GB2617127A

GB2617127A - Deployable vehicle side-step system

Info

Publication number: GB2617127A
Application number: GB2204532.2A
Authority: GB
Inventors: Dixon Malin; Stickley Owen; Ryder Francis; Vats Mansi
Original assignee: Jaguar Land Rover Ltd
Current assignee: Jaguar Land Rover Ltd
Priority date: 2022-03-30
Filing date: 2022-03-30
Publication date: 2023-10-04
Also published as: GB202204532D0

Abstract

A first aspect of the present invention relates to a vehicle side-step motor apparatus 210. The vehicle side-step motor apparatus comprises a motor housing (410, figure 4), a motor 275 configured to drive a vehicle side-step between a stowed state and a deployed state, the motor being housed inside the motor housing, a temperature sensor 260 configured to detect a temperature proximal to the vehicle side-step and a control system 220 comprising one or more controllers 110. The control system is configured to: receive a request to stow or deploy the vehicle side-step; determine a supply power for driving the motor in dependence on the detected temperature; and to drive the motor to move the vehicle side-step between the stowed state and the deployed state in dependence on the determined supply power. The control system may increase the supply power when the detected temperature decreases, thus addressing any issue of the side-step grease becoming more viscous at low temperatures. Also disclosed is a method for stowing or deploying a vehicle side-step.

Description

DEPLOYABLE VEHICLE SIDE-STEP SYSTEM

TECHNICAL FIELD

The present disclosure relates to a deployable vehicle side-step system. Aspects of the invention relate to a vehicle side-step motor apparatus, to a deployable side-step assembly for use in a vehicle, to a vehicle comprising the vehicle side-step motor apparatus and to a method for stowing or deploying a vehicle side-step.

BACKGROUND

It is known to provide deployable side-steps for vehicles which comprise one or more steps movable between a stowed state where the side-step is positioned proximal to a side of a vehicle body, and a deployed state where the side-step is positioned to extend from the side of the vehicle body. Deployable side-steps may be used to provide easier access for a user to enter or exit a vehicle cabin or to access a roof of the vehicle for example.

The deployable side-step may be driven by a motor to move between the stowed and deployed state when a need for moving the side-step is identified. For example, the sidestep may be deployed in response to a user unlocking or opening a door. Certain conventional systems may provide a dedicated control module on a vehicle bus network to control the motor to stow and deploy the side-step. The dedicated control module may comprise suitable processors and motor drivers to drive the motor, and may be connected via electrical wiring to the motor. This configuration may result in difficulties in installation or maintenance of the system, and long wiring between the motor drivers and the motor may lead to electromagnetic noise when the motor is driven.

Obstacles to the movement of the side-step may be detected by one or more means for detecting obstacles, such as monitoring a power draw of the motor for driving the side-step. However, the power draw of the motor may vary under other conditions such as temperature, and therefore the obstacle detection may conflict with the operation of the side-step at low temperatures. Low temperatures may also affect deployment time of the vehicle side-step due to grease within the motor becoming viscous.

It is an aim of the present invention to address one or more of the disadvantages associated with the prior art.

SUMMARY OF THE INVENTION

Aspects and embodiments of the invention provide a vehicle side-step motor apparatus, to a deployable side-step assembly for use in a vehicle, to a vehicle comprising the vehicle sidestep motor apparatus and to a method for stowing or deploying a vehicle side-step as claimed in the appended claims.

According to an aspect of the present invention there is provided a vehicle side-step motor apparatus comprising: a motor housing; a motor configured to drive a vehicle side-step between a stowed state and a deployed state, the motor being housed inside the motor housing; a temperature sensor configured to detect a temperature proximal to the vehicle side-step; and a control system comprising one or more controllers, the control system configured to: receive a request to stow or deploy the vehicle side-step; determine a supply power for driving the motor in dependence on the detected temperature; and drive the motor to move the vehicle side-step between the stowed state and the deployed state in dependence on the determined supply power.

Advantageously, the temperature sensor is configured to detect a temperature proximal to the vehicle side-step. Thus, the control system may drive the motor to move the vehicle sidestep using a supply power determined in dependence on a temperature reading that accurately reflects the environment of the vehicle side-step. In some situations, temperature readings can vary significantly at different locations around the vehicle, and therefore providing the temperature sensor proximal to the vehicle side-step and motor ensures use of accurate temperature information. The temperature proximal to the vehicle side-step may affect the movement of the vehicle side-step due to grease in the motor becoming more viscous at lower temperatures. Thus, by considering the temperature proximal to the vehicle side-step, and adjusting the supply power accordingly, the stowing or deployment of the vehicle side-step is improved.

In some examples, the control system and the temperature sensor are housed in the motor housing. Advantageously, by providing the control system and the temperature sensor in the motor housing, the temperature sensor is proximal to the motor and the vehicle side-step. Further, the functions of the control system may be carried out without requiring the vehicle to be turned or or remote vehicle systems to be activated prior to determining the supply power. Thus, improved deployment or stowing of the vehicle side-step is achieved even when the user has not yet entered the vehicle.

Advantageously, by providing the control system within the motor housing, an amount of wires and distance of wiring are reduced compared to a system with a dedicated external module for controlling the vehicle side-step located elsewhere in the vehicle. Thus, manufacture and maintenance are simplified. Further, electromagnetic noise is reduced and pulse-width modulation may be used to vary the power supplied to the motor without incurring excessive electromagnetic noise.

In some examples, the control module comprises a hall sensor configured to detect a position of the motor and to provide position information of the motor to the controller. Advantageously, providing the hall sensor and control module in the motor housing further reduces wiring compared to locating the control logic for the Hall sensor externally.

In some examples, the control module comprises a power connection connectable to a power source.

In some examples, the control module comprises an input connection connectable to a vehicle control system and configured to receive a control signal from the vehicle control system indicating the control module is to drive the motor.

In some examples, the input connection comprises a Local Interconnect Network, LIN, connection. Advantageously, a LIN compatible module is more simple than alternative vehicle communication systems, and wiring is reduced. Further, an existing vehicle module provided to perform other functions may be used to host control logic for the deployment or stowing of the vehicle side-step. Advantageously, a LIN module may be connected to a plurality of control systems for controlling a plurality of vehicle side-steps.

In some examples, the motor and the hall sensor, controller, input connection and power connection of the control module are provided within the housing. Advantageously, providing additional components within the motor housing reduces wiring and the need for dedicated external modules, thus saving space within the vehicle.

In some examples, the control module is configured to supply the determined supply power to the motor using pulse-width modulation, PWM. Thus, the power supplied to the motor may be varied, and the motor may be controlled to operate at a variety of power levels to thereby operate effectively at different temperatures. Advantageously, undue electromagnetic noise is avoided despite the use of PWM due to the provision of the control module in the motor housing.

In some examples, the control module is configured to increase the supply power when the detected temperature decreases. Advantageously, the vehicle side-step may be deployed and stowed at the optimal speed despite changes in motor oil or motor grease viscosity associated with temperature change.

In some examples, the control module is configured to detect an obstruction to movement of the vehicle side-step in dependence on a current drawn by the motor. Advantageously, the movement of the vehicle side-step may be halted if an obstacle is encountered.

In some examples, the control module is configured to: detect the obstruction when the current drawn by the motor exceeds a threshold current; and determine the threshold current in dependence on the detected temperature. Advantageously, the obstacle detection may be dynamically controlled despite changes in temperature which may affect the power draw of the motor. As such, false positive detections of obstacles at low temperatures are avoided.

In some examples, the threshold current is further based on the position information of the motor. Advantageously, the control module may implement obstruction detection across the whole range of movement of the side-step, in consideration of soft stop or soft start procedures which may vary the power draw of the motor depending on the position of the vehicle side-step between the stowed and deployed states.

In some examples, the temperature sensor is configured to detect the temperature proximal to the vehicle side-step before an engine of a vehicle comprising the vehicle side-step is turned on. Advantageously, the supply power for driving the motor to deploy or stow the vehicle side-step may be determined prior to the entry of a user to the vehicle. This is achieved by the provision of the temperature sensor and the control module within the motor housing.

In some examples, the temperature sensor is configured to detect the temperature proximal to the vehicle side-step in response to the controller determining to stow or deploy the vehicle side-step; and wherein to receive the request to stow or deploy the vehicle side-step, the controller is configured to: receive a signal indicative of the vehicle being unlocked, receive a user input to stow or deploy the vehicle side-step, receive a signal indicative of a detection that a user approaches the vehicle or receive a signal indicative of a determination that the vehicle engine is turned off.

According to another aspect of the invention, there is provided a deployable side-step assembly for use in a vehicle, the deployable side-step assembly comprising: the vehicle side-step motor apparatus; and a vehicle side-step movable between a stowed state and a deployed state.

According to another aspect of the invention, there is provided a vehicle comprising the vehicle side-step motor apparatus, or the deployable side-step assembly; and a vehicle control system communicatively connected to the control module, the vehicle control system configured to supply a control signal to the control module for stowing or deploying the vehicle side-step.

In some examples, the vehicle control system comprises a Controller Area Network, CAN, bus communicatively connected to a LIN master, the LIN master communicatively connected to the control module.

In some examples, the CAN bus comprises a user module for receiving user inputs, and a vehicle controller configured to determine whether to stow or deploy the vehicle side-step, and to determine vehicle information indicating at least one of whether a door is open or closed, whether the vehicle is locked or unlocked, and a selected gear of the vehicle.

According to another aspect of the invention, there is provided a method for stowing or deploying a vehicle side-step, comprising: receiving a request to stow or deploy the vehicle side-step; detecting a temperature proximal to the vehicle side-step; determining a supply power for driving a motor configured to move the vehicle side-step in dependence on the detected temperature; and driving the motor to move the vehicle side-step between a stowed state and a deployed state in dependence on the determined supply power.

In some examples, the temperature proximal to the vehicle side-step is detected before an engine of a vehicle comprising the vehicle side-step is turned on.

In some examples, the temperature proximal to the vehicle side-step is detected before a vehicle comprising the vehicle side-step is started, wherein starting the vehicle comprises turning on an engine or activating a driving mode of the vehicle.

In some examples, the temperature proximal to the vehicle side-step is detected before an entry of a user into the vehicle.

In some examples, the temperature is detected in response to determining to stow or deploy the vehicle side-step; and wherein the receiving the request to stow or deploy the vehicle side-step comprises one of: receiving a signal indicative of the vehicle being unlocked, receiving a user input to stow or deploy the vehicle side-step, receiving a signal indicative of a detection that a user approaches the vehicle, and receiving a signal indicative of a determination that the vehicle engine is turned off.

According to another aspect of the invention, there is provided computer readable instructions which, when executed by a computer, are arranged to perform the method.

Within the scope of this application it is expressly intended that the various aspects, embodiments, examples and alternatives set out in the preceding paragraphs, in the claims and/or in the following description and drawings, and in particular the individual features thereof, may be taken independently or in any combination. That is, all embodiments and/or features of any embodiment can be combined in any way and/or combination, unless such features are incompatible. The applicant reserves the right to change any originally filed claim or file any new claim accordingly, including the right to amend any originally filed claim to depend from and/or incorporate any feature of any other claim although not originally claimed in that manner.

BRIEF DESCRIPTION OF THE DRAWINGS

One or more embodiments of the invention will now be described, by way of example only, with reference to the accompanying drawings, in which: Figure 1 shows a block diagram representation of a control module according to an embodiment of the invention; Figure 2 shows a block diagram representation of a vehicle side-step motor apparatus according to an embodiment of the invention; Figure 3 shows a block diagram representation of a vehicle side-step system comprising the vehicle side-step motor apparatus according to an embodiment of the invention; Figure 4 shows a drawing of a vehicle side-step motor apparatus according to an embodiment of the invention; Figure 5 shows a flowchart illustrating a method for deploying or stowing a vehicle side-step according to an embodiment of the invention; and Figure 6 shows a vehicle in accordance with an embodiment of the invention.

DETAILED DESCRIPTION

The present disclosure relates to a deployable side-step assembly for a vehicle. The deployable side-step is movable between a stowed position where the side-step is positioned proximal to a side of the vehicle, and a deployed position where the side-step is positioned to extend from the vehicle between a vehicle cabin and the ground. For example, the deployable vehicle side-step may facilitate easier access to the vehicle for a user in the deployed state.

A control system 100 in accordance with an embodiment of the present invention is described herein with reference to the accompanying Figure 1. Figure 1 shows a representation of the control system 100 in accordance with an embodiment of the invention, where the control system 100 comprises a controller 110 and a temperature sensor 160.

With reference to Figure 1, there is illustrated a control system 100 for controlling a vehicle side-step. The control system 100 comprises one or more controller 110.

The control system 100 is configured to receive a request to stow or deploy the vehicle sidestep at input means 140, and to determine a supply power for driving a motor to stow or deploy the vehicle side-step. The control system 100 may then output a control signal 155 to control the motor to drive the vehicle side-step between the stowed state and the deployed state based on the determined supply power. The control system 100 may further receive information 165 indicative of a detected temperature proximal to the vehicle side-step from one or more sensor 160, and may determine the supply power for driving the motor in dependence on the detected temperature.

The control system 100 as illustrated in Figure 1 comprises one controller 110, although it will be appreciated that this is merely illustrative. The controller 110 comprises processing means 120 and memory means 130. The processing means 120 may be one or more electronic processing device 120 which operably executes computer-readable instructions.

The memory means 130 may be one or more memory device 130. The memory means 130 is electrically coupled to the processing means 120. The memory means 130 is configured to store instructions, and the processing means 120 is configured to access the memory means 130 and execute the instructions stored thereon.

The controller 110 comprises an input means 140 and an output means 150. The input means 140 may comprise an electrical input 140 of the controller 110. The output means 150 may comprise an electrical output of the controller 110. The input 140 is arranged to receive a temperature signal 165 from a temperature sensor 160. The temperature signal 165 is an electrical signal which is indicative of a temperature detected by the temperature sensor 160. Although the temperature sensor 160 is shown as being outside of the controller 110, the controller 110 may comprise the temperature sensor 160 as an integrated module.

The input means 140 may also be configured to receive a control signal indicative of a requirement to stow or deploy a vehicle side-step. The control signal in some examples may be received from a communication module of the vehicle as will be discussed in Figure 2.

The control signal may also be received from a vehicle communication bus. The input means 140 may also be configured to receive an input from one or more Hall sensors provided proximal to a motor for driving the vehicle side-step. The input received from the one or more Hall sensors may be indicative of a position of the motor. The output 150 is arranged to output a control signal 155 for controlling a vehicle side-step to move between a stowed state and a deployed state. The control signal 155 may be output by the output 150 to a motor (not shown) configured to drive the vehicle side-step.

The controller 110 may be provided in use within a control system 100 housed within a motor housing, such that the controller 110 is provided proximal to the motor. The controller may also be communicatively coupled with one or more further sensors (not shown in Figure 1) such as a hall sensor to determine a position of the motor and thus a position of the vehicle side-step. The controller 110 may also be communicatively coupled with a vehicle control system such as a system including a vehicle communication bus, which may relay information and control signals between various components and systems of a vehicle. For example, the controller 110 may receive a command signal to stow or deploy the vehicle side-step through the vehicle control system. The control signal may be received through the input means 140.

The processing means 120 may be configured to determine a supply power for driving a vehicle side-step and to provide the determined supply power to the output means 150. The processing means 120 may determine the supply power in dependence on at least one of a control signal indicative of a requirement to stow or deploy a vehicle side-step, a temperature signals 165 received from the temperature sensor, and information received from one or more Hall sensors. In one example, the processing means 120 may identify a requirement to stow or deploy the vehicle side-step and may determine a supply power for driving a motor to stow or deploy the vehicle side-step in response to receiving a control signal indicative of a requirement to stow or deploy the vehicle side-step. In the same example, the processing means 120 may determine the supply power in dependence on the temperature information 165 received from the temperature sensor 160. For example, the processing means 120 may determine to increase a supply power as a temperature detected by the temperature sensor 160 decreases. The processing means 120 may use the information received from the Hall sensor to determine a position of a motor and to determine a control signal for controlling the motor to drive the vehicle side-step. The processing means 120 may then provide the determined supply power for driving the motor to stow or deploy the vehicle side-step to the output means 150, in consideration of a temperature sensed by the temperature sensor 160. The output means 150 may then output the control signal 155 to control the motor to stow or deploy the vehicle side-step in dependence on the determined supply power.

Figure 2 illustrates a deployable vehicle side-step assembly 200 according to an embodiment of the present invention. The deployable vehicle side-step assembly 200 comprises a vehicle side-step motor apparatus 210 comprising a control module 220 and a motor electronics module 270. The vehicle side-step motor apparatus 210 is communicatively and mechanically coupled to a deployable side-step mechanism 290 via connection means 280.

The control module 220 and the motor electronics module 270 of the vehicle side-step motor apparatus 210 may be communicatively coupled together. The vehicle side-step motor apparatus 210 may be housed within a motor housing. The control module 220 and the motor electronics module 270 of the vehicle side-step motor apparatus 210side-step may be formed as components provided on one or more printed circuit board (PCB) housed within the motor housing. The vehicle side-step motor apparatus 210 may further comprise a motor armature 275 and one or more motor magnets 276 to convert electrical energy received from the motor electronics module 270 into mechanical power. Although Figure 2 shows the vehicle side-step motor apparatus 210 as comprising a motor armature 275 and one or more magnets 276, it should be understood that any motor suitable for converting electrical energy received from the motor electronics module 270 into mechanical energy may be used. The motor electronics module 270 comprises motor electronics for driving the motor, and may optionally comprise a Hall sensor provided proximal to the motor. In some examples, the motor electronics module 270 may comprise motor brushes and the Hall sensor. The vehicle side-step motor apparatus 210 may further comprise a commutator and magnet assembly which in combination with the motor armature 275 are configured to convert the electrical energy received from the motor electronics module 270 to mechanical energy. The motor armature 275 and one or more magnets 276 may also be provided within the motor housing, proximal to the one or more PCB hosting the control module 220 and the motor electronics module 270. The Hall sensor of the motor electronics module 270 is configured to sensing moving parts of the motor and as such may be provided proximal to the motor.

The control module 220 of the vehicle side-step motor apparatus 210 comprises a controller 110 such as the controller 110 of Figure 1, a Hall sensor control module 230, a motor driver 240, a power supply unit, a communication module 250 and a temperature sensor 260. The control module 220 may omit one or more of the modules shown in Figure 2 or may comprise additional modules.

The controller 110 of the control module 220 may be configured to control an overall operation of the control module 220. For example, the controller 110 may be configured to received information from the Hall sensor control module 230 and the temperature sensor 260, and to determine a supply power and provide the determined supply power to the motor driver 240. The controller 110 may further be configured to receive control signals from a vehicle control system through the communication module 250 and to control the power supply unit to draw electrical power to power the vehicle side-step motor apparatus 210 and the motor to drive the deployable side-step mechanism 290. The communication module 250 may comprise a module formed of any suitable hardware or software provided as part of the control module 220 to communicate with a vehicle system or module external to the control module 220, such as a vehicle electronic control module via a vehicle communication bus.

The Hall sensor control module 230 is configured to receive a signal from a Hall sensor included in the motor electronics module 270 and to determine a position of the motor from the received signal. The Hall sensor may detect a presence and magnitude of a magnetic field using the Hall effect. For example, a motor may comprise a magnet provided on a rotating part of the motor, and the Hall sensor may measure a magnitude of a magnetic field of the magnet. The Hall sensor may provide information relating to the detected magnetic field to the Hall sensor control module 230. The Hall sensor control module 230 may determine a position of the motor based on the received information from the Hall sensor.

The Hall sensor control module 230 or the controller 110 may determine a position of the deployable side-step based on the determined position of the motor. Thus, the vehicle sidestep motor apparatus 210 may determine whether the vehicle side-step is in a stowed state, a deployed state, or a state therebetween. Advantageously, when the Hall sensor control module 230 and the Hall sensor included in the motor electronics module 270 are provided on a single PCB within the motor housing, a number of wires and length of wiring for controlling the motor may be reduced compared to a conventional system in which the Hall sensor control module 230 is provided distal to the motor. Alternatively, the Hall sensor may be connected to the PCB of the vehicle side-step motor apparatus 210 via wiring, but similar advantages are achieved when the PCB is provided within the motor housing proximal to the motor and the Hall sensor, as a distance between the Hall sensor and the control module 220 is reduced.

The motor driver 240 is configured to receive a control signal from the controller 110 indicative of a determined supply power. The motor driver 240 is configured to provide the determined supply power to the motor to drive the motor between a stowed state and a deployed state. The motor driver 240 may vary the power supplied to the motor under the control of the controller 110. For example, the motor driver 240 may vary at least one of a current or a voltage of electrical power supplied to the motor. For example, the motor driver 240 may vary the power supplied to the motor based on pulse-width modulation (PWM) techniques. In certain conventional systems, the control module 220 of the vehicle side-step motor apparatus 210 including the motor driver 240 is provided as a dedicated control module on a vehicle bus network, outside of the motor housing and distanced from the motor. The motor driver of such a system may be connected to the motor via electrical wiring. In such conventional system, the power supplied to the motor may not be easily varied using PWM due to associated increases in electromagnetic noise which may affect other systems of the vehicle, due to rapid changes in the electrical current associated with the use of PWM. Advantageously, in the embodiment of Figure 2, the vehicle side-step motor apparatus 210 may be provided within a motor housing proximal to the motor. Thus, only short wires are required to provide power to the motor, and PWM may be used to vary the power supplied to the motor with reduced electromagnetic noise.

The motor driver 240 may therefore vary an electrical power supplied to the motor using PWM under the control of the controller 110. In some examples, the controller 110 may control the motor driver 240 to vary the electrical power supplied to the motor to implement a soft-start or soft-stop feature, in which the vehicle side-step is driven more slowly as it begins to move between the stowed state and the deployed state or when the vehicle side-step approaches an end point of a movement between states, to thereby reduce a noise associated with the movement of the vehicle side-step starting or stopping. Advantageously, by utilising PWM to implement soft-start and/or soft-stop features, a noise associated with the movement of the vehicle side-step may be reduced and user comfort may be improved.

The communication module 250 may be communicatively connected to a vehicle control system and may send signals to and receive signals from the vehicle control system. In some examples, the communication module 250 is a Local Interconnect Network (LIN) interface, which may be a known vehicle communication standard. The communication module 250 is configured to receive a control signal from the vehicle control system indicative of a requirement to stow or deploy the vehicle side-step. A requirement to stow or deploy the vehicle side-step may relate to the vehicle being unlocked, suggesting that a user may be about to enter or exit the vehicle, a user selection of a side-step deployment operation, a user selection of a roof access mode, a detection that one or more doors of the vehicle are opened, or a determination to stow or deploy the vehicle side-step based on a selected gear of the vehicle. It should be understood that there may be many potential triggers for deployment or stowing of the vehicle side-step, and that the present disclosure should not be limited to the aforementioned examples.

The temperature sensor 260 is configured to detect a temperature under the control of the controller 110. The temperature sensor 260 may provide the detected temperature to the controller 110. Advantageously, by providing the temperature sensor 260 in the control module 220 of the vehicle side-step motor apparatus 210, the temperature sensor 260 may also be provided within the motor housing. As such, the temperature sensor 260 will detect a temperature proximal to the motor itself. Temperature may vary across a vehicle significantly due to factors including temperature increases associated with vehicle operation, the vehicle being partially in direct sunlight, or proximity to external objects. For example, a temperature sensor provided proximal to an engine of the vehicle may detect a significantly higher temperature to a sensor provided proximal to the motor. In addition, a temperature sensor 260 of a vehicle side-step motor apparatus 210 provided on a first side of the vehicle may detect a different temperature to a temperature sensor of a vehicle side-step motor apparatus 210 provided on a second side of the vehicle, if the first side faces direct sunlight while the second side does not. Therefore, by providing the temperature sensor 260 proximal to the motor, an accurate and relevant temperature reading can be obtained. Further, by providing the temperature sensor 260 in the control module 220 housed in the motor housing, a temperature measurement may be available immediately at all times independently of other operations of the vehicle.

The vehicle side-step motor apparatus 210 may further include a power connection to a power supply source (not shown). Advantageously, the temperature sensor 260 may be powered before the vehicle is started, and as such may obtain a temperature reading immediately in response to an identification of a requirement to stow or deploy the vehicle side-step, without requiring power from a different vehicle system which conventionally may not be activated until a key is inserted in the vehicle or the engine is started. For example, when a user approaches the vehicle and unlocks the vehicle, the temperature sensor 260 may detect a temperature proximal to the motor and provide the detected temperature to the controller 110 before the user has entered the vehicle. Consequently, as will be discussed, a supply power for driving the motor can be determined based on a current temperature proximal to the motor to deploy the vehicle side-step to assist the user in entering or exiting the vehicle, independently of the status of other vehicle systems.

The temperature sensor 260 may provide the detected temperature to the controller 110.

The controller 110 may determine a supply power for driving the motor in dependence on the detected temperature. For example, the controller 110 may determine the supply power to be a first power when the detected temperature is a first temperature, and may determine the supply power to be a second power when the detected temperature is a second temperature. In this case, when the second temperature is lower than the first temperature, the second power may be greater than the first power. That is, the controller 110 may determine a supply power based on an inverse relationship with the detected temperature. At lower temperatures, the supply power may be increased. Advantageously, the motor may be driven at a higher supply power at lower temperatures, and the speed of vehicle side-step during stowing or deployment may therefore be maintained despite grease within the motor becoming viscous at low temperatures.

The control module 220 may monitor a power draw of the motor to identify obstacles to the movement of the vehicle side-step. For example, the controller 110 may be configured to detect a power draw of the motor, and compare the detected power draw of the motor to a threshold power draw. If the detected power draw exceeds the threshold power draw, the controller 110 may determine that an obstacle to the movement of the vehicle side-step is present. The controller 110 may modify the threshold power draw based on the detected temperature, such that the obstacle detection of the controller 110 continues to work at low temperatures. Advantageously, by providing the temperature sensor 260 proximal to the motor and operable before the vehicle is turned on, at very low temperatures where a current draw of the motor may otherwise trigger an obstacle detection and prevent deployment of the vehicle side-step, the temperature may be detected and provided to the controller 110 to modify the threshold power draw in dependence on the detected temperature. Therefore, false positive obstacle detections may be reduced by accounting for the effect of lower temperature on the power draw of the motor, and the vehicle side-step may be deployed at very low temperatures where a conventional system may falsely detect an obstacle. It would be understood that the power draw, supply power and threshold power draw may relate to voltage or current measurements.

It should also be understood that the power draw of the motor may vary across the movement of the vehicle side-step between stowed and deployed states. For example, and explained above, the controller 110 may implement soft-start or soft-stop features to slow the vehicle side-step near end points of movement. The power draw of the motor may therefore vary depending on a position of the vehicle side-step. The controller 110 may determine the threshold power draw in dependence on the position of the motor to accommodate variation in power draw of the motor during operation, while still detecting obstacles to the movement of the vehicle side-step.

The motor electronics module 270 may comprise motor electronics and motor brushes for driving the motor, and may comprise the Hall sensor provided proximal to the motor.

However, it should be understood that any suitable type of motor may be used. The Hall sensor is configured to measure a magnetic field proximal to the motor to determine a position of the motor. The motor electronics module 270 may be connected to the motor armature 275 and motor magnets 276 which convert electrical energy from the motor electronics module 270 into mechanical energy. The motor armature 275 may be mechanically connected to the deployable side-step mechanism 290 to thereby drive the deployable side-step mechanism 290. The motor armature 275 may be mechanically connected to the deployable side-step mechanism 290 via connection means 280. The connection means 280 may include a gearbox configured to modify a torque of the motor. The connection means 280 or the deployable side-step mechanism 290 may be configured to convert rotational movement of the motor into lateral movement of the vehicle side-step.

The motor may be electrically connected to the control module 220 comprising the motor driver 240 via electrical wires and may be driven by the motor driver 240 using PWM to provide the determined supply power as discussed above. In some examples, the motor may be a 12V DC motor, or may be a 6V DC motor operable at a 12V power supply. It should be understood that the motor should not be limited thereto however, and any motor capable of being driven with varying input electrical power may be used.

The deployable side-step mechanism 290 comprises the vehicle side-step and a structure configured to convert rotational motion of the motor into movement of the vehicle side-step between the stowed state and the deployed state. The deployable side-step mechanism 290 may comprise a motor bracket or link assembly to convert rotational movement of the motor into a desired movement direction of the deployable side-step.

Figure 3 shows a block diagram representation of a vehicle side-step system 300 comprising the vehicle side-step motor apparatus 210 according to an embodiment of the invention. The vehicle side-step motor apparatus 210 and the deployable side-step assembly 290 of Figure 3 are the same as the vehicle side-step motor apparatus 210 and the deployable side-step assembly 290 of Figure 2 and therefore a description of said components is omitted in respect of Figure 3.

The vehicle side-step system 300 comprises the vehicle side-step motor apparatus 210, the deployable side-step assembly 290, a power supply 310, a first communication bus module 320 and a second communication bus module 330. The power supply 310 may comprise, for example, a fuse box providing a connection to a vehicle power supply. The power supply 310 is configured to provide electrical power to the control module 220, which may also be connected to an electrical ground 315. As explained above, the vehicle side-step motor apparatus 210 and the control module 220 may be provided as a PCB located within a motor housing.

The vehicle side-step motor apparatus 210, or more specifically the communication module 250 of the control module 220, may communicate with the first communication bus module 320. The first communication bus module 320 may be a module of the vehicle configured to communicate with the vehicle side-step motor apparatus 210 and in some examples to act as a LIN Master, and the vehicle side-step motor apparatus 210 may act as a LIN Slave and communicate using LIN signals with the LIN Master. The LIN signals may be transmitted to another LIN module using a first communication bus 325, which may be a LIN bus. The first communication bus module 320 may be an existing vehicle module which has access to vehicle signals such as door status, gear position, or terrain mode and may provide the signal to stow or deploy the vehicle side-step to the control module 220. The first communication bus module 320 may determine that the vehicle side-step should be stowed or deployed based on information relating to the vehicle received from the second communication bus module 330, or may receive instruction to stow or deploy the vehicle side-step from the second communication bus module 330. In some examples, the first communication bus module 320 may be communicatively connected to more than one vehicle side-step motor apparatus 210. The first communication bus module 320 may transmit a signal over the LIN bus 325 to the control module 220 indicative of a requirement to stow or deploy the vehicle side-step. The first communication bus module 320 may comprise a vehicle module provided to perform a variety of functions, or may be formed of a plurality of vehicle modules interconnected by a vehicle communication bus.

The first communication bus module 320 may be communicatively coupled with the second communication bus module 330 via a second communication bus 335, which may be a Controller Area Network (CAN) bus in some examples. The first communication bus module 320 may therefore comprise a module configured to communicate over a CAN bus 335. The second communication bus module 330 may comprise a CAN communication bus module. That is, the second communication bus module 330 may comprise a vehicle module configured to communicate over a CAN communication bus or CAN communication network with another CAN communication module of the vehicle, and with the first communication bus module 320. The second communication bus module 330 may be a vehicle communication bus module which is configured to send and receive signals via the second communication bus 335, so as to interface between various systems and modules of the vehicle. For example, the second communication bus module 330 may provide information relating to user inputs on a user input module in the vehicle of the cabin, or information relating to vehicle signals such as door opening status, gear positions, or locking or unlocking signals to the first communication bus module 320 over the communication bus 335. The second communication bus module 330 may communicate via a CAN bus or network 335 with the first communication bus module 320 to provide vehicle information to the first communication bus module 320. The first and second communication bus modules 320,330 may also be known respectively as first and second vehicle control systems or modules.

Advantageously, when the first communication bus module 320 is a LIN type module and the second communication bus module 330 is a CAN type module configured to communicate over a CAN bus, the connection module 250 of the control module 220 of the vehicle side-step motor apparatus 210 may be implemented as a [IN module. Consequently, an existing [IN module of a vehicle may be used to host control logic to provide stow or deploy command signals 325 to the control module 220. In one example, a Body Control Module (BCM) of a vehicle may be used as the first communication bus module 320. However, it should be understood that the control logic configured to determine whether to stow or deploy the vehicle side-step may be hosted anywhere in the vehicle. For example, a determination to stow or deploy the vehicle side-step may be made by the control module 220, the first communication bus module 320, the second communication bus module 330, or another vehicle system. In another example, an external device such as a user's mobile phone may be configured to generate a command to stow or deploy the vehicle side-step. It should be understood that the location of the control logic to stow or deploy the vehicle side-step is not limited to the specific examples set out above. In another example, the control logic to determine to stow or deploy the vehicle side-step may be distributed between multiple modules, which may collectively or individually determine a requirement to stow or deploy the vehicle side-step based on various conditions relating to the vehicle. The first communication bus module 320 may be configured to control the stowing or deployment of one or more vehicle side-steps, and may also be configured to perform other vehicle functions. That is, the first communication bus module 320 may be a vehicle module already provided in a typical vehicle, and may not be a dedicated module only for hosting the control logic to control the vehicle side-step motor apparatus 210.

It would be understood that utilising a [IN bus to communicate between modules such as the first communication bus module 320 and the control module 220 may require reduced wiring compared to using a CAN bus. Consequently, by requiring only a stow or deploy command signal from outside of the vehicle side-step motor apparatus 210 and performing temperature detection, Hall sensor reading, and supply power determination within the vehicle side-step motor apparatus 210, wiring required in the vehicle side-step system 300 is reduced. In addition, dependence on systems located elsewhere in the vehicle may be reduced, and an existing vehicle module may be utilised as the first communication bus module 320 to provide the command signal to the vehicle side-step motor apparatus to stow or deploy the vehicle side-step. In some examples, the vehicle side-step motor apparatus 210 may be connected to vehicle systems by only three wires: a power wire connectable to the power supply 310, a ground wire connectable to the electrical ground 315, and a communication wire connectable to the first communication bus module 320. It should be understood that the first communication bus module 320 and the second communication bus module 330 may each be implemented as a plurality of modules.

Figure 4 shows a drawing of a vehicle side-step motor apparatus 400 according to an embodiment of the invention. It should be understood that Figure 4 represents an example structure of the motor and motor housing provided as an example only, and that the motor and motor housing may take a different shape or the PCB may be provided in a different position relative to the motor. The vehicle side-step motor apparatus 400 may be the same as the vehicle side-step motor apparatus 210 of Figures 2 and 3. Figure 4 additionally shows that the vehicle side-step motor apparatus 400 comprises a motor housing 410 and printed circuit board (PCB) 420. The vehicle side-step motor apparatus 400 additionally comprises a motor provided within the motor housing 410. For example, the motor may be provided above or beneath the PCB 420. The motor may include the motor armature 275. Figure 4 shows a line drawing of the vehicle side-step motor apparatus 400 with an end portion removed to show the interior of the motor housing 410 housing the PCB 420. However, it should be understood that in use, the motor housing 410 may enclose the PCB 420 such that the PCB 420 is not visible from outside of the motor housing 410.

The motor housing 410 is configured to house the motor and the PCB 420. The motor housing 410 may comprise fixing points for attaching the motor housing 410 to a vehicle. For example, the motor housing 410 may be provided proximal to a side of the vehicle, or proximal to a vehicle door. In an example, a vehicle may comprise a plurality of vehicle sidesteps corresponding to a plurality of doors of the vehicle. The vehicle may comprise an individual motor housing 410 comprising the motor and the PCB 420 for each of the plurality of vehicle side-steps. Each of the plurality of vehicle side-steps may be individually controlled by the plurality of motor housings 420 to drive the plurality of vehicle side-steps between the stowed state and the deployed state independently. The motor housing 410 may be configured to couple to the deployable side-step mechanism 290 so as to facilitate driving of the vehicle side-step by the motor. The size and shape of the motor housing 410 shown in Figure 4 is as an example only, and may vary depending on a number of factors including dimensions of a vehicle to which the vehicle side-step motor apparatus 400 is to be fitted, a type and size of the motor, or a location on the vehicle where the vehicle side-step motor apparatus 400 is to be fitted. As noted above in respect of Figures 2 and 3, the vehicle side-step motor apparatus may be coupled to a deployable side-step mechanism 290 via a gearing mechanism 280 to convert rotational motion of the motor to lateral motion of the deployable side-step mechanism 290.

The PCB 420 may be configured to host the control module 220 of the vehicle side-step motor apparatus 210 and the motor electronics module 270. The vehicle side-step motor apparatus 210 and the motor electronics module 270 may be hosted on a single PCB 420 or on a plurality of PCBs provided within the motor housing 410. The PCB 420 may comprise connections for receiving electrical power from the power supply 310, a connection to electrical ground 315, and a connection for receiving control signals from the first communication bus module 320. The PCB 420 may comprise the components of the control module 220 explained in Figures 2 and 3. For example, the PCB 420 may comprise a controller 110, a motor driver 240, a communication module 250, a temperature sensor 260, and a Hall sensor control module 230. A Hall sensor may also be provided on the PCB 420, or may be provided within the motor housing 410 proximal to the motor and connected to the PCB 420 via electrical wiring. The PCB 420 may be shaped so as to be placed within the motor housing 410 as shown in Figure 4. However, it should be understood that the exact shape and placement of the PCB 420 shown in Figure 4 is an example only. The PCB 420 may further comprise fixings for being attached to the inside of the motor housing 410.

Figure 5 shows a flowchart illustrating a method for deploying or stowing a vehicle side-step according to an embodiment of the invention. The method 500 of Figure 5 may be performed by the control system 100 of Figure 1, the vehicle side-step motor apparatus 210 of Figure 2, the vehicle side-step system 300, or the vehicle side-step motor apparatus 400 of Figure 4. It should be understood that in some examples, certain parts of the method 500 may be performed by the vehicle side-step motor apparatus 210 of Figures 2 to 4, and other parts may be performed by other vehicle modules such as the first communication bus module 320 and the second communication bus module 330 of Figure 3. In one example, the memory means 130 may comprise computer-readable instructions which, when executed by the controller 110, perform the method 500 according to an embodiment of the invention. The method 500 is a method for deploying or stowing a vehicle side-step of a vehicle 600, such as the vehicle 600 illustrated in Figure 6.

At block 510, the method comprises receiving a request to stow or deploy the vehicle sidestep. In some examples, receiving the request to stow or deploy the vehicle side-step comprises receiving a control signal from a vehicle system, such as the LIN Master module of Figure 3. The request to stow or deploy the vehicle side-step may be received in response to one or more triggers for stowing or deploying the vehicle side-step. In some examples, the triggers include receiving a signal indicating that the vehicle is locked or unlocked, receiving a signal indicating that a door is opened, receiving a user input indicating to stow or deploy the vehicle side-step, receiving a user request for a roof access mode, or receiving a signal that the vehicle is placed in a particular gear, such as park, neutral, drive or reverse. In some examples, the request to stow or deploy the vehicle side-step may not be received from a source external to the vehicle side-step apparatus 210, but instead the vehicle side-step apparatus 210 may itself determine to stow or deploy the vehicle side-step in response to the one or more triggers. The one or more triggers may include the same triggers as mentioned above in respect of the request to stow or deploy the vehicle side-step, or may include additional or alternative triggers such as detection of an error or detection of an obstacle to the movement of the vehicle side-step. In another example, the request may be received from a vehicle control system via a communications bus such as a CAN or LIN bus.

At block 520, the method comprises detecting a temperature. In some examples, the temperature is detected by the temperature sensor 260 which may be provided proximal to the motor. In this case, the detected temperature indicates a temperature proximal to the motor itself. In some examples, the temperature is detected prior to an ignition of an engine or an insertion of a key into the vehicle, depending on the trigger discussed above in respect of block 510. In this case, the temperature sensor 260 is provided to receive electrical power independently of whether the key is present in the ignition or the car engine is started. Although a car engine is referred to, it should be understood that the temperature may be sensed prior to a starting operation of other forms of vehicle such as battery electric vehicles or hybrid electric vehicles, which may not include ignition of a combustion engine.

At block 530, the method comprises determining a supply power for driving a motor configured to move the vehicle side-step in dependence on the detected temperature. In some examples, determining the supply power comprises determining at least one of a voltage or a current of electrical power to supply to the motor. In some examples, the supply power may be determined based on an inverse relationship between electrical power and temperature. That is, when the detected temperature is lower, the supply power may be determined to be higher. Block 530 may be performed by the control module 220 of the vehicle side-step motor apparatus 210, or may be performed by another vehicle system such as the first communication bus module 320 and the second communication bus module 330.

At block 540, the method comprises driving the motor to move the vehicle side-step between the stowed state and the deployed state in dependence on the determined supply power. In some examples, the motor may be driven using PWM to vary the power supplied to the motor to match the determined supply power. In some examples, the power supplied to the motor may vary in dependence on the position of the motor, for example to implement a soft-start or soft-stop feature in which movement of the vehicle side-step may be slowed near end points of the movement of the vehicle side-step. The method ends upon the vehicle side-step being moved to either the stowed state or the deployed state.

The method may further comprise monitoring a power draw of the motor during movement of the motor between the stowed state and the deployed state. For example, a current draw of the motor may be monitored. The power draw of the motor may be compared to a threshold power draw, and if the monitored power draw exceeds the threshold power draw it is determined that the vehicle side-step has encountered an obstacle, and the movement of the vehicle side-step may be stopped, or the movement may be stopped and then reversed.

Optionally, an indication of an obstacle detection may be output to a user via an in-vehicle system or via a sound output device locatable in or proximal to the motor housing. The threshold power draw of the motor may be set to vary in dependence on the position of the motor, so as to accommodate different power draw requirements of the motor at different stages of the movement between the stowed state and the deployed state.

The threshold power draw used for obstacle detection may be determined in dependence on the detected temperature. That is, an algorithm may be applied to a predetermined threshold power draw to determine a threshold power draw which takes into account the effect of temperature on power draw of the motor. In some examples, the threshold power draw for determining an obstacle may be increased at low temperatures. Advantageously, the system will not erroneously detect obstacles and halt movement of the vehicle side-step due to increased power draw associated with low temperatures. At the same time, the system will continue to detect genuine obstacles to the movement of the vehicle side-step by adjusting the threshold power draw in dependence of the detected temperature.

As explained above, the present disclosure relates to a vehicle side-step motor apparatus for driving a vehicle side-step between a stowed state and a deployed state. Advantageously, a control module 220 is provided within a motor housing 410 such that various modules for controlling the motor to drive the vehicle side-step are provided proximal to the motor.

Consequently, a number of wires and a length of wiring may be reduced compared to when a dedicated control module for the motor is provided separate to the motor. In addition, due to the reduced wiring, PWM may be utilised to vary a supply power for driving the motor without significantly increasing electromagnetic noise compared to conventional systems.

In addition, a temperature sensor is provided in the control module 220 in the motor housing 410, thereby enabling accurate temperature measurements of the environment proximal to the motor and the vehicle side-step. Thus, temperature variation across a vehicle is accounted for and a relevant temperature measurement may be used to determine a supply power to account for variations in motor efficacy related to temperature. For example, when it is cold a motor may operate less effectively due to grease in the motor becoming viscous.

Therefore, a side-step deployment or stow operation may be slowed if a pre-set supply power is used. The present disclosure determines a supply power in dependence on the detected temperature to thereby account for the effect of temperature on the motor and to ensure the vehicle side-step stow or deployment time is maintained.

In addition, in some examples an obstacle detection method of the system may be improved to avoid false detections due to increased power draw at low temperatures, while continuing to detect genuine obstacles by adjusting a power draw threshold in dependence on the temperature. In addition, the temperature sensor is located so as to be able to provide a temperature reading prior to a vehicle being started or a key being inserted into the vehicle ignition. Therefore, vehicle side-step deployment is improved even before a vehicle is started by the user.

Figure 6 illustrates a vehicle 600 according to an embodiment of the present invention. The vehicle 600 may comprise the control system 100 of Figure 1, the vehicle side-step motor apparatus 210 of Figure 2, the deployable vehicle side-step assembly 200 of Figure 2, the vehicle side-step system 300, or the vehicle side-step motor apparatus 400 of Figure 4. The vehicle may comprise one or more vehicle side-steps located around the vehicle. For example, the vehicle may comprise one or more vehicle side-steps located proximal to doors to the vehicle cabin, so as to facilitate entry of a user into the vehicle cabin when the vehicle side-step is in the deployed state. The vehicle 600 may be configured to perform the method of Figure 5.

It will be appreciated that various changes and modifications can be made to the present invention without departing from the scope of the present application.

Claims

CLAIMS1. A vehicle side-step motor apparatus comprising: a motor housing; a motor configured to drive a vehicle side-step between a stowed state and a deployed state, the motor being housed inside the motor housing; a temperature sensor configured to detect a temperature proximal to the vehicle side-step; and a control system comprising one or more controllers, the control system configured to: receive a request to stow or deploy the vehicle side-step; determine a supply power for driving the motor in dependence on the detected temperature; and drive the motor to move the vehicle side-step between the stowed state and the deployed state in dependence on the determined supply power.
2. The vehicle side-step motor apparatus according to claim 1, wherein the control module comprises a hall sensor configured to detect a position of the motor and to provide position information of the motor to the controller.
3. The vehicle side-step motor apparatus according to any preceding claim, wherein the control module is configured to supply the determined supply power to the motor using pulse-width modulation, PWM.
4. The vehicle side-step motor apparatus according to any preceding claim, wherein the control module is configured to increase the supply power when the detected temperature decreases.
5. The vehicle side-step motor apparatus according to any preceding claim, wherein the control module is configured to detect an obstruction to movement of the vehicle side-step in dependence on a current drawn by the motor.
6. The vehicle side-step motor apparatus according to claim 5, wherein the control module is configured to: detect the obstruction when the current drawn by the motor exceeds a threshold current; and determine the threshold current in dependence on the detected temperature.
7. The vehicle side-step motor apparatus according to any preceding claim, wherein the temperature sensor is configured to detect the temperature proximal to the vehicle sidestep before an engine of a vehicle comprising the vehicle side-step is turned on.
S. The vehicle side-step motor apparatus according to any preceding claim, wherein the temperature sensor is configured to detect the temperature proximal to the vehicle sidestep in response to the controller determining to stow or deploy the vehicle side-step; and wherein to receive the request to stow or deploy the vehicle side-step, the controller is configured to: receive a signal indicative of the vehicle being unlocked, receive a user input to stow or deploy the vehicle side-step, receive a signal indicative of a detection that a user approaches the vehicle or receive a signal indicative of a determination that the vehicle engine is turned off.
9. A deployable side-step assembly for use in a vehicle, the deployable side-step assembly comprising: the vehicle side-step motor apparatus according to any preceding claim; and a vehicle side-step movable between a stowed state and a deployed state.
10. A vehicle comprising the vehicle side-step motor apparatus according to any of claims 1 to 8, or the deployable side-step assembly according to claim 9; and a vehicle control system communicatively connected to the control module, the vehicle control system configured to supply a control signal to the control module for stowing or deploying the vehicle side-step.
11. The vehicle according to claim 10, wherein the vehicle control system comprises a Controller Area Network, CAN, bus module communicatively connected to a Local Interconnect Network, LIN, master, the LIN master communicatively connected to the control module.
12. A method for stowing or deploying a vehicle side-step, comprising: receiving a request to stow or deploy the vehicle side-step; detecting a temperature proximal to the vehicle side-step; determining a supply power for driving a motor configured to move the vehicle side-step in dependence on the detected temperature; and driving the motor to move the vehicle side-step between a stowed state and a deployed state in dependence on the determined supply power.
13. The method according to claim 12, wherein the temperature proximal to the vehicle side-step is detected before an engine of a vehicle comprising the vehicle side-step is turned on.
14. The method according to claim 12 or claim 13, wherein the temperature is detected in response to determining to stow or deploy the vehicle side-step; and wherein the receiving the request to stow or deploy the vehicle side-step comprises one of: receiving a signal indicative of the vehicle being unlocked, receiving a user input to stow or deploy the vehicle side-step, receiving a signal indicative of a detection that a user approaches the vehicle, and receiving a signal indicative of a determination that the vehicle engine is turned off.
15. Computer readable instructions which, when executed by a computer, are arranged to perform a method according to any of claims 12 to 14.