FR3103511A1 - Slaving of the opening speed of a vehicle door - Google Patents

Abstract

A method of controlling an opening of a door (12) of a vehicle (10), preferably a door (12) of a trunk of the vehicle (10), the method comprising the steps of: - receiving a command for '' opening of the door (12), - launch a detection of an obstacle (100) that can limit the opening of the door (12), - if an obstacle (100) that can limit the opening of the door (12) is detected, then the method comprises an incomplete opening step consisting in opening the door (12) with at least one final opening phase at a reduced speed compared to a nominal speed, on the approach of a stop of the door (12) in an intermediate open position (Pi) arranged between the closed position and the maximum open position (Pm). Figure for the abstract: Fig. 2

Description

Servo-control of an opening speed of a vehicle door

1. Technical field of the invention

The present invention relates generally to an obstacle detection device which could interfere with a door of a motor vehicle and cause damage. In particular, the invention relates to the detection of obstacles when opening a vehicle trunk, in particular if the vehicle is parked in a place with a low ceiling.

State of the art

It is known in the prior art of obstacle detection devices. In particular, document EP1564358B1 proposes an obstacle detection sensor located on a tailgate. On the other hand, this system has several drawbacks. First of all, due to the position of the sensor on the shutter, it is difficult or even impossible to detect from the start of the opening phase the presence of an obstacle situated, for example, above the vehicle. Consequently, the boot will be opened normally as long as an obstacle is not detected, and will be abruptly interrupted once the obstacle is detected. This system may not seem robust to a user, and will cause sudden stops which can generate significant deceleration forces on the joints and opening devices.

An object of the present invention is to respond to the drawbacks of the documents of the prior art mentioned above and in particular, first of all, to propose a detection device which makes it possible to open a vehicle door smoothly and which shows a user that the obstacle has been taken into account.

For this, a first aspect of the disclosure relates to a method for controlling the opening of a vehicle door, preferably a door of a trunk of the vehicle, the method comprising the steps consisting in:
- receive a command to open the door,
- launch a detection of an obstacle that may limit the opening of the door,
- if no obstacle that could limit the opening of the door is detected, then the method comprises a step of complete opening consisting in imposing on the door a maximum stroke defined between a closed position and a maximum open position, with a rated speed, and
- if an obstacle that could limit the opening of the door is detected, then the method comprises an incomplete opening step consisting in opening the door with at least one final opening phase at a reduced speed compared to the nominal speed, when approaching a stop of the door according to an intermediate opening position arranged between the closed position and the maximum open position.

In the event of obstacle detection, a final opening phase is provided with reduced speed, which eliminates jerks when stopping in the intermediate position, and makes it possible to "reassure" a user, who would follow the opening maneuver.

Advantageously, if an intermediate stroke to be traveled between the closed position and the intermediate open position is greater than a predetermined proportion of the maximum stroke, for example 20%, then the incomplete opening step comprises an initial phase consisting in moving the door starting from the closed position at nominal speed, before the final phase. This implementation makes it possible not to waste too much time, especially if the intermediate position is close to the maximum opening position: a large part of the opening will be done at nominal speed, then the speed will be reduced in the last moments the movement of the door.

Advantageously, the final opening phase with reduced speed is limited to 20% of the intermediate stroke or the maximum stroke.

Advantageously, the reduced speed is a speed which decreases regularly until it comes to a complete stop.

Alternatively, the reduced speed can be a constant speed.

Advantageously, the control method comprises at least one information step consisting in sending an obstacle detection confirmation message to a user, at least during, and/or before, the final phase of the incomplete opening step . Specific information is sent to the user to inform him that the final phase of opening at reduced speed is going to be implemented.

Advantageously, the information step is performed throughout the incomplete opening step.

Advantageously, the information step includes a step of sending a light signal, for example by activating a light source on a man-machine interface of the vehicle.

Advantageously, the information step includes a step of sending an audible signal, for example by emitting a continuous or intermittent audible signal. It is possible to consider switching from an audible signal to intermittent (or the opposite) when approaching the intermediate position.

A second aspect of the disclosure relates to a device for opening a vehicle door, preferably a door of a vehicle boot, comprising at least:
- a detection device arranged to detect an obstacle to the opening of the door,
- a motorized unit arranged to impose the maximum stroke on the door,
- a control unit arranged to implement the steps of the control method according to the first aspect of the disclosure.

Advantageously, the motorized opening unit comprises at least one electric motor, and/or an electric actuator. It is typically an electric actuator whose stroke can be controlled, using an encoder for example.

A third aspect of the disclosure relates to a motor vehicle, comprising at least one opening device according to the second aspect of the disclosure.

A fourth aspect of the disclosure relates to a method for controlling the opening of a vehicle door, preferably a door of a trunk of the vehicle, when the vehicle is reversing, the method comprising the steps consisting of To :
- detect a vehicle reversing situation,
- receive, before, during or after the start of reversing the vehicle, a command to open the door,
- launch a regular detection of an obstacle that may limit the opening of the door,
- if no obstacle that could limit the opening of the door is detected, then the method comprises a complete opening step consisting in imposing on the door a maximum travel defined between a closed position and a maximum open position, and
- if an obstacle that can limit the opening of the door is detected, then the method comprises an incomplete opening step consisting in opening the door to an intermediate opening position arranged between the closed position and the open position maximum, and at least one step for updating the detected position of the obstacle, during the reverse gear.

A fifth aspect of the invention relates to the use of a detection device fixed to a vehicle roof, according to at least:
- an obstacle detection mode when opening a door of the vehicle, preferably a trunk door, with at least the calculation of a distance between the obstacle and the roof of the vehicle, preferably according to a direction vertical,
- an obstacle detection mode when reversing the vehicle, with at least the calculation of a distance between the obstacle and a rear of the vehicle, preferably in a horizontal direction.

According to this implementation, the same detection sensor is used according to two different modes and two times, with different and specific thresholds and directions of measurements. This advantageously makes it possible to reduce, for example, the number of reversing sensors in a bumper, while offering an obstacle detection function when opening the boot.

Description of figures

Other characteristics and advantages of the present invention will appear more clearly on reading the following detailed description of an embodiment of the invention given by way of non-limiting example and illustrated by the appended drawings, in which:

represents a vehicle equipped with a tailgate and a detection device according to the invention;

shows the vehicle of Figure 1 during a step of opening the trunk door, in the presence of an obstacle.

Detailed description of embodiment(s)

FIG. 1 represents a vehicle 10 equipped in particular with a trunk door 12 here in the closed position Pf, with a roof 11, and with a roof antenna, otherwise known as a shark antenna. Door 12 is a motorized door, typically using electric actuators, and the shark antenna houses a detection device 21 arranged to detect an obstacle which could interfere with door 12 when the boot is opened.

To this end, the detection device 21 has a detection zone which extends in the plane of FIG. 1 from a vertical which passes through the detection device 21 at an angle forward, and at an angle rearward. For example, the angle can be zero, or at least 30°, and the angle can be at least 30°, preferably 60°, more preferably 90°, even more preferably 120° and even 135° or more, in order to detect any obstacles situated lower than the roof 11.

The detection device 21 can be based on ultra sound detection, or optical (visible radiation, or infrared, or laser), or of the radar type.

Depending on the design of the vehicle, each silhouette of the vehicle will have a different setting which is managed by downloading the calibration, which makes it possible to keep a unique ECU reference.

Note that the detection device is housed in the same box as the roof antenna, which guarantees a discreet device, without adding an additional box. This also avoids modifying the door 12, which here is preferably a tailgate. However, the invention can be applied to a trunk-type safe.

FIG. 2 represents the vehicle of FIG. 1 when the door 12 is opened. The detection device 21, before or at the very beginning of the opening step, has detected an obstacle 100, here a ceiling of low height. However, other types of obstacles can be detected: a rear wall, a pipe or a ceiling light...

As a result of the detection of the obstacle 100, a distance D between the roof 11 and the obstacle is determined, and it turns out that the complete opening of the door 12 is impossible without interference. Indeed, as shown in thin dashed lines, the door 12 could open according to a maximum opening position Pm, if a maximum opening stroke Cm were imposed on it.

However, following the calculation of the distance D which leads to an interference, an intermediate position Pi is calculated as represented in figure 2, reached after an intermediate opening stroke Ci of the door 12.

Thus, any interference, shock, contact with the obstacle 100 is avoided.

The position of the detection device 21 on the roof 11 makes it possible to immediately calculate the distance D at the very beginning of the opening or control phase, which provides a simple solution without detection/calculation iteration during opening .

We can then immediately warn the user that an obstacle is detected, which can reassure the person in question. We can for example send an information signal (a light or a sound). It is for example possible to light a warning light on the dashboard or on the door 12 itself, to emit a sound in the vehicle. The light or sound signal can be intermittent or continuous, and can even change frequency or intensity as the gate 12 approaches the intermediate position Pi.

It is also possible to provide for lowering the opening speed when approaching the obstacle 100, again to inform the user that the system has indeed detected the obstacle 100. In particular, a final opening phase can be provided. at low speed, compared to a nominal opening speed (without obstacle). This makes it possible to gently stop the door 12, without jerks.

Provision can be made, in order not to waste time if the intermediate position Pi is far enough from the closed position Pf as shown in Figure 2, to implement this final phase at limited speed only in the last part of the intermediate stroke, for example within 20% of the end of stroke (calculated with respect to the intermediate stroke Ci each time or with respect to the maximum opening stroke Cm). Other thresholds can be chosen: 10%, 5%, or even displacements in mm of the extreme part of the door 12: it is possible to slow down during the last 50 mm of displacement.

In addition, the height position of the detection device offers the possibility of detecting obstacles located at low height, with sufficient recoil to cover the entire width of the vehicle with a single sensor. Similarly, with the detection device 21 located on the roof 11, it is possible to immediately detect a ceiling, while having sufficient distance to guarantee good detection over the entire width of the vehicle.

It is also possible to consider implementing obstacle detection if the user decides to open the trunk while reversing. In particular, it is possible to launch detection steps at regular intervals, and to update the relative position of a possible obstacle, during the reversing maneuver.

It will be understood that various modifications and/or improvements obvious to those skilled in the art can be made to the various embodiments of the invention described in the present description without departing from the scope of the invention. In particular, reference is made to a detection device fixed to the roof of the vehicle, but it is possible to envisage housing this detection device in other places of the vehicle.

Claims (9)

Method for controlling an opening of a door (12) of a vehicle (10), preferably a door (12) of a trunk of the vehicle (10), the method comprising the steps consisting in:
- receive a command to open the door (12),
- launch a detection of an obstacle (100) which can limit the opening of the door (12),
- if no obstacle (100) that could limit the opening of the door (12) is detected, then the method comprises a complete opening step consisting in imposing on the door (12) a maximum stroke (Cm) defined between a closed position (Pf) and a maximum open position (Pm), with a nominal speed, and
- if an obstacle (100) that can limit the opening of the door (12) is detected, then the method comprises an incomplete opening step consisting in opening the door (12) with at least one final opening phase according to a reduced speed compared to the nominal speed, when approaching a stop of the door (12) according to an intermediate opening position (Pi) arranged between the closed position (Pf) and the maximum opening position (Pm ). Control method according to the preceding claim, in which if an intermediate stroke (Ci) to be traveled between the closed position (Pf) and the intermediate open position (Pi) is greater than a predetermined proportion of the maximum stroke (Cm), for example 20%, then the incomplete opening step comprises an initial phase consisting in moving the door (12) starting from the closed position (Pf) at the nominal speed, before the final phase. Control method according to the preceding claim, in which the final opening phase with reduced speed is limited to 20% of the intermediate stroke (Ci) or of the maximum stroke (Cm). Control method according to one of the preceding claims, comprising at least one information step consisting in sending an obstacle detection confirmation message (100) to a user, at least during, and preferably before, the final phase of the incomplete opening step. Control method according to the preceding claim, in which the information step is performed throughout the incomplete opening step. Control method according to one of Claims 4 or 5, in which the step of informing comprises a step of sending a light signal, for example by activating a light source on a man-machine interface of the vehicle (10) . Control method according to one of Claims 4 to 6, in which the informing step comprises a step of sending an audible signal, for example by emitting a continuous or intermittent audible signal. Device for opening a door (12) of a vehicle (10), preferably a door (12) of a trunk of the vehicle (10), comprisingat least:
- a detection device arranged to detect an obstacle (100) when the door (12) is opened,
- a motorized unit arranged to impose on the door (12) the maximum stroke (Cm),
- A control unit arranged to implement the steps of the control method according to one of the preceding claims. Motor vehicle (10), comprising at least one opening device according to the preceding claim.