terminating the operation of the door 12 in automatic mode, ie operation of the door in automatic mode to interrupt. The method begins with the controller 50 detecting or detecting an unexpected change in position, acceleration, or speed of the door in step 1902 . Such determination may be based on an unexpected change in the Door position can be done using a door position sensor or by detecting current spikes sensed in the actuator signal lines, as further described below. The method next continues with the controller 50 determining or detecting whether a user is near the door 12 in step 1904 using the non-contact obstacle detection system to determine whether a user has experienced the unexpected change in position or acceleration or door 12 speed. If in step 1904 the controller 50 does not determine or recognize that a user is near the door 12, the method may proceed to the step of the controller 50 determining in step 1906 that the interruption or tampering with the door movement is caused by a force not exerted by the user, such as a gust of wind or a mechanical failure. Next, the method proceeds to step 1908 where the controller 50 uses the actuator 22 to stop the door and, for example, controls the actuator 22 to immediately stop the door 12 at the shortest possible distance without the actuator to damage. If in step 1904 the controller 50 determines or recognizes that a user is adjacent to the door 12, the method may proceed to step 1910 where the controller 50 determines or recognizes if the door is accelerating in the same direction as the door movement will. If in step 1910 the controller 50 does not determine or recognize that the door is accelerating in the same direction as the door movement, in step 1912 the controller 50 can control the actuator 22 to compensate for unplanned door movement, for example by measuring the resistance against the unexpected door movement increased. If in step 1910 the controller 50 determines or detects that the door is accelerating in the same direction as the door movement, then in step 1914 the controller 50 may determine or detects if the door is accelerating past the automatic door operating range or threshold. 61A shows an example of current and position signals received by the controller 50, e.g. B. from the actuator 22 or a position sensor, as described in detail above, to detect the override of the movement by a user. In this case the movement is shown in the opening direction, but the example is also applicable for the closing direction. In the exemplary 61A current may decrease due to operator force, resulting in a reduction in the speed of the actuator 22, while the door position (and rate of change in position) may increase. If in step 1914 the controller 50 does not determine or detect whether the door is experiencing an acceleration that exceeds the automatic door operating range or threshold, the method may proceed to step 1912 . If in step 1914 the controller 50 determines or recognizes that the door 12 is accelerating past the automatic door operating range or threshold, the controller 50 may determine in step 1918 that a manual override has occurred. If in step 1904 the controller 50 determines or recognizes that a user is adjacent to the door, the method may proceed to step 1920 where the controller 50 determines or recognizes whether the door is decelerating in the same direction as the door movement will. If in step 1920 the controller 50 does not determine or recognize that the door is decelerating in the same direction as the door movement, in step 1912 the controller 50 may control the actuator 22 to compensate for or increase resistance to the unplanned door movement. If in step 1920 the controller 50 determines or detects that the door is accelerating in the same direction as the door movement, then in step 1924 the controller 50 may determine or detects if the door is decelerating beyond the automatic door operating range or threshold. If in step 1924 the controller 50 does not determine or detect whether the door is accelerating past the automatic door operating range or threshold, the method may proceed to step 1912 . If the controller 50 determines or recognizes that the door exceeds the automatic door operating range or threshold in step 1924, the controller 50 may determine in step 1928 whether the door direction has reversed, for example from an open direction to a close direction. 61B shows an example of a current and position signal used to detect a direction reversal. the inside 61B The current shown may increase due to operator force causing resistance to movement of the opening door while the door position may decrease. If, in step 1928, the controller 50 determines or recognizes that the door movement has reversed direction, then in step 1918 the controller 50 may determine that a manual override has occurred. If the controller 50 does not determine or recognize in step 1928 that the door movement has reversed direction, the method may proceed to step 1912 . The method may continue from step 1918 with the step of the controller 50 transitioning in step 1932 from the step of controlling the door in the automatic door mode to the power door mode. As a result, the power latch actuation system 20 may allow the user to override the automatic door mode at any time during automatic door movement and, for example, move the door faster than controlled in the automatic power door mode. Therefore, a provides a power closure member actuation system 20 having a controller 50 operable in power assist mode and automatic mode, the controller 50 also being in communication with an obstacle detection system, a door motion detection system and an actuator 22, the controller 50 being so configured is that it transitions from automatic mode to power assist mode when the controller 50 detects a user using the obstacle detection system and detects door movement using the door movement detection system when the controller moves the door in automatic mode.

As in 62A As shown, the power shutter actuation system 20 may utilize the at least one angle sensor to sense the position and movement of the shutter 12 . It is understood that the position and movement of the door can be sensed in other ways as described herein. Consequently, the controller 50 can be configured to detect the movement of the closure element 12 . Because the electric closure member actuation system 20 can also detect obstacles or people in the vicinity of the closure member 12 (e.g., using the at least one non-contact obstacle detection sensor 66. Three sensors 66 are shown with separate fields of view (FOVs) that are represented by For example, as illustrated by dashed lines), the controller 50 may determine that any detected movement of the closure member 12 is likely due to a wind force (WF), an example of an external non-user force. Thus, after the controller 50 has determined that no contact by a person or persons in the vicinity of the door that could cause door movement is causing movement of the closure element 12 using the non-contact obstacle detection sensors or the system, the movement of the closure element 12 stopped or otherwise altered by the electric shutter actuation system 20 (e.g., by the actuator 22). Thus, when the controller 50 determines that an obstacle is not present using the at least one non-contact obstacle system, the controller 50 can control the actuator 22 to move the closure member 12 in response to no obstacle being detected during the movement of the closure member 12 is detected, changes (e.g., stops moving). In addition, instead of the actuation system 20 operating only to detect obstacles and stop the door or closure member when the obstruction is present, the actuation system 20 may detect movement of a closure member 12 that is not caused by a person physically handling it moved, e.g. B. by wind, and without additional and special wind sensors such as wind vanes or anemometers or other complex calculations and algorithms for motion detection. As a result, any manual movement of the door can be distinguished from wind (WF) so that the user can properly transition the mode of the powered actuation system for closure member 20 from door control mode to a manual or power-assisted mode without manually controlling the door is interpreted as wind force, which would result in the actuator 22 or other braking device being controlled to stop or counteract the movement of the door 12.

As in 62B Best illustrated, a method of operating the powered closure member actuation system 20 to detect movement of the closure member 12 due to non-physical contact with the closure member 2000, for example due to wind, such as a sudden gust of wind, is provided acts on the door. The method begins at step 2002 where it is determined whether the closure member 12 is in an open position. The next step of the method is to determine in 2002 whether the closure member 12 is moving (e.g., while in the open position). The method continues with step 2004, which determines whether no obstacle is detected by the non-contact obstacle detection system. The method continues with step 2006, where the movement of the closure element is changed by means of the actuator 22 in response to the closure element moving and no obstacle being detected. In particular, the step of changing the movement of the closure member in response to the closure member moving and no obstacle being detected in step 2008 may be further defined as stopping movement of the closure member 12 (using the actuator 22 or other braking mechanism, such as an electromechanical braking device within the actuator or remote from the actuator such as one provided on a door control device, for example and without limitation) in response to the closure member moving rather than an obstacle is recognized. For example, the movement of the closure element 12, which resists the influence of the wind (WF), can take place solely through the control of the actuator 22 and/or through a separate braking mechanism.

As in 62C Best illustrated, a method is additionally provided for operating the power operated actuation system for the closure member 20 to detect movement of the closure member 12 due to physical contact with the closure member 2100 by a user to allow the user to assume control of the door 12 , e.g. B. in manual mode or in power-assisted mode. The method may include steps performed by the controller 50, beginning with step 2102, where it is determined whether the closure member 12 is moving (e.g., while in the open position) by the controller For example, 50 monitors a change in a door position signal from a position sensor or other position sensing means or method. The method continues with step 2104 of monitoring the non-contact obstacle detection system, followed by determining in step 2105 whether no obstacle is detected with the non-contact obstacle detection system. The method proceeds to step 2106 where the movement of the closure member 12 is changed, for example by the controller 50 controlling the actuator 22 in response to the closure member moving and no obstruction being detected. In particular, the step of changing the movement of the closure element in response to the closure element 12 moving and no obstacle being detected may also include stopping the movement of the closure element 12 in response to the closure element 12 moving and no obstacle being detected, To be defined. For example, movement of the closure member 12 may be accomplished by a non-user applied force or an external system force on the door 12 solely through control of the actuator 22 and/or using a separate braking mechanism. The method may proceed to step 2109 where the power operated closure member actuation system is transitioned to power assist mode, i.e., the controller 50 controls door movement in a power assist mode as described hereinabove in response to the Closure element 12 moves and an obstacle or the user is detected in step 2107. Thus, if a user is detected near the door 12, the door control function will not be applied or will be disabled if a user moves the door where the controller 50 has determined that a wind force or the like is not inadvertently moving the door. Next, the method proceeds to step 2108 where movement of the door is verified by the controller 50 within a predetermined amount of time (e.g., seconds). If, in step 2108, movement of the door is detected within a predetermined period of time in step 2110, the method returns to step 2104. If in step 2108 the movement of the door is not detected within a predetermined period of time in step 2112, the process proceeds to step 2101 of controlling the actuator 22 in the door control mode and then returns to step 2102.

As in 63 Best illustrated, a method of operating the power operated actuation system for closure member 20 to detect movement of closure member 12 due to non-physical contact with closure member 2200 is additionally provided. The method begins at step 2202, which determines whether a closure member 12 is in an open position. The next step of the method is 2204, where it is determined whether the closure member 12 is moving (e.g., while in the open position). The method continues with step 2206, in which a movement or inclination change of the vehicle 10 is determined with the aid of a movement sensor (e.g. an accelerometer/inclinometer), which can lead to the closure element 12 moving unintentionally. e.g. B. as a result of a person entering the vehicle 10 on an opposite side of the vehicle 10 thereby causing movement of the closure member 12, or otherwise. The method proceeds to step 2208 where the movement of the closure member 12 is altered, for example by controlling the actuator 22 in response to the movement of the closure member 12 and detecting/determining that there is vehicle 12 movement. Specifically, the step of changing the movement of the closure member 12 in response to the movement of the closure member 12 and detecting/determining that there is movement of the vehicle 10 may be further defined as 2208, ceasing movement of the closure member 12 in response to the movement of the closure member 12 and detecting/determining that there is movement of the vehicle 10 .

As in 64 Best illustrated, there is additionally provided a method of operating the power operated actuation system for closure member 20 to sense movement of closure member 12 due to non-physical contact with closure member 2300, wherein the steps of FIG 62 and 63 be combined. The method begins at step 2302, which determines whether a closure member is in an open position. The next step of the method is 2304, which determines whether the closure member is moving (e.g., while in the open position). The method proceeds to step 2306, where it is determined whether an obstacle is detected using the NCOD system, e.g. e.g., a person may be standing next to the closure member 12 and recognized with no intention of moving or interacting with the closure member 12 . The method continues with step 2308, in which a movement sensor (e.g. an accelerometer/inclinometer) is used to detect a change in movement or inclination of the vehicle which may lead to an unintended movement of the closure element, e.g. B. when a person on the opposite side of the vehicle enters the vehicle and thereby causes a movement of the closure member, or z. B. by a shift on an unstable surface. The method proceeds to step 2310 where the movement of the closure member is modified in response to the movement of the closure member and the determination/determination that there is movement of the vehicle and an obstacle is detected. In particular, the step of changing the movement of the closure member in response to the movement of the closure member and detecting/determining that there is movement of the vehicle and an obstacle is detected may further include stopping the movement of the closure member in response to the movement of the closure member and detecting/determining that there is movement of the vehicle 12 can be defined.

In 65 A method 2400 is provided for moving a door 12 from a closed door position when the door 12 is in a frozen state. The method includes the step 2402 of receiving, by the controller 50, an open door command, for example an open door command for movement of the door 12 in the automatic mode, as described hereinabove. Next, the method continues with the steps of monitoring the non-contact obstacle detection system using the controller 50 to determine if an object is detected next to the door at step 2404 . If, in step 2406, the controller 50 determines that an object is detected next to the door, the controller 50 determines that the door is in a locked state, e.g. B. because a large object hits the door. The controller 50 therefore does not control the actuator 22 to move the door 12 to an open position in step 2408 . The controller 50 can issue a warning signal, e.g. B. trigger a gong to show the user the status of the operation of the door. In one possible configuration, the controller 50 can control the interface devices 74, 76 to display the state of the door system 20 to provide the user with more information than just an uninformative chime or beep. For example, the interface devices 74, 76 can be controlled to display the next valid input to the user: "The door is running in power assist mode" or "The door has been stopped, press the switch to continue in automatic mode, or accept You are in control of the door" or "Obstacle detected, the door has been moved to the open position. Take manual control for the rest of the door movement" or "The door is frozen and cannot be force opened, only manual control of the door". Such a display of a user interface can also be attached to other places on the vehicle, e.g. B. on the outer panel of the vehicle, so that the user can see the condition of the door from the outside. If the controller 50 determines in step 2410 that no object is detected near the door, the controller 50 determines that the door can be opened without colliding with an obstacle. The controller 50 therefore controls the actuator 22 to move the door to an open position in step 2412 . The method may continue with the step of determining whether the controller 50 receives an error signal in step 2414 . If the controller 50 receives an error signal (e.g., an overload signal) in step 2414, the controller 50 may control the actuator 22 in step 2415 to stop and not continue movement of the door after, e.g. B. has determined that an electrical fault or other error has occurred. The controller 50 may issue an alert in the form of a beep to indicate the door operation status to the user. If the controller 50 does not receive an error signal in step 2416, the controller 50 may proceed to step 2418 where it determines or detects whether there is movement of the door and whether within a predetermined period of time, e.g. B. 3 seconds, a door movement was detected. If the controller 50 detects no movement in step 2418, the method continues to step 2420 where the temperature of the vehicle or door is checked. If the controller 50 determines in step 2422 that the determined temperature is below a predetermined temperature, e.g. B. 0.5 degrees Celsius, the method can continue with the next step 2426, in which the controller 50 an ice breaker or a door presenter mechanism (e.g. the presenter 2717 with a movable piston, the one from the actuator 22 is a separate device) controls to move the door 12 from the closed position to overcome the frozen door condition, e.g. to break any ice, and/or can control the actuator 22 to output a higher than normal (e.g., compared to normal power assist or automatic mode) output force, e.g. B. At least a force of 400N measured at the door handle to break the ice and fix the frozen door condition. If the controller 50 determines in step 2428 that the ascertained telte temperature is higher than a predetermined temperature, z. 0.5 degrees Celsius, the method may proceed to the next step 2430, where the controller 50 determines that the door is mechanically stuck and the door is prevented from moving from the primary closed position, e.g. due to ice build-up, and the controller 50 does not control the actuator 22 (e.g., a primary door movement mechanism) or the door presenter 2717 or other auxiliary door movement mechanism to move the door and avoid damage. The controller 50 can issue a warning signal, e.g. B. trigger a gong to inform the user about the status of the door operation.

Referring to 66 A method 2500 is provided for moving a door from a closed door position when the door is in a mechanically stuck or stuck or jammed condition. Such a condition may occur, for example, if the vehicle has been in an accident and a portion of the door or frame has deformed, preventing the door from moving from the closed position, for example. The method includes step 2502 wherein the controller 50 receives a door open command, such as an automatic mode door open command as described above. Next, the method continues with the controller 50 using the non-contact obstacle detection system to determine if an object is detected next to the door in step 2504 . If, in step 2506, the controller 50 determines that an object is detected next to the door, the controller 50 determines that the door is in a locked state, e.g. B. because a large object hits the door and the door is not mechanically jammed or blocked. The controller 50 therefore does not control the actuator 22 to move the door to an open position in step 2507 . The controller 50 can issue a warning message, e.g. B. trigger a gong to show the user the status of the operation of the door. If the controller 50 determines in step 2508 that no object is detected near the door, the controller 50 determines that the door can be opened without colliding with an obstacle. The controller 50 therefore controls the actuator 22 to move the door to an open position in step 2510 . The method may continue with the step of determining whether the controller 50 receives an error signal in step 2512 . If the controller 50 receives an error signal in step 2512, the controller 50 may control the actuator in step 2514 to stop and not continue movement of the door after determining, for example, that an electrical error has occurred. The controller 50 can emit a warning signal in the form of a chime to indicate the status of the door operation to the user. If the controller 50 does not receive an error signal in step 2516, the controller 50 may proceed to step 2518 where it is determined whether there is movement of the door and whether there has been door movement within a predetermined amount of time, e.g. B. 3 seconds, is detected. If the controller 50 detects no movement of the door in step 2518, the method proceeds to step 2520, which checks whether the door remains stationary for a predetermined amount of time while the controller 50 controls the actuator 22 to attempt to to move the door 12. If in step 2520 the controller 50 determines that the door remains stationary for a predetermined amount of time while the controller 50 controls the actuator 22 to attempt to move the door, the method may proceed to the next step 1422 where the Controller 50 determines that the door is in a mechanically stuck door condition and ends control of activation of actuator 22 in step 2522 . The controller 50 can alternatively both the actuator 22 and a separate mechanism such. a door presenter 2717, to attempt to move the door 12 out of its mechanically locked position for a period of time before determining that the door is mechanically locked. If the controller 50 determines in step 2524 that the door is moving as a result of actuation of the actuator 22 or activation of the door presenter in conjunction with the actuator 22, the method may proceed to the next step 2526 where the controller 50 moves the door moved to a planned position using the actuator 22 . Therefore, a powered closure member actuation system 20 is provided that includes a controller 50 that is coupled to a primary actuator (e.g., actuator 22) for moving the door between the open position and the closed position and a secondary actuator (e.g., Presenter 2717) for moving the door between a partially open position and the closed position, with the controller 50 being adapted to control individually (e.g. one is controlled to move the door while the other is not controlled to move the door), the primary actuator to move the door through a first range of motion (e.g., from the pop-up position to an open position), and the secondary actuator to move the door through a second range of motion (e.g., from the closed position to the landing position). In another possible configuration, the controller 50 may control the primary actuator and the secondary actuator simultaneously to move the door through the second range of motion, which may be the case when the controller 50 detects a frozen or blocked condition of the door.

In 67 Illustrated is a method performed by the controller 50 to calculate the force command 88 to control the actuator output force to move the door 2600 and, for example, move the door in force assist mode. The method begins at step 2602 with the controller 50 receiving a signal representative of a force applied to the closure panel by a user, for example using the feedback sensor 64 or more generally the feedback system as further described hereinabove . The method continues at step 2604 where the controller 50 determines the relevant torques about a common reference point for use in the calculation. For example, the common reference point of the relevant torques around the door rotation axis is 2650 (see 70 ). In other words, the method includes determining the at least one torque value about a pivot axis 2650 of the closure panel 12 by means of the control device 50, which either impedes or promotes pivoting of the closure panel 12 about the pivot axis. Step 2604 may also include sub-step 2606 in which the controller 50 determines whether any auxiliary door systems such as the presenter 2717 are active, for example as a result of a frozen door condition or a blocked door condition, as described in detail above. For example, controller 50 may determine if a door presenter 2717 or a secondary door mover is activated to assist movement of door 12, or if an electromechanical brake is active to slow or brake movement of the door. Such auxiliary door systems can be selectively activated by the controller 50 to act on the door 12 for a portion of the door angle, at discrete door angles, or for the entire movement of the door 12 in various operations of the power latch actuator system 20 and can be provided to supplement the actuator 22 to move or slow the door, or to add other functions to the door 12. Step 2604 may also include sub-step 2608 in which the controller 50 detects a change in the state of the door 12 . For example, the controller 50 can determine whether the weight of the door has increased or decreased, e.g. B. when a spare wheel has been fitted or removed from a tailgate or tailgate; whether the load on the seals has changed, e.g. B. when a convertible top has been removed so that the door does not have to act against additional door seals when closing; whether an accident condition has occurred, e.g. B. when the controller 50 assumes that damage has occurred that increases the resistance to opening the door. The method continues with step 2610 wherein the controller 50 receives door and vehicle status information from sensors or memory to update the calculation of the force command 88 in real time during door movement. For example, the controller 50 receives door angle data to update the relevant torques in real time while controlling door movement. For example, the controller 50 obtains stored door cycle data to update the relevant torques related to wear in real time during door movement, e.g. B. Torque can increase due to friction over time or door open/close cycles and affect torque at different door angles. Therefore, the door movement cannot be simulated before the door is opened, but the controller 50 calculates the relevant torques during the door movement with the updated data received from the various sensors and the data stored in memory. The method continues with step 2612 where the controller 50 calculates each torque separately as a function of the real-time door and vehicle status information received. The method continues with step 2614 where the individually calculated torques are summed to determine a net torque reaction about the door pivot axis. In other words, step 2616 includes the controller 50 determining a net torque response using the at least one torque value about the axis of rotation 2650 to determine the net torque response. Because the calculation is performed in real-time and not simulated, the controller 50 can, for example, detect a frozen door during opening of the door from the closed position and also include in the overlay calculation a torque attributable to a door opener or a second mover that helps in overcoming the frozen door state. Once the door is thawed again, the controller 50 no longer considers the torque attributable to the door presenter or the secondary door operator in its override calculation. Since the frozen state cannot be simulated in advance, i.e. the controller 50 cannot determine when the frozen door state will end depending on the amount of ice build-up and at what point of the door opening angle, the controller 50 can adjust the torques due to the door encoder 2717 remove them from their calculation step without having to recalculate other torque values, resulting in a less complex force calculation process. The method continues with step 2616 where the controller 50 calculates a compensating net torque reaction about the door pivot axis 2650 based on the summation of the torques calculated in step 2612 . In other words, the controller 50 calculates a force calculation fails to negate the net torque response value to assist the user in moving the fastener while providing the user with controllable resistance that is perceived by the user. Such resistance as experienced by the user can be quantified by using a force sensor measuring the resistance at a position on the door, e.g. B. on the door handle or on an edge of the door, measured force. The method then continues to step 2618 where the controller 50 controls the actuator 22 using the calculated net compensating torque response as determined in step 2618 . This allows the actuator 22 to be controlled with a precise torque in real time to compensate for other torques acting on the door 12 . In other words, the controller 50 controls an output torque from an actuator via transmission of a force command 88 from the controller 50 to the actuator 22 to negate or reduce the net torque response value to assist the user in moving the closure panel. In one possible configuration, the controller 50 can modify the output torque of an actuator so that the net torque value is completely canceled out, so that the user has the feeling of a weightless door, with the user experiencing no or essentially no resistance when applying the force to the door. In another possible configuration, the controller 50 may modify the output torque from an actuator so that the net torque reaction is not canceled, giving the user a weightless door feel, with the user experiencing resistance when applying the force to the door . In some cases, when the door 12 is made of lightweight materials, such as. B. composites, it may be desirable that the system 20, which operates in power assist mode, normally increases the resistance to the user by using the actuator 20 to increase the perceived weight of the door, so that a user experiences door movement that is similar to the movement of a traditionally heavy door, such as a B. one made of metal is similar. In such situations, in power assist mode, the system 20 is configured to normally impose resistance on the door movement, rather than reducing the resistance and providing assistance.

In accordance with another example configuration of the force closure member actuation system 20, 2700, the controller 50, 2702 is configured to receive one of the motion inputs 56, 2704 associated with the force closure member actuation system 20, 2700 that is in the force -Assistance mode works (see 68 ). The controller 50, 2702 is then configured to provide the actuator 22, 2705 with the force command 88, 2706 based on at least one calculated torque 2705 based on torque models 2708 stored in the controller 50, 2702 memory -assistance mode sends to vary the output force of the actuator 22, 2705 acting on the closure member 12, 2710 to move the closure member 12, 2710. In addition, the power-operated closure element actuation system 20, 2700 comprises at least one closure element feedback sensor 64, 2712 for determining at least one position, a speed or an attitude of the closure element 12, 2710. The at least one feedback sensor 64, 2712 thus detects signals from either the actuator 22 , 2705 by counting the revolutions of the electric motor 36, 2714, the absolute position of an extensible element (not shown) or of the door 12, 2710 (e.g. an absolute position sensor on a door hinge as an example) to provide position information to the controller 50 , 2702 to deliver. Other types of feedback systems may be provided to sense the position of the door 12. The controller 50, 2702 is also configured to receive the motion input 56, 2704 and enter the force assist mode to issue the force command 88, 2706 (e.g., using a force command generator 98, 2716 of the controller 50, 2702 as a function of a force command algorithm 100, embodied, for example, as the superposition algorithm 2718 stored in memory as described above.The superposition algorithm 2718 is arranged to receive the output of the torque calculator 2720, which is arranged to it determines the net torque reaction about the door pivot axis 2650 using the torque models 2708 also stored in memory which are updated in real time based on receipt of signals indicative of the position and velocity of the closure member 12, 2710 for the feedback sensors 64, 2712 and possibly also from other sensors, 2713 such as the environment ng sensors 80, 81, as well as other parameters relating to the current state of the closure element 12, 2710, are representative. The overlay algorithm 2718 outputs the compensating net torque response and the controller 50, 2702 is configured to generate the force command 88, 2706 based on the calculated net torque response to control an actuator output force acting on the closure member 12, 2710 to move the closure member while causing a change in the resistance experienced by a user moving the door compared to a normal, non-powered controlled door. Therefore, a powered actuation system for the closure member 20 is provided having a controller 50 operable in power assist mode, the controller 50 being in communication with an actuator 22, the controller 50 being configured to control the actuator 22 to cause an on the door during the resistance experienced by the movement of the door varies inconsistently. In another possible configuration, the inconsistent variation in door-detectable resistance, such as by a user or a force sensor, replicates the inconsistent variation in door-detectable resistance when door movement is not controlled by the actuator 22 .

In the 69 and 70 is an example of an overlay algorithm ( 69 ) performed by the controller 50 using at least one relevant torque 2705 . In 69 For example, relevant torques 2705a related to tilt or hinge preload, such as examples acting about door pivot axis 2560, that may cause door 12 to swing open, are shown, for example, as in FIG 70 shown as arrow 2800 (clockwise); the relevant torque 2705b, which relates to the inertia of the door, which initially prevents the door from moving to the open position, but continues to urge the door to the open position as the speed of the door increases, as in 70 shown as arrow 2802, a relevant torque 2705c related to the friction resisting opening of the door toward the open position shown in FIG 70 As shown as counterclockwise arrow 2804 about axis 2650, a relevant torque 2705d relating to detent positions of the door hinge or a door check if the vehicle is designed with such detent positions tending to impede movement of the door in the open direction Counteract position only in a predetermined angular position of the door, such as in 70 shown as arrow 2806. Other relevant torques 2705, such as. B. a damping torque 2705e, as z. B. exerted by a damping strut or device or similar, which can influence the door movement, can be included in the overlay calculation. The overlay algorithm 2718 may calculate the compensating net torque response 2707 to negate the sum of the individual torques of interest as would be provided by the torque torque of the actuator 22, and the controller 50 is configured to generate the force command 88 based on the calculated net torque response generated to control the actuator output force acting on the closure member to produce the compensating net torque reaction 2707 and as a result move the closure member to either control a resistance experienced by the user when power assisted to move the door , or to control any assistance experienced by the user when moving the powered door, as indicated by arrow 2808 in 70 shown. 70. Arrow 2808 is shown clockwise to encourage movement of the door toward the open position, but may be counterclockwise to resist movement of the door toward the open position. The balancing net torque 2707 can be variable over the angular change of the door to give the user a consistent door feel throughout the movement of the door 12, regardless of the door weight, the speed of movement of the door, gravitational effects and the like that vary over the angular change of the door 12 be able. In another possible configuration, the net compensating torque 2707 may be variable over the angle change of the door to give the user an inconsistent door feel throughout the movement of the door 12 to accommodate changes in resistance or support to the user's perception over the angle change the door 12 to introduce. Such discrepancies can give the user a feeling, for example, of increasing forces around simulated detent positions. As another example, the controller 50, 2702 may provide imbalances in resistance and assistance so that a user experiences the same forces when moving the door in manual mode, but with these forces scaled to give the user a familiar door opening experience offer as would be encountered when moving a manual, non-powered door, but with the forces reduced to those perceived by the user. For example, the controller 50, 2702 may be configured to vary the resistance such that the user still experiences a force associated with overcoming the inertia of the door when at rest, or, for example, the controller 50, 2702 may be arranged to vary the resistance such that the user still experiences a force associated with the sustained inertia of the door as it moves, or for example the controller 50, 2702 may be arranged that it varies the assistance so that the user still experiences a force associated with overcoming gravity when the door is moved and the vehicle 10 is at such an incline that the door does not feel open to stand on a flat surface. Such intentional introduction of discrepancies in door resistance and support is intended to mimic the forces normally associated with a non-powered door with which the user is familiar, to give the user a different experience To provide a level of haptic feedback compared to a powered assist that is constant throughout door movement that users may be unfamiliar with compared to the movement of a non-powered door. During door movement, the net compensating torque 2707 can be positive to apply an assisting force to the door and also negative to apply a resisting force to the door so that the user experiences the same or scaled force during manual interaction with the door learns about the entire door movement. In some cases, the controller 50 can calculate the compensating net torque response 2707, for example by applying an internal scaling variable, so that the drag force experienced by the user is reduced to near zero to create a weightless door sensation, and in other configurations the controller can 50 calculate the net compensating torque response 2707 to increase the drag force experienced by the user to give the user a heavier door feel. In this illustrative example, the torque caused by the actuator 22 acts clockwise about the axis 2650 to move the door while reducing the resistance experienced by the user when acting on the door, or in other words the required opening torque 2709, which the user must enter in order to move the door 12 about the axis 2650. Therefore, depending on the user's desired experience, controlling the actuator can result in the user choosing either a heavier door (more resistance the user feels when moving the door) or a lighter door (less resistance the user feels when moving the door). senses) is experienced, one that simulates normal, non-powered door movement, but with scaling forces felt by the user as the door is moved. The forces felt by the user can be measured with a force sensor as described above. 70 12 shows the actuator 22 as a rack and pinion actuator having an extensible rack, one of the types of actuators 22 that may be used in the systems described herein to actuate power closure members 20. FIG. In one possible configuration, the actuators 22 described herein are not clutched and otherwise have a constantly engaged (e.g. always coupled) drive connection between the motor 2711 and the mount 2713 on the vehicle body 14. Therefore, the controller 50 in either force assist mode or automatic mode, in one possible configuration, control the door in real time depending on the position of the door to determine the force command 88 or the movement command 62. While the user may have quasi-manual control of the door when moving the door in power assist mode, the power latch operator system 20 may limit the speed of the door at which the user can move the door in power assist mode, e.g. For example, the controller 50 may limit or cap the speed of the door to a maximum of 60 degrees per second and enter anti-slam mode above that speed, as described above.

In 71 1 shows an example of how the controller 50, 2702 determines if auxiliary door systems are active and updates the relevant torques to include relevant torques related to an auxiliary door system, such as. B. a door presenter 2717 for the door angle, where the door presenter 2717 is activated to z. B. to support an icebreaker function as described here above. For example, the controller 50, 2702 can determine if a door presenter is activated to also assist movement of the door and the relevant torque(s) 2902 of the auxiliary system(s) applied about the axis 2650 act(s) update in real time based on the door angle for inclusion as part of the overlay calculation function 2718 . Such auxiliary door systems can be selectively activated to act on the door for a portion of the door angle, as indicated by arrow 2808 in 70 shown. Other door systems with associated relevant torques 2904 may be included or removed by the controller 50 in performing the overlay function 2718, e.g. B. when a separate door control mechanism acts on the door, when a separate braking mechanism acts on the door, when another door interacts with the door, as in the case of a B-pillarless door system, for example and without limitation. Therefore, the controller 50, 2702 may perform a summation 2906 of the net torque response 2908 as determined by way of example in method step 2612 described hereinabove, which is described with reference to FIG 69 by way of example, summing torques 2705a through 2705d, compensating torque 2910 as determined by example in method step 2616 described hereinabove, and by way of example torque moment of actuator 22 about axis 2650, and proceed to calculate a force command 2912 using force command generator 2914 , which is fed to the engine 2916. The inclusion or exclusion of the relevant torque/torques, e.g. B. the torque(s) 2902 when the door presenter 2717 affects door movement can be added or removed without affecting the normal (non door movement affecting) compensation calculations for the power assist which when the other relevant torque moment(s) is/are not activated (e.g. due to the door angle) or is/are not available (e.g. not installed on the vehicle or disabled due to damage). As a result, the force closure element actuation system 20 can support the expansion of additional functions for influencing the door movement during door movement, such as e.g. B. support functions that can only be actuated during certain ranges of movement of the door or states of the door, or the modularity of different configurations of the power closure element actuation system 20, such. B. the installation of additional mechanisms such. B. a mechanical door stop, dampers such. B. balancing struts, an electromechanical braking mechanism, etc. without restriction.

Of course, changes may be made to the features described and illustrated herein without, however, departing from the scope defined in the appended claims. The foregoing description of the embodiments has been presented for purposes of illustration and description. It does not claim to be complete or to limit the disclosure. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where appropriate, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. The same can also be varied in many ways. Such variations are not to be regarded as a departure from the disclosure, and all such modifications are intended to be included within the scope of the disclosure.

The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "including," "including," and "having" are inclusive and therefore specify the presence of particular features, integers, steps, operations, elements, and/or components, but exclude the presence or addition of one or more others characteristics, integers, steps, operations, elements, components and/or groups. The method steps, processes, and operations described herein are not to be construed to require performance in the order discussed or illustrated, unless expressly noted as an order of performance. It is also understood that additional or alternative steps can be used.

When an element or layer is referred to as "on", "engages with", "connected to" or "coupled to" another element or layer, it may be directly on, engaged with, connected or coupled to the other element or layer, or there may be intervening elements or layers. In contrast, an element referred to as being “directly on,” “directly engaging,” “directly connected to,” or “directly coupled to” another element or layer may have no intervening elements or layers. Other words used to describe the relationship between elements should be interpreted in the same way (eg, "between" versus "directly between," "adjacent" versus "directly adjacent," etc.). As used herein, the term "and/or" includes any combination of one or more of the listed items.

Although the terms "first", "second", "third", etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be interchanged these terms are restricted. These terms may only be used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms do not imply any order unless clearly clear from the context. A first element, a first component, a first area, a first layer or a first section, which is discussed below, could also be used as a second element, a second component, a second area, a second layer or a second section without departing from the teachings of the exemplary embodiments.

Spatially relative terms such as "inside,""outside,""below,""below,""above,""above,""above,""below," and the like may be used herein for ease of description to indicate the relationship of a Describe element or feature to another element or feature as shown in the figures. The terms “spatially relative” may be understood to include other orientations of the device in use or operation besides the orientation depicted in the figures. For example, if the device in the figures is turned over, if elements described as “below” or “below” other elements or features would then be oriented “above” the other elements or features. The exemplary term “below” can therefore include both an orientation “above” and “below”. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatial descriptions used herein should be interpreted accordingly.

The components of the illustrated devices, systems, and methods employed in accordance with the illustrated embodiments may be implemented, at least in part, in digital electronic circuitry, analog electronic circuitry, or in computer hardware, firmware, software, or combinations thereof. These components can be implemented as a collection of instructions that are executed by a processing device, for example as a computer program product such as a computer program, program code or computer instructions tangibly embodied in an information carrier or in a machine-readable storage device to be processed by a data processing device such as a programmable processor , a microprocessor, a computer or multiple computers, or to control their operation. The term "controller" as used in this application includes any such computer, processor, microchip processor, integrated circuit or other element, whether singular or in multiple parts, capable of carrying out programming for the perform the functions, methods and flowcharts provided herein. The controller may be a single such element that is packaged with the other electronic elements on a printed circuit board. However, it can also be located remotely from the other elements described here. For example, but without limitation, the at least one controller may reside in the form of programming in a vehicle's on-board computer in the door, a lock, or other locations in the vehicle. The controller can also be located in several places or consist of several components.

A list of instructions, e.g. A computer program, B. a computer program, may be written in any programming language, including compiled or interpreted languages, and may be provided in any form, including as a stand-alone program, or as a module, component, subprogram, or other unit adapted for use in a computing environment suitable is. A computer program may be distributed for execution on one computer or on multiple computers at one or more locations and linked by a communications network. Also, functional programs, code, and code segments for performing the illustrated embodiments can be readily considered to be within the scope of the claims illustrated by the illustrated embodiments by programmers skilled in the art to which the illustrated embodiments pertain. Method steps associated with the illustrated embodiments may be performed by one or more programmable processors executing a computer program, code, or instructions to perform functions (e.g., by processing input data and/or generating an output). The process steps can also be controlled by special logic circuits, e.g. B. a FPGA (Field Programmable Gate Array) or an ASIC (Application Specific Integrated Circuit), and the devices of the illustrated embodiments can be implemented as such.

The various exemplary logic blocks, modules, algorithms, steps, and circuits described in connection with the embodiments described herein may be implemented using a general purpose processor, a digital signal processor (DSP), an ASIC, an FPGA, or any other programmable logic device, discrete may be implemented or executed using gate or transistor logic, discrete hardware components, or any combination thereof to perform the functions described herein. A general purpose processor can be a microprocessor, alternatively the processor can be a conventional processor, a microcontroller or a state machine. A processor can also be implemented as a combination of computing units, e.g. a combination of a DSP and a microprocessor, a number of microprocessors, one or more microprocessors in conjunction with a DSP core, or other such configuration.

Processors suitable for executing a computer program include, for example, both general purpose and special purpose microprocessors, as well as one or more processors of all types of digital computers. Generally, a processor receives instructions and data from read-only memory or random access memory, or both. The essential elements of a computer are a processor to execute instructions and one or more memory devices to store instructions and data. In general, a computer also includes one or more mass storage devices for storing data, e.g. B. magnetic, magneto-opti physical or optical disks, or is operatively coupled to receive data from or transmit data to them, or both. Information carriers suitable for storing computer program instructions and data include all forms of non-volatile memory, e.g. B. semiconductor memory devices, z. B. Electrically programmable read only memory or ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory devices and data storage disks (e.g. magnetic disks, internal hard disks or removable disks, magneto-optical disks and CD-ROM and DVD-ROM disks) . The processor and the memory can be supplemented by or integrated into special logic circuits.

Those skilled in the art know that information and signals can be represented using a number of different technologies and techniques. For example, data, instructions, commands, information, signals, bits, symbols, and chips referred to in the above description may be represented by voltages, currents, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination be represented by it.

Those skilled in the art also recognize that the various logical blocks, modules, circuits, algorithms, and steps described in connection with the embodiments described herein can be implemented in electronic hardware, computer software, or combinations of both. To clarify this interchangeability of hardware and software, various components, blocks, modules, circuits, and steps have been described above in general terms of functionality. Whether such functionality is implemented in hardware or software depends on the particular application and the design constraints imposed on the overall system. Those skilled in the art may implement the described functionality in different ways for each individual application, but such implementation decisions should not be construed as resulting in a departure from the scope of the claims illustrated by the illustrative embodiments. A software module may be stored in random access memory (RAM), flash memory, ROM, EPROM, EEPROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art is. An example storage medium is coupled to the processor such that the processor can read and write information from the storage medium. Alternatively, the storage medium can also be integrated into the processor. In other words, the processor and storage medium may reside on an integrated circuit or be implemented as discrete components.

Computer-readable non-transitory media includes all types of computer-readable media, including magnetic storage media, optical storage media, flash media, and solid-state storage media. It is understood that software can be installed in and sold with a central processing unit (CPU). Alternatively, the software can be obtained and loaded into the CPU device, including obtaining the software via a physical medium or distribution system, e.g. B. from a server owned by the software manufacturer or from a server that is not owned but used by the software manufacturer. The software can e.g. B. stored on a server for distribution over the Internet.

QUOTES INCLUDED IN DESCRIPTION

This list of documents cited by the applicant was generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent Literature Cited

• US62/864070 [0001]
• US62/875736 [0001]
• US62/885390 [0001]
• US62/885397 [0001]
• US62/928416 [0001]
• US 16/567156 [0001]
• WO 2013/013313 [0005]
• US2018/0238099 [0054]

Claims (20)

A power-operated closure member actuation system for moving a vehicle closure member between an open position and a closed position relative to a vehicle body, the power-operated closure member actuation system comprising: an actuator coupled to the closure element and the vehicle body, which is designed such that it moves the closure element relative to the vehicle body, a closure element feedback sensor for determining a position and/or a speed of the closure element, and a controller in communication with the closure member feedback sensor and the actuator, the controller being configured to control movement of the closure member by the actuator to facilitate movement of the closure member toward the open position or the closed position withstand without exceeding an operating performance of the actuator, which may damage the actuator, based on the position and the speed of the shutter determined using the feedback sensor for the shutter. Power operated shutter actuation system claim 1 wherein the actuator includes a motor operatively coupled to a reduction gear operatively coupled to the closure member. Power-operated actuation system for the locking element according to claim 2 wherein the power operated closure member actuation system is provided without a mechanical brake or mechanical clutch to assist movement of the closure member to either the open or closed position. Power operated shutter actuation system claim 1 , further comprising a tilt sensor in communication with the controller, wherein the tilt sensor is configured to detect a tilt of the closure member, wherein the controller is further configured to detect movement of the closure member by the actuator based on the tilt of the Closure element, which is determined using the tilt sensor controls. Power locking element actuation system claim 2 , wherein the operating power includes at least one of the following: maximum speed of the engine, maximum power of the engine, maximum back electromotive force output power, maximum thermal power and maximum electrical braking power. Power operated shutter actuation system claim 2 , wherein the controller is further configured to determine whether the speed of the closure member is greater than a predetermined maximum speed threshold resulting in a maximum operating speed rating of the actuator being exceeded, and in response to the speed of the shutter is greater than the predetermined maximum speed threshold, controls the actuator to reduce the speed of the shutter to return the motor below the maximum operating speed rating of the actuator. Power-operated locking element actuation system according to claim 1 , wherein the controller can be operated in at least one of an automatic mode and a power-operated assistance mode and an anti-slamming mode and the controller is designed to: control the actuator in one of the two modes “automatic” and “power assistance”, to move the closure member, determining if the speed of the closure member is greater than a predetermined maximum speed threshold, continuing to control the actuator in one of automatic mode and power assist mode to move the closure member in response to the speed of the closure member not is greater than the predetermined maximum speed threshold, and exiting the automatic mode or the assist mode and entering the anti-slam mode when the speed of the closure member is greater than the predetermined maximum speed threshold. Power-operated actuating system for a closure element according to claim 1 , wherein the position of the closure member is an angle of the closure member, and the controller is further configured to: detect a direction of movement of the closure member, determine whether the angle of the closure member is less than a first predetermined angle of the closure member, in response to the determining that the closure member is moving towards the open position, controlling the actuator to reduce the speed of the closure member to allow an open hard stop when determining that the angle of the ver closure element is not less than the first predetermined angle of the closure element, to control the actuator so that the speed of the closure element is reduced to zero in or before the open position if the angle of the closure element is determined to be less than the first predetermined angle of the closure element Closure element is. Power-operated actuating system for a closure element according to claim 1 , wherein the position of the closure member is an angle of the closure member, and the controller is further configured to: determine whether the angle of the closure member is greater than a second predetermined angle of the closure member, in response to determining that the closure member is in Moves toward the closed position to control the actuator to reduce the speed of the closure member to move the closure member to a primary locking position in response to determining that the closure member angle is not greater than the second predetermined closure member angle locking may occur, controlling the actuator to reduce the speed of the closure member to move the closure member to a secondary latching position in response to determining that the angle of the closure member is greater than the second predetermined closure member angle n can occur. Power-operated actuating system for a closure element according to claim 9 , wherein the position of the closure member is an angle of the closure member and the controller is coupled to a pull actuator of a latch to move the closure member from a secondary latched position to a primary latched position, and the controller is further configured to: a direction of movement of the closure member, to determine whether the angle of the closure member is less than a first predetermined angle of the closure member, in response to determining that the closure member is moving towards the open position, to control the actuator so that the speed of the shutter member is reduced to allow an open hard stop when determining that the shutter member angle is not less than the first predetermined shutter member angle, control the actuator so that the velocity of the shutter member is at or ahead of the open position is reduced to zero when the closure member angle is determined to be less than the first predetermined closure member angle, determining whether a manual control is detected, determining whether the closure member is in the open position when detecting that the manual control is not detected, return to detect a direction of movement of the closure member in response to determining that the closure member is not in the open position, exit anti-slam mode in response to the determination, that the closure member is in the open position, control the actuator in power assist mode and exit anti-slam mode upon determining that the manual control has been detected, determine whether the angle of the closure member is greater than on second predetermined angle of the closure element, as reactiv on determining that the closure member is moving toward the closed position, controlling the actuator to decrease the speed of the closure member to cause the closure member to operate in response to determining that the angle of the closure member is not greater than the second predetermined closure member angle is able to enter the primary latching position, control the actuator to reduce the speed of the closure member to allow the closure member to enter the secondary latching position upon determining that the angle of the closure member is greater than the second predetermined angle of the closure member , determine if the manual control is detected, control the actuator in power assist mode and exit anti-slam mode when determining that the manual control has been detected, determine if the locking member is in the secondary V latched position, upon determining that the manual control is not recognized, controlling the suit actuator to move the closure member to the primary latched position, upon determining that the closure member is in the secondary latched position, sounding an alarm during the generate control of the suit actuator and return to detect the direction of movement of the closure member and return to control the actuator to reduce the speed of the closure member to allow the closure member to enter the secondary locking position when festge it is established that the locking element is not in the secondary locking position. Power-operated actuating system for a closure element according to claim 9 , wherein the position of the closure member is an angle of the closure member and the velocity of the closure member is an angular velocity of the closure member, and the controller is further configured to: vary a deceleration rate of the closure member as the closure member moves toward the open position, dependent from the angle of the shutter in anti-slam mode, and ensuring that the angular velocity of the shutter is zero at a first predetermined angle of the shutter before an open hard stop. Power-operated actuating system for a closure element according to claim 9 , wherein the position of the closure member is an angle of the closure member and the velocity of the closure member is an angular velocity of the closure member, and the controller is further configured to: check whether the angle of the closure member is greater than a second predetermined angle of the closure member when moving the closure member toward the closed position in the anti-slam mode, decelerating the closure member to a predetermined reference speed dependent on the angle of the closure member in response to verifying that the angle of the closure member is greater than the second predetermined closure member angle, the predetermined reference speed to maintain until the closure member moves to a secondary locking position, and to slow the closure member to a predetermined pull-in speed in response to verifying that the wink el of the closure member is no greater than the second predetermined closure member angle and permit movement of the closure member to a primary latching position at the predetermined tightening rate. A power-operated closure member actuation system for moving a vehicle closure member between an open position and a closed position relative to a vehicle body, the power-operated closure member actuation system comprising: an actuator coupled to the closure element and the vehicle body, which is designed such that it moves the closure element relative to the vehicle body, a closure member feedback sensor for determining at least a position and a speed of the closure member, a controller in communication with the closure member feedback sensor and the actuator, the controller being configured to: controls the actuator in either an automatic mode or in a force-assisted mode to move the closure member, determines whether the speed of the closure member is greater than a predetermined maximum speed threshold, in one of automatic mode and power assist mode, continuing to control the actuator to move the closure member in response to the closure member speed not being greater than the predetermined maximum speed threshold, and exits automatic mode or power assist mode and enters an anti-slam mode when the closure member speed is greater than the predetermined maximum speed threshold. Power operated shutter actuation system Claim 13 , wherein the controller, when in either automatic mode, power assist mode or anti-slam mode, is adapted to control movement of the closure member by the actuator to facilitate movement of the door toward the open position or to withstand the closed position without exceeding an operating performance that may damage the actuator based on the position and velocity of the shutter determined using the shutter feedback sensor. Power operated shutter actuation system Claim 14 , further comprising a tilt sensor in communication with in the controller, the tilt sensor configured to detect a tilt of the closure member, the controller further configured to detect movement of the closure member by the actuator based on the tilt of the shutter element determined using the tilt sensor. Power-operated actuating system for a closure element according to Claim 13 , wherein the position of the shutter is an angle of the shutter and the velocity of the shutter is an angular velocity of the shutter, and the controller further configured to: allow continued movement of the closure member in automatic mode as long as the angular velocity of the closure member is: (i) at a predetermined reference velocity, or (ii) within an upper gap in automatic mode between a predetermined reference velocity and an upper automatic angular velocity, or (iii) is within an automatic mode lower gap between the predetermined reference velocity and a lower automatic angular velocity, in response to the closure member angular velocity being less than the automatic lower angular velocity or greater than the automatic upper angular velocity, enters the power assist mode , enters the anti-slam mode as soon as the angular velocity of the shutter reaches an upper high-velocity threshold greater than the predetermined threshold value for maximum speed, and reverts to the power assist mode as soon as the angular speed of the obturator decreases to a lower threshold for high speeds, which is below the predetermined threshold for maximum speed. A method for controlling movement of a closure member of a vehicle between an open and a closed position relative to a vehicle body based on a position and/or a speed of the closure member using a power operated closure member actuation system, comprising the steps of: moving the closure member relative to the vehicle body using an actuator of the closure member power actuation system coupled to the closure member and the vehicle body, monitoring the position and/or the speed of the closure member using a controller of the power operated closure member actuation system coupled to a closure member feedback sensor and the actuator, and controlling movement of the closure member by the actuator to resist movement of the door toward the open position or the closed position without exceeding an operating rating of the actuator that may damage the actuator based on the position and speed of the closure member, which are determined using the feedback sensor of the closure element. procedure after Claim 17 , wherein the controller is operable in at least one of an automatic mode and a powered assistance mode and an anti-slam mode, and the method further comprises the steps of: controlling the actuator in one of the two modes "automatic" and "power assistance" to move the closure member, determining if the closure member speed is greater than a predetermined maximum speed threshold, continuing to control the actuator in one of the automatic mode and the force assist mode to move the closure member in response to the closure member speed being no greater than the predetermined maximum speed threshold is to move and exiting the automatic mode or the assist mode and entering the anti-slam mode in response to the speed of the closure member being greater than the predetermined maximum speed threshold. procedure after Claim 18 , wherein the position of the closure member is an angle of the closure member and the controller is coupled to a pull actuator of a latch 83 to move the closure member from a secondary latched position to a primary latched position, and the method further comprises the steps of: detecting a direction of movement of the closure member, determining whether the angle of the closure member is less than a first predetermined angle of the closure member in response to determining that the closure member is moving toward the open position, controlling the actuator to decrease the speed of the closure member, to enable an open hard stop in response to determining that the angle of the closure member is not less than the first predetermined angle of the closure member, controlling the actuator to increase the speed of the closure member at or before the of open position to zero upon determining that the closure member angle is less than the first predetermined closure member angle, determining whether a manual control is detected, determining whether the closure member is in the open position, in response to determining that the manual control is not recognized, returning to detect a direction of movement of the closure member in response to determining that the closure member is not in the open position, terminating the anti-slam mode in response to the determination , that the closure element ment is in the open position, controlling the actuator in power assist mode and terminating the anti-slam mode in response to determining that the manual control has been detected, determining whether the angle of the closure member is greater than a second predetermined angle of the The closure member is, in response to determining that the closure member is moving toward the closed position, controlling the actuator to decrease the speed of the closure member to allow the closure member to enter the primary latching position when it is determined that the angle of the closure member is not greater than the second predetermined closure member angle, upon determining that the closure member angle is greater than the second predetermined closure member angle, controlling the actuator to decrease the speed of the closure member to allow the closure member to enter the secondary locking position rdetermined angle of the closure member, determining if the manual control is detected, controlling the actuator in power assist mode, and terminating anti-slam mode in response to determining that the manual control was detected, determining if the closure member is in the secondary position, in response to determining that the manual control is not recognized, controlling the suit actuator to move the closure member to the primary latched position when the closure member is determined to be in the secondary latched position, generating an alarm signal during control of the suit actuator and return to sense the direction of movement of the closure member and return to control the actuator to reduce the speed of the closure member to allow the closure member to enter the secondary locking position when detected It is shown that the locking element is not in the secondary locking position. procedure after claim 19 wherein the position of the closure member is an angle of the closure member and the velocity of the closure member is an angular velocity of the closure member, the method further comprising the steps of: allowing continued movement of the closure member in automatic mode as long as the angular velocity of the closure member is: (i) at a predetermined reference velocity or (ii) within an automatic mode upper gap between a predetermined reference velocity and an upper automatic angular velocity or (iii) within a lower automatic mode gap between the predetermined reference velocity and a lower automatic angular velocity, enter the power assist mode in response that the angular velocity of the shutter is less than the automatic lower angular velocity or greater than the automatic upper angular velocity t, transition to anti-slam mode once shutter angular velocity reaches an upper high speed threshold greater than the predetermined maximum velocity threshold, and switch back to force assist mode once shutter angular velocity increases to decreases a low high speed threshold that is below the predetermined maximum speed threshold.

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