EP2999838A1 - Dispositif anti-pincement pour vitre de porte de véhicule dotée d'un système d'aide à la fermeture - Google Patents

Dispositif anti-pincement pour vitre de porte de véhicule dotée d'un système d'aide à la fermeture

Info

Publication number
EP2999838A1
EP2999838A1 EP14726344.6A EP14726344A EP2999838A1 EP 2999838 A1 EP2999838 A1 EP 2999838A1 EP 14726344 A EP14726344 A EP 14726344A EP 2999838 A1 EP2999838 A1 EP 2999838A1
Authority
EP
European Patent Office
Prior art keywords
door
closing aid
vehicle
window
threshold value
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP14726344.6A
Other languages
German (de)
English (en)
Inventor
Marcus Scholz
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Brose Fahrzeugteile SE and Co KG
Original Assignee
Brose Fahrzeugteile SE and Co KG
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Brose Fahrzeugteile SE and Co KG filed Critical Brose Fahrzeugteile SE and Co KG
Publication of EP2999838A1 publication Critical patent/EP2999838A1/fr
Withdrawn legal-status Critical Current

Links

Classifications

    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/40—Safety devices, e.g. detection of obstructions or end positions
    • E05F15/41—Detection by monitoring transmitted force or torque; Safety couplings with activation dependent upon torque or force, e.g. slip couplings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05F—DEVICES FOR MOVING WINGS INTO OPEN OR CLOSED POSITION; CHECKS FOR WINGS; WING FITTINGS NOT OTHERWISE PROVIDED FOR, CONCERNED WITH THE FUNCTIONING OF THE WING
    • E05F15/00—Power-operated mechanisms for wings
    • E05F15/60—Power-operated mechanisms for wings using electrical actuators
    • E05F15/603—Power-operated mechanisms for wings using electrical actuators using rotary electromotors
    • E05F15/611—Power-operated mechanisms for wings using electrical actuators using rotary electromotors for swinging wings
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2201/00—Constructional elements; Accessories therefor
    • E05Y2201/40—Motors; Magnets; Springs; Weights; Accessories therefor
    • E05Y2201/404—Function thereof
    • E05Y2201/41—Function thereof for closing
    • E05Y2201/412—Function thereof for closing for the final closing movement
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E05Y2400/55—Obstruction or resistance detection by using load sensors
    • E05Y2400/554—Obstruction or resistance detection by using load sensors sensing motor load
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E05Y2400/56—Obstruction or resistance detection by using speed sensors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2400/00—Electronic control; Electrical power; Power supply; Power or signal transmission; User interfaces
    • E05Y2400/10—Electronic control
    • E05Y2400/52—Safety arrangements associated with the wing motor
    • E05Y2400/53—Wing impact prevention or reduction
    • E05Y2400/54—Obstruction or resistance detection
    • E05Y2400/58—Sensitivity setting or adjustment
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/531—Doors
    • E—FIXED CONSTRUCTIONS
    • E05—LOCKS; KEYS; WINDOW OR DOOR FITTINGS; SAFES
    • E05Y—INDEXING SCHEME ASSOCIATED WITH SUBCLASSES E05D AND E05F, RELATING TO CONSTRUCTION ELEMENTS, ELECTRIC CONTROL, POWER SUPPLY, POWER SIGNAL OR TRANSMISSION, USER INTERFACES, MOUNTING OR COUPLING, DETAILS, ACCESSORIES, AUXILIARY OPERATIONS NOT OTHERWISE PROVIDED FOR, APPLICATION THEREOF
    • E05Y2900/00—Application of doors, windows, wings or fittings thereof
    • E05Y2900/50—Application of doors, windows, wings or fittings thereof for vehicles
    • E05Y2900/53—Type of wing
    • E05Y2900/55—Windows

Definitions

  • the invention relates to an anti-trapping method for a vehicle window and to an associated anti-pinching unit. Furthermore, the invention relates to a parking system for a vehicle door with an adjustable
  • a safety trap is required to stop in case of trapping the motor drive of the associated window regulator and
  • characteristic quantities are usually evaluated which characterize the operation of the window regulator drive. Such characteristics are
  • the motor voltage, the motor current or the speed are usually compared with a triggering threshold, wherein the adjustment is stopped or reversed when the respective parameter exceeds the assigned triggering threshold value.
  • the tripping threshold can be variable as a function of the positioning time or the positioning position of the
  • Such a closing aid is used to retract the vehicle door in their
  • a closing aid is mainly used in motor vehicles For use whose door can be opened or closed automatically (ie motor-driven). Furthermore, such a closing aid is also useful in motor vehicles whose door seal to reduce the
  • the closing aid is preferably only active from the impact of the vehicle door on the door seal, so it only starts at this point on the vehicle door.
  • the functional sequence of the closing aid is divided into a tightening phase in which the closing aid clamps the vehicle door against the door frame, and a subsequent relief phase in which the closing aid releases this tension again.
  • the vehicle door is regularly pulled in the tightening phase beyond the final closed position against the door seal and springs back in the discharge phase under the pressure of the door seal in the final closed position.
  • the closing aid In the active state, the closing aid usually causes a certain distortion of the vehicle door, especially as it braces them against the adjacent door frame. This often leads to a temporary increase in the running resistance of the vehicle window. For vehicle windows in frameless doors, this effect is exacerbated by the fact that the vehicle window is pressed by the closing aid reinforced against the arranged on the door frame door seal. Under unfavorable circumstances, the increased running resistance of the vehicle window can be misinterpreted by the anti-jamming device as a sign of a jamming case and correspondingly trigger an error reversal of the vehicle window.
  • the invention has for its object to provide an improved pinching protection in this regard.
  • Anti-pinch unit this object is achieved by the features of claim 5.
  • the object is achieved by the features of claim 8.
  • Advantageous and in part inventive embodiments and further development Windings of the invention are set forth in the subclaims and the description below.
  • the anti-pinch method according to the invention is provided for the adjustment of an adjustable by means of a servomotor (window motor) vehicle window, the vehicle window is mounted in a vehicle door, which is adjustable by means of a closing aid to a (final) closing position on the vehicle door holding the vehicle frame (door frame).
  • a servomotor windshield motor
  • a test variable that is characteristic of the engine load of the window regulator motor is continuously detected. This test size is compared to a threshold. The adjustment of the vehicle window is here stopped or reversed when the test size exceeds the threshold. Furthermore, a signal which is characteristic of the activity state of the closing aid (hereinafter referred to as "status signal”) is detected, the threshold value in this case being specified differently depending on this status signal, and thus depending on the activity state of the closing aid.
  • threshold overshoot here and in the following is always direction-independent in the sense that the difference between the test variable and the threshold value changes sign
  • Test size the exceeding of the respective threshold value positive (in the sense of a true overrun, where the test size is greater than the
  • Threshold value or negative (in the sense of undershooting, where the test value becomes smaller than the threshold value).
  • test quantity includes quantitative information about the magnitude of the engine load so that the engine load can be clearly read from the test size
  • the test size may also be a quantity that is directly or indirectly proportional to the engine load with the engine load also in a non-linear, for example, a logarithmic, exponential or polynomial (ie square, cubic, etc.) relationship.
  • the motor current, the motor voltage, the (motor) speed, the motor torque of the window regulator motor or a variable derived from at least one of these variables is used as a test variable.
  • the "activity state" of the closing aid can in a simple embodiment of
  • the determined activity state of the closing aid can, in a refined embodiment of the invention, also contain information about the change in the exercised one
  • the determined activity state may assume three values (eg, "suit / relief / inactive", “+ 1 / -1 / 0", etc.), the activity states "suit” ("+1") and “relief” (" -1 ") as mentioned above, the bracing or relieving the vehicle door by the closing aid
  • the closing force exerted on the vehicle door by the closing aid or its change can be determined.
  • the detected closing force is zero.
  • Threshold particularly precise to the situation of the vehicle door (unloaded or under the influence of the closing aid) can be adjusted so that an unwanted triggering of Einklemmfalls is effectively avoided.
  • Threshold value of the safety distance of the vehicle door can be adjusted so that an unwanted triggering of Einklemmfalls is effectively avoided.
  • Threshold to the corresponding normal course of the test variable in Absence of a pinching case are chosen to be particularly small, ie
  • the threshold value is switched as a function of the activity state, for example, between two fixed, constant values.
  • the threshold value is variable, in particular predetermined as a function of the positioning time or the positioning position of the vehicle window. In this case, the course of the resulting during the slice adjustment process threshold value curve in
  • a normal course of the threshold value (normal threshold value) is stored as a function of the positioning time or the setting position of the vehicle window for the threshold value when the closing aid is inactive.
  • This normal threshold value is determined, for example, by the typical curve of the test variable above the setting position or the positioning time during one or more calibration runs of the vehicle window when stationary
  • Vehicle door detected and applied with an offset moves the normal threshold compared to the typical curve of the test variable.
  • the offset can be stored either as a constant or as a function of the positioning time or the parking position of the vehicle window.
  • the normal threshold is thus adapted to the expected course of the test size.
  • the normal threshold value is thus "taught in”.
  • Closing aid - determined extrapolatively from the previous course of the test size The normal threshold, for example, from a
  • the normal threshold is "tracked" to the previous course of the test variable.
  • Threshold compared to the normal threshold changed, namely
  • the threshold value is successively lowered (or increased) during the tightening phase and again increased (or decreased) successively during the subsequent relief phase.
  • the course of the threshold value is preferably determined in this case by a stored time-dependent function.
  • the change of the threshold during the activity of the closing aid may be part of the
  • Invention be given as a function of the parking position of the vehicle window or the closing force.
  • the state signal characteristic of the activity state of the closing aid is the
  • Door contact signal is expediently also activated the closing aid.
  • the door contact signal is preferably output when the vehicle door is closed to the door seal, i. rests against the door seal.
  • a door contact switch is coupled to a pre-catch of the door lock.
  • the pre-catch is regularly provided to lock the vehicle door at the beginning of the door seal area, i. if the door rests directly on the door seal, to seize. At this pre-catch attacks the closing aid and pulls the
  • an operating signal in particular the speed or the motor current of the
  • Closing aid driving closing motor detected is preferably used in a frameless vehicle door, for example in a convertible or coupe. It can be used advantageously but also in framed vehicle doors.
  • the anti-pinch unit according to the invention for the vehicle window comprises a control unit which is set up in terms of circuitry or programming to carry out the anti-pinch protection method described above-preferably automatically.
  • the control unit may be formed in the context of the invention as a non-programmable electronic circuit and in this case be integrated, for example, in a control of the window regulator motor.
  • the control unit is preferably formed by a microcontroller, in which the functionality for carrying out the anti-pinch protection method according to the invention is implemented in the form of a software module.
  • This software module can in this case in particular form part of a comprehensive control software (firmware) of the control of the window regulator motor.
  • control unit for receiving the state signal signal transmission technology is coupled with the closing aid or the door contact switch.
  • the adjusting system according to the invention for the vehicle door comprises a servomotor (window regulator motor) for adjusting the vehicle window which is adjustably supported in the vehicle door. Furthermore, the adjusting system comprises a closing aid assigned to the vehicle door and an anti-pinching unit of the type described above.
  • the positioning system preferably also includes the servomotor (door motor) for moving the vehicle door.
  • the adjusting system comprises in an expedient embodiment in particular all the vehicle door associated electromechanical drives and the cooperating control components and sensors.
  • FIG. 1 is a schematic representation of a frameless vehicle door with partially lowered vehicle window and with an adjusting system for adjusting the vehicle window and for closing the vehicle door, and
  • Fig. 2 is a schematic diagram of the setting position of
  • Vehicle window a typical course of the speed of the vehicle window moving servo motor and a threshold for detecting a Einklemmfalls during the adjustment of the vehicle window.
  • a frameless (vehicle) door 1 of a coupe or convertible is shown.
  • a (vehicle) disc 2 is arranged, which by means of a window lifter 4 along a travel X between a sunk in the door 1 open position and a protruding from the door 1
  • Closed position is adjustable.
  • the disc 2 is in its closed position circumferentially (except for their arranged within the door 1
  • FIG. 1 shows the disc 2 in a setting position x between the open position and the closed position.
  • the window regulator 4 has a servo motor (hereinafter window motor 14), which is coupled via a power window mechanism 16 indicated in FIG. 1 to the pane 2 in terms of force transmission.
  • the window regulator 4 is part of a control system 18, which for controlling the window regulator 4 a
  • Control unit 20 includes.
  • the adjusting system 18 further comprises a closing aid 22, which supports the closing operation of the door 1.
  • the closing aid 22 is concretely intended to pull the door 1 closed manually or by means of a door motor as far as the stop on the seal 8 via the associated lock 24 against the resistance of the seal 8 into its final closed position.
  • the door 1 is here drawn in a tightening phase until beyond the final closed position in the seal 8, then relieved in a discharge phase and moved back to a slight opening stroke in the final closed position.
  • the adjusting system 18 also includes a door contact switch 26, which outputs a door contact signal S T to the control unit 20. It can be seen from the door contact signal ST, whether the door 1 rests against the seal 8. For example, the door contact signal S T has the value “1" when the door 1 is applied to the seal 8, and otherwise the value "0". Upon a signal change of the door contact signal S T from "0" to "1", the control unit 20 inputs
  • control unit 20 signal transmission technology via a control line 28 with the
  • the positioning system 18 also comprises an anti-pinch unit 30. This preferably forms a unit with the control unit 20, in particular are the control unit 20 and the
  • Anti-pinching unit 30 as components of a comprehensive
  • Control program (firmware) implemented in a microcontroller of the control system 18.
  • the Einklennnngovtikaku 30 is intended to stop or reverse the adjustment of the disc 2 in a Einklemmfall, ie to release the article or body part, the disc 2 in the direction of their
  • the Einklennnntikaku 30 pulls the speed n of the window regulator motor 14 of the window regulator 4 as a characteristic test size for the load of the window regulator motor 14 zoom.
  • the speed n is determined by the
  • Control unit 20 is raised by evaluating the signal of a Hall sensor, which cooperates with a non-rotatably coupled to the motor shaft of the window regulator motor 14 ring magnet. From the signal of the Hall sensor, the control unit 20 also determines the setting position x of the disc. As a measure of the actuating position x, a dimensionless variable is thereby detected by way of example, which indicates the number of quarter turns of the motor shaft of the window regulator motor 14 during the current setting process.
  • Anti-pinch unit 30 in the manner described in more detail below a threshold n s . During the adjustment of the disc 2 compares the
  • Anti-pinch unit 30 continuously the current measured value of the speed n with the threshold n s .
  • Window regulator motor 14 breaks.
  • the threshold value n s is selected such that in this case the rotational speed n exceeds the threshold value n s .
  • Anti-pinch unit 30 then outputs a corresponding stop signal S H to the window regulator motor 14 in order to reverse the adjustment.
  • the door 1 Since it is the door 1 is a frameless vehicle door, and thus the associated seal 8 is arranged on the door frame 10, the Running resistance of the disc 2 significantly influenced by the door position.
  • the operating signal SB state signal can assume three values, namely
  • Closing aid 22 does not engage with the door 1 and exerts no force on it.
  • Fig. 2 the course of the rotational speed n of the window regulator motor 14 is shown schematically as a function of the setting position x of the disc 2.
  • the illustrated course of the speed n (hereinafter referred to as the speed curve n (x)) typically results in adjustment of the disk 2 in the closed position 6 with simultaneous closing of the door. 1
  • the speed curve n (x) on a transient response due to an increased starting torque of the window regulator motor 14th and the window regulator mechanism 16 occurs.
  • the speed curve n (x) has an approximately constant speed n.
  • the door 1 is opened, so that the disc 2 is not in contact with the seal 8, and the disc 2 is extended from the door 1 under almost constant friction.
  • the door 1 strikes the seal 8 at a setting position x T of the disc 2.
  • the stop 2 on the seal 8 causes the disc 2 to oscillate temporarily, resulting in a fluctuation in the rotational speed curve n (x). leads.
  • n (x) the rotational speed curve
  • Door contact switch 26 is actuated by the door 1, so that the value of
  • the closing aid 22 switches by appropriate energization of the closing motor in the tightening phase and pulls the door 1 by means of the lock 24 in the seal 8 a.
  • the value of the operation signal SB (see broken line in FIG. 2) changes correspondingly from "0" to "1". Due to the increased friction between the disc 2 and the seal 8, the speed n breaks significantly during the tightening phase.
  • Fig. 2 is further (dash-dotted line), the curve of the threshold n s entered.
  • the anti-pinch unit 30 is configured to monitor the rotational speed course n (x) only after the transient phase from a positioning position of the disc 2 designated as start position x s .
  • start position x s a positioning position of the disc 2 designated as start position x s .
  • the threshold value n s is the speed curve n (x)
  • the anti-jamming unit 30 continuously calculates a moving average over (e.g., four) time-earlier speed values in the speed history n (x) and subtracts therefrom a predetermined offset y-i:
  • the offset yi leads to a parallel shift of the threshold value n s with respect to the rotational speed curve n (x) and thus defines a safety distance by which the rotational speed n can deviate from its (typical) normal course, without a trapping case being detected.
  • the after gig. 1 for the inactive state of the closing aid certain threshold is also referred to as normal threshold value n s o.
  • the threshold is basically Gig. 1 calculated.
  • the anti-pinch unit 30 sets in the Nachschwingphase the disc 2 - in Fig. 2 between the
  • the anti-pinch unit 30 lowers the active phase of the closing aid 22 (SB 0), and thus between the setting positions x z and XZE, the anti-pinch unit 30 lowers the active phase of the closing aid 22 (SB 0), and thus between the setting positions x z and XZE.
  • the threshold value n s during the active phase of the closing aid 22 follows the breakdown of the rotational speed n caused thereby.

Landscapes

  • Power-Operated Mechanisms For Wings (AREA)
  • Window Of Vehicle (AREA)

Abstract

L'invention concerne un dispositif anti-pincement amélioré destiné à une vitre (2) d'une porte (1) d'un véhicule qui peut être déplacée à l'aide d'un moteur de lève-vitre (14) et qui est déplacée dans une position de fermeture au moyen d'un système d'aide à la fermeture (22). Selon l'invention, on acquiert en continu pendant le déplacement de la vitre (2) du véhicule une grandeur test (n) caractéristique de la charge du moteur et on la compare à une valeur seuil (ns). Le déplacement de la vitre (2) du véhicule est arrêté ou inversé lorsque la grandeur test (n) dépasse la valeur seuil (ns). En outre, on acquiert un signal d'état (SB) caractéristique de l'état d'activité du système d'aide à la fermeture (22). La valeur seuil (ns) est prédéfinie différemment en fonction du signal d'état (SB).
EP14726344.6A 2013-05-23 2014-05-23 Dispositif anti-pincement pour vitre de porte de véhicule dotée d'un système d'aide à la fermeture Withdrawn EP2999838A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102013008725.2A DE102013008725A1 (de) 2013-05-23 2013-05-23 Einklemmschutz für eine Scheibe in einer Fahrzeugtür mit Schließhilfe
PCT/EP2014/060611 WO2014187936A1 (fr) 2013-05-23 2014-05-23 Dispositif anti-pincement pour vitre de porte de véhicule dotée d'un système d'aide à la fermeture

Publications (1)

Publication Number Publication Date
EP2999838A1 true EP2999838A1 (fr) 2016-03-30

Family

ID=50819725

Family Applications (1)

Application Number Title Priority Date Filing Date
EP14726344.6A Withdrawn EP2999838A1 (fr) 2013-05-23 2014-05-23 Dispositif anti-pincement pour vitre de porte de véhicule dotée d'un système d'aide à la fermeture

Country Status (4)

Country Link
EP (1) EP2999838A1 (fr)
CN (1) CN105229250B (fr)
DE (1) DE102013008725A1 (fr)
WO (1) WO2014187936A1 (fr)

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CN106712605B (zh) * 2017-01-25 2019-03-29 北京经纬恒润科技有限公司 一种防夹控制方法及装置
CN107401347B (zh) * 2017-08-25 2018-11-27 重庆海德世拉索系统（集团）有限公司 自适应环境温度的汽车电动背门控制方法
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CN105229250A (zh) 2016-01-06
DE102013008725A1 (de) 2014-12-11
WO2014187936A1 (fr) 2014-11-27

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