FR3137615A1 - Motor vehicle motorized opening control system - Google Patents

Abstract

The invention proposes a motorized opening control system for a motor vehicle comprising ground connections which lower following the loading of the motor vehicle. The control system includes: an opening motorized by an actuator; a device for recording (50) a reference travel space (44) swept by the motorized opening during opening; obstacle (40) detection and positioning means (24); measuring means (32) configured to measure ground connection lowering data (26); a control unit (22) is configured to position a recalled travel space (46) based on the reference travel space (44) and the lowering data; and control the actuator so as to open the motorized opening in order to avoid contact with an obstacle in the recalled travel space. The invention also relates to a method of opening a sash. Figure to be published with the abstract: Fig. 2

Description

Motor vehicle motorized opening control system

The invention relates to the automatic opening of an opening of a motor vehicle. More precisely, the invention concerns a motor vehicle opening system with a stop function in the event of detection of an obstacle to opening. The invention also relates to a method for opening an opening of a motor vehicle, and a motor vehicle having at least one opening.

A motor vehicle trunk flap is motorized in order to facilitate its use. With this in mind for ease of use, the opening movement can be triggered remotely. According to a first solution, the command can be triggered by a user several meters from the vehicle. So, when the user arrives at the vehicle, the trunk is already open. This remote opening is commonly controlled by a remote control coupled to the vehicle key. The opening command can also be initiated from a button in the vehicle passenger compartment.

In certain cases, the vehicle is parked in tight spaces where it must still provide access to its loading space. When the trunk opens automatically and is triggered remotely, the trunk lid may hit an obstacle such as a wall or a post. Such obstacles are not identified as such by the user since he is at a distance. When the maximum trunk opening position is elevated relative to the vehicle, a ceiling or beam becomes a potential obstacle. In such cases, the trunk lid may be damaged. This harms the perceived quality of the vehicle, and requires expensive repairs.

In order to avoid such incidents, the vehicle is equipped with means of modeling the environment and a control unit making it possible to detect and locate obstacles. The vehicle stores in memory a space swept by the trunk lid. In this context, the vehicle analyzes the immediate environment of the vehicle and identifies the obstacles present on the opening trajectory and therefore in the clearance space. As soon as such an obstacle is identified, the trunk flap is then immobilized in its opening movement before impact by the control unit. This solution requires heavy calculations which penalize the reactivity of the anti-collision function. Furthermore, the vehicle adopts different configurations which add uncertainty in avoiding obstacles.

Document FR3106781A1 proposes a motor vehicle comprising a device for actuating the assisted opening and closing of an opening, such as a trunk flap. The actuation device comprises an obstacle detector in the path of the opening when it opens and an actuator connected to a control device to operate the opening. The actuation device comprises a position detector intended to detect the position of the opening relative to the vehicle body and a data storage means comprising stop trigger distance values of the opening D relative to to the obstacle predefined according to the position of the opening relative to the vehicle body. The actuation device makes it possible to avoid obstacles with a certain safety margin. There is a need to reduce this safety margin, as does a need to reduce the memory space required to store all trigger distances; and this for several vehicle configurations.

Document US20130055639A1 proposes a motor vehicle having an engine and a rear flap. The rear flap pivots around a horizontal axis, which is associated with a contactless sensor. When approaching an obstacle present in the pivoting range of the rear flap, the contactless sensor activates a device which prevents or interrupts the pivoting of the rear flap. This device reduces the risk of damage to the rear flap. However, its precision is limited. It imposes an extended safety stopping distance in order to take into account the inertia of the rear flap as well as the latency time during communication between the electronic components.

Document DE10158533_B4 presents an electric tailgate actuation system for a vehicle. The opening and closing of the tailgate are inhibited if the vehicle is positioned too close to an obstacle for unimpeded movement of the tailgate. Contactless telemetry sensors are mounted on the vehicle and aimed rearwardly to detect a clearance distance between the vehicle and an obstacle, and a motor control circuit prevents actuation of the motor by a remote control if the sensors telemetry indicates that the clearance distance is less than the distance the tailgate extends beyond the rear of the vehicle. The control circuit avoids a collision with an obstacle. However, this solution does not allow precise and safe handling of obstacles above or below the tailgate when it opens.

The invention aims to respond to at least one of the problems or disadvantages encountered in the prior art. In particular, the invention aims to reduce the risk of impact of a motorized opening of a motor vehicle. The invention also aims to optimize the preservation and functionality of a motorized opening of a motor vehicle. The invention also aims to reduce the risk of collision with an obstacle extending above or below the opening, regardless of the loading of the motor vehicle.

According to a first aspect, the invention proposes a motorized opening control system for a motor vehicle with at least one ground connection capable of lowering depending on a load carried by the motor vehicle; the control system comprising: a motorized opening movable between a closed position and an open position by means of an actuator; a device for recording a reference travel space capable of being scanned by the motorized opening during an opening movement; obstacle detection and positioning means; remarkable in that the control system further comprises: measuring means configured to measure ground connection lowering data; a control unit configured to: define a recalled travel space as a function of the lowering data and of the same shape as the reference travel space; control the actuator so as to open and stop the motorized opening at a distance from the obstacle when said obstacle is in the recalled travel space.

Preferably, the reference travel space is recorded in the recording device for a reference configuration of the or each ground connection; and the or each ground connection comprises a connection memory capable of recording a lowering data element corresponding to the reference configuration, and a calculator capable of calculating a lowering difference between the lowering data element and a reduction measure; the control unit being configured to position the recalled travel space according to the difference in lowering.

Preferably, the lowering data comprises left lowering data and right lowering data, and the control unit is configured to position the recalled travel space by inclining the reference travel space according to the left lowering data and right lowering data.

Preferably, the or at least one or each ground connection comprises a suspension device with a pivoting arm, and the measuring means comprise a goniometer configured to measure an angle of inclination of the pivoting arm.

Preferably, the control system comprises a device for correcting the attitude of the motor vehicle, the measuring means being integrated into the device for correcting the attitude.

Preferably, the control unit is arranged in the motorized opening, preferably the recording means are integrated in the control unit.

Preferably, the lowering data includes ground clearance data and the detection and positioning means include a radar.

Preferably, the control unit is configured to control the actuator so as to open the motorized opening while avoiding contact with an obstacle detected and positioned in the travel space recalled via the detection and positioning means.

Preferably, the motorized opening comprises an internal communication network which is connected to the control unit and to the detection and positioning means.

Preferably, the measuring means comprise optical means.

Preferably, the recalled travel space includes a pivot axis of the motorized opening, the control unit is configured to position the pivot axis according to the lowering data.

Preferably, the geometric reference space scanned by the opening includes a point of attachment to the structure of the vehicle, the point of attachment is optionally a hinge point.

Preferably, the ground connection comprises a wheel with a pressurized chamber, capable of lowering depending on the loading.

Preferably, the lowering data includes inclination information, optionally trim information of the motor vehicle.

Preferably, the reference travel space is defined according to a reference loading of the motor vehicle.

Preferably, the measuring means comprise a goniometer associated with each wheel of the vehicle.

Preferably, the recalled deflection space is defined in an environment frame of reference and the reference deflection space is defined in a second frame of reference.

According to another aspect, the invention proposes a method for calculating the stopping position with a safety distance when opening a motorized opening of a motor vehicle, the motor vehicle comprising a motorized opening, at least one connection to the ground capable of lowering as a function of loading in the motor vehicle, obstacle detection and positioning means; means of measuring the lowering of the connection to the ground; a control unit; remarkable in that the method comprises the following steps: measurement of ground connection lowering data; detection and positioning of an obstacle to the opening of the motorized opening, said obstacle having a position defined in an environmental reference frame; opening of the motorized sash; calculation of a stopping distance between the motorized opening and the opening based on the lowering data.

According to another aspect, the invention proposes a motor vehicle comprising a control system, remarkable in that the system conforms to the invention, preferably the motorized opening is a trunk flap or a door.

Preferably, the motor vehicle comprises a roof and the motorized opening is a rear hatch with a horizontal pivot axis which is vertically at the level of the roof of the motor vehicle.

According to another aspect, the invention proposes a method of a motorized opening of a motor vehicle with a control system, remarkable in that the control system conforms to the invention, and the method comprises the following steps: obtaining 'a reference travel space swept by the sash when it opens; measurement of ground connection lowering data; positioning of a recalled travel space according to the reference travel space and the lowering data; detection and location of an obstacle in the recalled travel space; opening of the motorized opening; stopping the opening of the sash at a predefined distance from the obstacle when said obstacle is in the recalled travel space.

Preferably, the step of measuring the lowering data comprises a measurement of variation of the lowering data, said variation measurement being during the step of opening the motorized opening.

The invention also relates to a computer program comprising code instructions, remarkable in that when the code instructions are executed by a computer lead it to execute the opening method according to the invention.

The invention will be well understood and other aspects and advantages will appear clearly on reading the description which follows given with reference to the figures appended and listed below.

There is a side view of a motor vehicle according to the invention.

There shows a motor vehicle from the side with a control system according to the invention.

There shows a front view of a motor vehicle with a control system according to the invention.

There is a diagram of a method for opening a motor vehicle door according to the invention.

In the description which follows, the term "include" is synonymous with "include" and is not restrictive in that it authorizes the presence of other elements in the motor vehicle or other stages in the process to which it is carried out. reports. It is understood that the term “understand” includes the terms “consist of”. The terms “external” and “internal” will respectively designate what is oriented towards the exterior of the vehicle and towards the interior of the vehicle.

In this description, the term “longitudinal”, the term “longitudinal”, the term “transverse”, and the term “transversely” are used according to the reference of the vehicle, in the assembly configuration. The term “longitudinal” corresponds to the main direction of movement of the vehicle. The term “transverse” corresponds to a direction perpendicular to the main direction of movement of the vehicle. The term “front” refers to the main direction of movement of the vehicle. The term “rear” refers to the opposite of the front of the vehicle.

In this description, the value ranges include the limits which delimit them.

Through the description, the different figures use the same reference signs to designate identical or similar entities.

There represents a motor vehicle 10 according to the invention. The X axis represents the longitudinal direction, the Y axis represents the transverse direction, and the Z axis represents the vertical direction. With the origin O, these axes alternatively, the origin O can be attached to a point of the motor vehicle 10. The motor vehicle 10 is represented from the side, in the transverse direction, along the axis Y. The arrow of the axis front of the vehicle.

The motor vehicle 10 includes a body 12 forming its main structure. Frame 12 forms the framework. The various components of the motor vehicle 10 are fixed to the chassis 12. The chassis 12 connects the running gear of the vehicle, and supports the motor(s) necessary for driving the vehicle 10. The chassis 12 delimits the passenger compartment and a loading area rear, in this case the rear trunk.

The motor vehicle 10 comprises openings and motorized openings 14 capable of closing the associated openings. Generally speaking, the motorized openings 14 are pivotally mounted relative to the body 12. The motorized openings 14 are of different types. The motorized openings 14 include a trunk flap 16 (shown in the open position using dotted lines), commonly called a tailgate. The trunk flap 16 generally pivots along a transverse pivot axis in its opening and closing movements. The trunk flap 16 is a motorized trunk flap.

The openings 14 also include front and rear doors 18, allowing a user to enter the passenger compartment. The doors 18 are preferably motorized doors. They are side doors. The doors 18 are generally pivotable relative to vertical axes (i.e., along the Z axis). The vehicle 10 further comprises a front hood (not shown) such as an engine compartment hood.

According to a variant of the invention, the motor vehicle can be a utility vehicle. Access to its rear loading space can be closed by openings with vertical pivot axes, such as rear doors.

The motor vehicle 10 comprises a plurality of openings 14. For convenience, the description will concentrate on one of the openings 14, for example the trunk flap 16. However, the following characteristics apply to at least one other, or to several others, or to all other openings 14 of the motor vehicle 10; and in particular at each door 18.

The trunk flap 16 is advantageously a motorized opening. It comprises at least one actuator 20 (only one shown) configured to open and close the trunk flap 16 against the chassis 12. In the open position (shown in dotted lines), the free end of the trunk flap 16 at a distance from the body 12, and for example in elevation relative to the roof pavilion. At this position, the trunk flap 16 is likely to hit an obstacle 40. The obstacle 40 can be a ceiling or a beam. The actuator 20 can be a cylinder (only one shown) placed at a distance from the hinges 23 associated with the trunk lid 16. Alternatively, the actuator is a motor (not shown) integrated into the hinges 23.

The actuator 20 and/or the hinges 23 may include means for estimating (not shown) the opening amplitude of the trunk flap. These estimation means make it possible to determine the position or the opening angle of the trunk flap 16.

The opening movement of the trunk lid 16 is controlled by a control unit 22, also called an electrical control unit. The control unit 22 communicates with a motor control unit (BCM) (not shown) supplying the actuator 20, for example with a wired connection, or by electromagnetic waves. Thus, the control unit 22 controls the electrical power supply to the actuator 20 so as to start and interrupt the opening movement of the trunk lid 16. The control unit 22 sends a closing speed instruction to the actuator 20.

The control unit 22 is able to manage one or more opening commands. An opening command can come from a push button on the trunk lid 16, from a remote control (not shown) integrated into a vehicle key, or even from a user terminal.

Alternatively, the control unit is integral with the chassis. It can be integrated into a central computer of the vehicle. It can control the opening and closing of several motorized openings 14 simultaneously.

The motor vehicle 10 comprises means of detection and positioning 24 of obstacle 40. The detection and positioning means 24 may comprise one or more sensors. The sensor(s) may comprise a radar, for example a wideband radar; or a plurality of radars. Broadband radar improves spatial resolution. Calculated distances and directions are more accurate. According to one option of the invention, the detection and positioning means 24 comprise optical means, such as at least one camera or even a 3D camera adapted to provide a three-dimensional image. The detection and positioning means 24 contribute to the function of obstacle identification and environmental analysis.

The control unit 22 is configured, thanks to the measurements of the detection and positioning means 24, to detect and position the obstacle 40. The detection and positioning of the obstacle 40 can be carried out in relation to the reference frame. the environment, or frame of reference attached to the vehicle 10. Obstacle detection 40 is carried out continuously, for example every 20 ms. Obstacle 40 is a physical obstacle that blocks a complete opening movement. It forms a body opposing the opening movement according to the maximum movement of the trunk flap 16.

The motor vehicle 10 comprises at least one, preferably several ground connections 26. In this case, the present illustration shows four ground connections 26 (only two shown). Each ground connection 26 forms a mechanical assembly connecting the structure 12 to the ground S on which the vehicle rests. Each ground connection 26 comprises a wheel 28 and a suspension device 30.

The ground connections 26 are flexible. Depending on the load in the vehicle, therefore a load supported in or on the vehicle, the ground connections 26 deform. The ground connections 26 lower; and with them the structure 12 of the vehicle 10. The wheels 28 are of the pneumatic type. Each wheel 28 may include a pressurized flexible chamber, in particular capable of lowering depending on the loading of the motor vehicle, and the inflation pressure.

The load is understood as a mass added to the mass of the motor vehicle 10. The ground connections 26 collapse and retract as a function of the total mass of the vehicle 10. The load in the trunk and the passengers define the mass of the load .

The motor vehicle 10 further comprises measuring means 32. The measuring means 32 are configured to measure ground connection lowering data 26. The measuring means 32 estimate a configuration of the ground connections 26. In particular, the measuring means 32 measure the spacing between the structure 12 and the ground S; for example at the level of a ground connection 26 or a corner of the structure 12. The measuring means 32 can provide ground clearance data, that is to say the distance between the ground S and the underbody 36.

The or at least one or each suspension device 30 comprises at least one pivoting arm (not shown). The measuring means 32 comprise a goniometer configured to measure an angle of inclination of the pivoting arm. Thanks to the length of the swivel arm and the measurement of the goniometer, a lowering data can be measured. Alternatively, the measuring means include an ultrasonic sensor measuring ground clearance.

The motor vehicle 10 comprises a control system 34. The control system 34 brings together the trunk flap 16, the actuator 20, the obstacle detection and positioning means 24 40; the measuring means 32 and the control unit 22. The control system 34 further comprises a recording device (not shown) of a reference travel space swept by the motorized opening during a movement of 'opening.

The recording device may be a computer storage unit storing the reference travel space. It can be a memory. The recording device can be integrated into the obstacle detection and positioning means 24 and/or into the control unit 22; the latter two can be combined.

The reference travel space is defined for a reference configuration of the ground connections 26. This reference configuration corresponds to a reference loading of the vehicle. The reference loading includes a reference mass and a reference distribution of said reference mass. The reference loading, for example with two passengers in the front seats and a first mass in the trunk, requires a specific lowering of the motor vehicle. This specific lowering induces reference lowerings for each ground connection 26. The reference travel space is defined in a reference system attached to the motor vehicle.

The detection and positioning means 24 are capable of detecting the ground S, and therefore of positioning the origin O of the first reference frame. Thus, the position of obstacle 40 is defined in the environment. In particular, this aspect makes it possible to precisely calculate the height of obstacle 40, i.e. its altitude. The environment frame of reference differs from the frame of reference in which the reference deflection space is defined. When the travel space is recorded in an entity specific to the trunk flap, using a frame of reference decoupled from the trunk flap simplifies the calculations since this frame of reference remains fixed during opening movements. This simplifies the calculations.

The control unit 22 is configured to position the recalled travel space according to the lowering data; and to control the actuator 20 so as to open the trunk flap 16 in order to avoid contact with the obstacle 40 when it is detected and positioned in the travel space recalled via the detection and positioning means 24 It controls the actuator in order to stop the motorized opening at a distance from the obstacle when said obstacle 40 is in the recalled travel space.

The trunk flap 16 comprises an internal communication network (not shown) which is connected to the control unit 22 and to the means of detection and positioning of the obstacle 24. Thus, the communication is faster, which reduces latency time. The safety distance between the trunk flap 16 and the obstacle 40 is better controlled. The trunk flap 16 can be opened to a wider angle despite the presence of an obstacle 40. The motor vehicle 10 is more ergonomic. The latency time is further reduced by the integration of the recording device into the control unit 22.

The control system comprises a trim correction device 42. The trim correction device 42 may comprise cylinders (not shown) in the suspension devices 30 of the motor vehicle 10. The trim correction device 42 forms at least partially the measuring means thanks to its angle sensors of the suspension arms. The trim includes forward-backward tilts and left-right tilts. The attitude correction device 42 is adapted to orient the motor vehicle so that it remains parallel to the road. The vehicle remains in a predefined orientation in curves as well as when braking. Parallelism is corrected by pivoting around the X axis and the Y axis.

The reference travel space is recorded in the recording device for the reference configuration of the ground connection(s) 26. The ground connection(s) 26 comprises a connection memory (not shown) capable of recording an element reduction data corresponding to the reference configuration. The or each ground connection 26 further comprises a calculator (not shown) capable of calculating a lowering difference between the lowering data element and a lowering measurement. The control unit 22 manages to position the recalled travel space as a function of the difference in lowering.

According to one option of the invention, each opening of the vehicle comprises a control unit as described above. The motor vehicle includes a control system dedicated to each motorized opening.

There shows from the side a motor vehicle 10 with a control system according to the invention. The motor vehicle 10 is represented in a reference configuration (in solid lines) and in a real configuration (in dotted lines) on which the measuring means 32 carry out lowering measurements of the ground connections 26. The motor vehicle 10 is vertically between the floor S and an obstacle 40 formed by a ceiling. The motor vehicle 10 is similar or identical to that described in relation to the . The environmental reference frame (O, X, Y, Z) is attached to the ground S.

The motor vehicle 10 comprises ground connections 26, in particular front ground connections and rear ground connections. The control system includes a trunk flap 16 powered by an actuator 20; a device 50 for recording a reference travel space 44 swept by the trunk flap 16 during its opening movement; means of detection and positioning 24 of obstacle 40; measuring means 32 configured to measure ground connection lowering data; a control unit 22. The lowering data includes front lowering data and rear lowering data.

The control unit 22 is configured to position a recalled travel space 46 as a function of the lowering data from the measuring means. The recalled travel space 46 corresponds geometrically to the reference travel space 44. It forms the real travel space. However, it is moved vertically and optionally tilted.

The control unit 22 is also configured to control the actuator 20 so as to open the trunk flap 16 while avoiding an impact with an obstacle 40 detected and positioned in the recalled travel space 46 thanks to the detection means and positioning 24. The obstacle 40 is above the trunk flap 16. The control unit 22 calculates, for example at the start of the opening movement, a stopping distance to be respected between the obstacle 40 and the trunk lid 16. This stopping distance is calculated based on the lowering data.

According to a variant of the invention, the control unit controls the opening movement of the trunk flap at a given angular speed, and calculates the instant at which the power supply to the actuator must be cut off to avoid the obstacle .

According to another variant of the invention, the control unit continuously calculates the stopping distance; which makes it possible to adapt to possible variations in lowering data.

The recalled travel space 46 is defined in an environment frame of reference, called the first frame of reference. The reference travel space 44 is defined in a second frame of reference, for example a frame of reference attached to the structure 12 of the motor vehicle 10. The control unit 22 and/or the detection and positioning means 24 are arranged in the trunk flap 16.

According to one option, the recording means 50 and a processor 52 are separated from the trunk flap 16. Thus, several motorized openings can be controlled simultaneously by the control system. The processor 52 is configured to execute a motorized opening method according to the invention. The recording means 50 comprise code instructions, which when executed by the processor or a computer, allow the processor or the computer to execute the motorized opening method according to the invention.

Alternatively, the recording means and the processor are integrated into the control unit.

The drawdown data includes drawdown data elements, including a reference drawdown data element DR and a measured drawdown data element DM. In the present illustration, the difference between the reference lowering data element DR and the measured lowering data element DM is a lowering difference DI which is used to reposition the recalled travel space 46 by relative to the reference clearance space 44. The lowering data and the lowering difference DI are available for each ground connection 26. The lowering data can be ground clearance data, the data elements lowering may be ground clearance data elements.

In the present illustration, it is remarkable that the reference ground clearance is lower than the ground clearance measured using the measuring means 32. Without adjusting the reference clearance space 44, the trunk flap 16 would hit the obstacle 40. Thanks to the modeling and precise positioning of the recalled clearance space 46, the space necessary for the clearance of the trunk flap 16 is simulated more precisely; and its intersection with obstacle 40 is more realistic.

The reference travel space 44 and the recalled travel space 46 are of identical or similar shapes. They generally form angular cylinder segments. They have height differences. Their tops are generally offset vertically by the difference in lowering DI, optionally adjusted according to the overhang of the travel space referred to 46. Each difference in height corresponds to the difference between the reference lowering and a lowering measured by the measuring means 32 at one of the ground connections 26.

There shows from the front a motor vehicle 10 with a control system according to the invention. The motor vehicle 10 is represented in a reference configuration (in solid lines) and in a real configuration (in dotted lines) in which the measuring means 32 carry out lowering measurements of the ground connections 26. The motor vehicle is similar or identical to that described in relation to the and/or the . The ground S presents an obstacle 40. The obstacle 40 is for example a terminal or a border extending vertically at the height of an opening, in this case a door 18. The environmental reference frame (O, X, Y, Z ) is attached to the ground S.

The motor vehicle 10 comprises ground connections 26, in particular left ground connections and right ground connections. The control system includes: the door 18 which is motorized by an actuator 20; a device 50 for recording a reference travel space 44 swept by the door 18 during its opening movement; means of detection and positioning 24 of obstacle 40; measuring means 32 configured to measure ground connection lowering data; a control unit 22.

The control unit 22 is configured to position a recalled travel space 46 as a function of the lowering data DA from the measuring means 32. The recalled travel space 46 corresponds geometrically to the reference travel space 44. However, it is pivoted and significantly moved vertically due to the width of the structure 12.

The control unit 22 is also configured to control the actuator 20 so as to open the door 18 while avoiding an impact with an obstacle 40 detected and positioned in the recalled travel space 46. The detection and positioning involve the detection and positioning means 24 and the computer 52. The obstacle 40 is in the lower part of the door 18.

As shown in the present figure, in the reference configuration, the door 18 in the open position passes above the obstacle and avoids it. However, in real configuration, the loading is asymmetrical. Since the left loading differs from the right loading, the vehicle 10 leans to one side and further lowers the right ground connections 26, so that the door 18 also lowers and risks hitting the obstacle 40 when it is opened in an automated manner by the actuator 20.

The DA lowering data includes left DAG lowering data and right DAD lowering data which is different from the left DAG lowering data. The control unit 22 is configured to position the recalled travel space 46 by tilting the reference travel space 44 as a function of the left lowering data DAG and the right lowering data DAG. These data are compared to the reference lowering data in order to measure a lateral inclination, that is to say along the X axis. The geometry of the vehicle 10, in particular the geometry of its structure 12 is taken into account.

The control unit 22 includes a computer 52 and a storage device 50. The computer 52 can be a processor such as a microprocessor. The storage device 50 may be a computer memory. It is capable of storing a computer program comprising program code instructions for executing the steps of the opening method according to the invention. The recording device 50 forms a computer-readable storage medium. It can be removable. The control unit 22 may be a computer. It may be a programmable electronic card.

There represents a method for controlling the opening of a motor vehicle. The motor vehicle is similar or identical to that described in relation to one of Figures 1 to 3.

The opening process comprises the following steps, in particular executed in the following order.

Obtaining 100 of a reference clearance space swept by the sash when it opens.

Measurement 102 of ground connection lowering data.

Positioning 104 of a recalled travel space as a function of the reference travel space and the lowering data.

Detection and positioning 106 of an obstacle in the recalled travel space.

Opening 108 of the motorized opening.

Stopping 110 of the opening of the sash at a predefined distance from the obstacle when said obstacle is in the recalled travel space.

In the detection and positioning step 106, the obstacle is positioned in the first reference frame, in particular linked to the environment. The first frame of reference is fixed relative to the ground. At the obtaining step 100, the reference travel space is defined in a second reference frame, in particular attached to the vehicle.

The stopping step 110 can be a step of stopping the opening of the sash at a predefined distance from the obstacle according to the lowering data.

The step 102 of measuring the lowering data includes a measurement of variation of the lowering data, said variation measurement being during the opening step 108 of the motorized opening.

When no obstacle is detected in the recalled travel space 46, the opening continues over the entire travel of the sash; even if an obstacle 40 is detected only in the reference travel space 44.

The invention allows dynamic adaptation of the opening control. In particular, it makes it possible to take into account a variation in load during the opening movement, as well as a possible movement of the obstacle relative to the vehicle. Thus, the risk of collision reduces while preserving the passage width offered by the openings.

Claims (10)

Motorized opening control system (14) for a motor vehicle (10) with at least one ground connection (26) capable of lowering depending on a load carried by the motor vehicle (10); the control system comprising: a motorized opening (14) movable between a closed position and an open position by means of an actuator (20); a device for recording (50) a reference travel space (44) capable of being scanned by the motorized opening (14) during an opening movement; obstacle (40) detection and positioning means (24); characterized in that the control system further comprises: measuring means (32) configured to measure lowering data (DA) of ground connection (26); a control unit (22) configured to: define a recalled travel space (46) as a function of the lowering data (DA) and of the same shape as the reference travel space (44); control the actuator (20) so as to open and stop the motorized opening (14) at a distance from the obstacle (40) when said obstacle (40) is in the recalled travel space (46). Control system according to claim 1, characterized in that the reference travel space (44) is recorded in the recording device (50) for a reference configuration of the or each ground connection (26); and the or each ground connection (26) comprises a connection memory capable of recording a lowering data element corresponding to the reference configuration, and a calculator capable of calculating a lowering difference (DI) between the element lowering data and a lowering measurement; the control unit (22) being configured to position the recalled travel space (46) as a function of the lowering difference (DI). Control system according to one of claims 1 to 2, characterized in that the lowering data (DA) comprises left lowering data (DAG) and right lowering data (DAD), and the unit control (22) is configured to position the recalled travel space (46) by tilting the reference travel space (44) based on the left lowering data (DAG) and the right lowering data (DAD ). Control system according to one of claims 1 to 3, characterized in that the or at least one or each ground connection (26) comprises a suspension device (30) with a pivoting arm, and the measuring means (32 ) include a goniometer configured to measure an angle of inclination of the pivoting bottom. Control system according to one of claims 1 to 4, characterized in that the control system comprises a device for correcting the attitude of the motor vehicle (10), the measuring means (32) being integrated into the correction device plate. Control system according to one of claims 1 to 5, characterized in that the control unit (22) is arranged in the motorized opening (14), preferably the recording means are integrated in the control unit (22). Control system according to one of Claims 1 to 6, characterized in that the lowering data (DA) comprises ground clearance data and the detection and positioning means (24) comprise a radar. Motor vehicle (10) comprising a control system, characterized in that the system conforms to one of claims 1 to 7, preferably the motorized opening (14) is a trunk flap (16) or a door (18). ). Method for opening a motorized opening (14) of a motor vehicle (10) with a control system, characterized in that the control system conforms to one of claims 1 to 7, and the method comprises the steps following:

1. obtaining (100) a reference travel space (44) swept by the opening when it opens;
2. measurement (102) of lowering data (DA) of ground connection (26);
3. positioning (104) of a recalled travel space (46) as a function of the reference travel space (44) and the lowering data (DA);
4. detection and location (106) of an obstacle (40) in the recalled travel space (46);
5. opening (108) of the motorized opening (14);
6. stopping (110) of the opening of the sash at a predefined distance from the obstacle (40) when said obstacle (40) is in the recalled travel space (46).

Method according to claim 9, characterized in that the step of measuring (102) the lowering data (DA) comprises a measurement of variation of the lowering data (DA), said variation measurement being during the step of opening (108) of the motorized opening (14).