WO2016008987A1

WO2016008987A1 - Method and controller for opening a closed motor vehicle pivoting door which opens to the side from the inside

Info

Publication number: WO2016008987A1
Application number: PCT/EP2015/066292
Authority: WO
Inventors: Marcus Knechtel; Matthias Lechner
Original assignee: Bayerische Motoren Werke Aktiengesellschaft
Priority date: 2014-07-17
Filing date: 2015-07-16
Publication date: 2016-01-21
Also published as: DE102014213940A1

Abstract

One aspect of the invention relates to a method for opening a closed motor vehicle pivoting door which opens to the side from the inside. The vehicle comprises a door drive which is driven by an external force for opening the pivoting door. According to the method, an opening request of the occupant to open the door is first detected, for example an actuation of the operating element is detected. In response to the detection of the opening request, the closed pivoting door is not opened completely but rather only up to a defined safety position at a specific opening angle automatically by means of the door drive, and the pivoting door remains at this safety position. The safety position is selected such that the vehicle width when the pivoting door is in the safety position does not exceed the vehicle width prior to opening the pivoting door. In response to the detection of a handling process of the occupant, the pivoting door is opened by means of the door drive beyond the safety position, wherein the vehicle width is increased relative to the vehicle width when the pivoting door is closed.

Description

Method and control device for opening a side opening closed swing door of a motor vehicle from the inside

The invention relates to a method and a control device for opening a side-opening closed swing door of a

Motor vehicle by a power-driven door drive. The

Swing door is opened from the inside, d. H. when the inmate is in the

Vehicle is located.

There are motor vehicles are known in which a side-opening swing door by a power-driven door drive, such as an electric door drive with electric motor, can be opened from the inside, so that increases the comfort of the occupant, as this by the door drive when opening the door is relieved. It is known, for example, that upon actuation of a control element, for. B. internal door opener, the vehicle door without further operation automatically in an end position is driven. Furthermore, it is known by means of a sensor a

To detect movement of the vehicle door by the hand of the vehicle occupant and to control the door drive in dependence thereon. A disadvantage of such known motor vehicles with automatic opening of the vehicle door after actuation of a control element to the end position is that the suddenly opening door is an obstacle to other road users, or collides with fixed obstacles in the vicinity of the vehicle. This problem can with a sensor for detecting other road users, who are potentially at risk from the opening of the door, or for detecting

Obstacles are defused.

However, it should always be ensured that the inmate holding the

Opening the door triggers, remains responsible for opening the door and monitors the opening process of the door accordingly.

It is an object of the invention, a method or a corresponding

Indicate control device for opening a side-opening swing door from the inside, which is characterized by a high level of security and holds the occupant responsible for the opening process.

The object is solved by the features of the independent claims. Advantageous embodiments are described in the dependent claims.

A first aspect of the invention relates to a method for opening a side opening closed swing door of a motor vehicle from the inside. The vehicle includes a foreign-powered door operator for opening the swing door. This is, for example, an electric drive with an electric motor or a hydraulic drive. The vehicle is set up to detect an opening request of the driver to open the door. For example, an operable to open the door control is provided. This is preferably arranged in the motor vehicle. For example, it is a door opener in the form of a lever, which the occupant to open the door to himself

moved, or to an inner handle with a particular capacitive touch sensor, which detects a touch of the inner handle by the occupant. Furthermore, it is also possible to dispense with an operating element and, for example, to use a camera-based gesture sensor which, for example, records a hand gesture of the occupant by means of a camera and interprets this hand gesture as the opening request for opening the door.

Alternatively, it would also be conceivable that the operating element is not part of the vehicle and is realized, for example, by means of a smartphone, via whose touch-sensitive screen, a door opening command can be issued or which is to move the door in a certain way. In the method, an opening request of the occupant to open the door is first determined, for example, an actuation of the

Control element detected. In particular, it is noted that a door opener has been operated in the form of a lever, or a one

Touch sensor comprehensive inner handle was touched. Optionally, to determine actuation, an actuation duration greater than or equal to a first actuation duration threshold (eg, 0.03 sec) may be required; at a shorter operating time, the actuation of the

Control element for improving the error safety is not considered. The first actuation duration threshold is, for example, in the range of 10 ms to 60 ms. In response to the determination of the opening request, the

closed swing door not fully automatically opened by the door drive, but only up to a defined safety position with a certain opening angle; the hinged door remains in this

Safety position.

The safety position is chosen so that the vehicle width is not in the safety position located swing door on the

Vehicle width before opening the hinged door (which is typically due to the two exterior mirrors on the left and right sides at one

Passenger car is determined) goes out. This means that by opening the swing door in the safety position, the vehicle width is not increased. The door is thus automatically moved by the door drive in a safety position and stops in this position in which the door typically formed by the respective exterior mirror

Limit line of the vehicle width does not leave. For example, corresponds to the width of the vehicle in the safety position located swing door of the vehicle width before opening the swing door. But it would also be conceivable that the vehicle width befindlicher in the safety position

Swing door smaller than the vehicle width before opening the

Swing door is, for example, if one or both side mirrors in

Reaction to the opening request are collapsed.

Preferably applies not only when reaching the safety position, but also during the entire opening movement of the swing door to the safety position that the current vehicle width does not exceed the vehicle width before opening the swing door.

In response to the determination of the opening request, the door lock is preferably first opened in the context of the automatic opening of the door, so that the swing door can then be pivoted by the door drive. Prior to automatic opening by the door drive, the lock of the closed swing door is preferably unlocked, provided that it is locked. It can be provided that in response to a first actuation of the operating element, the door is unlocked and in response to a second actuation of the operating element, the door is opened to the safety position. Alternatively it can be provided that in a single operation of the control element, the lock is first unlocked and then the door is opened to the safety position.

If the hinged door is in the safety position, the occupant can check the traffic situation. Here, the inmate

especially through the door gap to look diagonally behind. The door is still under the control of the occupant and does not move further without his intervention (ie the door does not automatically cross the limit line defining the vehicle width).

Moving the hinged door into the safety position additionally serves as a warning signal for the vehicle environment that the vehicle door will probably soon be opened further and thus move into the traffic area. The warning function can optionally be enhanced by visible from the vehicle environment optical signal elements on the slightly open door. After opening the swing door in the safety position is waiting for an action of the occupant to further open the door. The occupant act may be, for example, the actuation of an operating element, for example a renewed actuation of an inner door opener. Preferably, however, the occupant action is a manual driving of the pivoting door by a force of the occupant in the opening direction of the pivoting door, for example a sliding or shuddering of the door. In response to determining an action of the occupant, the

Swing door opened by the door drive beyond the safety position, the vehicle width is increased compared to the vehicle width with the swing door closed.

For example, as with non-automated opening vehicle doors, the occupant may push, push, or otherwise

the same force as before, open the door further. In contrast to non-automated opening doors, this is manual

Force action of the occupant supported by the power-driven door drive, so that the swing door can be opened with less effort for the occupant and so the door drive increases the occupant comfort. In this case, the door thus exceeds the horizontal one in horizontal direction by the manual drive of the occupant (initial movement)

Expansion of the motor vehicle with the swing door closed, whereby the occupant is thus responsible for the opening process of the door.

By the invention easy opening the door in one

Safety position is a threat to the surrounding traffic excluded because the vehicle width does not increase this. In addition, the traffic is warned by the slightly open door before further opening the door. When the door is in the safety position, the driver can observe the traffic situation, in particular through the door gap of the slightly open door, and in the event that it does not

Endangerment of the surrounding traffic with further opening of the door takes place, trigger a further opening of the door beyond the safety position by an appropriate action. In typical passenger cars, the opening angle of the hinged door in the presence of the safety position, for example, in the range of 5 ° to 20 °. Preferably, the swing door is opened in the safety position so far that the open swing door now defines the vehicle width, and this vehicle width substantially corresponds to the vehicle width before opening the swing door. The horizontally outermost point of the opened

Vehicle door is then on the border line of the vehicle width

closed door, and the door has the premise that the

When the swing door is in the safety position, the vehicle width does not exceed the vehicle width before the swing door is opened, its maximum possible opening angle. The fact that the maximum possible opening angle of the swing door is selected for the safety position under this premise, the occupant can particularly well through the door gap observe the approaching from behind traffic. The slightly open door has at this maximum possible opening angle the greatest warning effect on the surrounding traffic.

As noted above, the step of determining an occupant action to further open the swing gate may be configured such that a manual (i.e., by the occupant), in FIG

Opening direction of the pivoting door directed driving the swing door is detected, for example, a pushing, pushing or other force by the occupant on the swing door.

The manual driving of the door can then be done by the door

coupled door drive are supported, so that the door is opened with a lower force than without support from the door drive. For example, the degree of assistance provided by the door operator can be selected to be so high that the occupant only has to apply very little force to move the door. By manually driving the door, the motor of the door drive is set in rotation, which is detected, for example, by a sensor integrated in the door drive (for example, one or more Hall sensors). For example, an acceleration (linear acceleration or angular acceleration) of the hinged door or a variable characteristic thereof, in particular a variable proportional thereto, is determined,

For example, a force of the occupant. The acceleration or the characteristic variable for this purpose can be carried out, for example, by evaluating a speed signal determined, for example, by means of one or more Hall sensors, which indicates the rotational speed of the motor of the door drive when the pivot door is driven. When accelerating, it may, for. B. act manually re-applied acceleration, as will be explained later.

Depending on the acceleration or the characteristic variable, a control signal for controlling the door drive can then be determined. For example, a target opening speed for opening the door is determined as a function of the acceleration or the characteristic thereof and a function of this target speed is a

Control signal intended to control the door drive. For example, depending on the determined target opening speed and a measured actual opening speed, a ramp for varying the duty cycle for the PWM (Pulse Width Modulation) signal may be determined, the PWM signal being used to drive the drive.

By manually driving the door moves the drive, which can be detected for example by the sensor integrated in the drive. By means of the sensors, preferably both the opening and the closing and also the predetermined

Opening speed or closing speed are detected. The inmate can thus by his initial movement the direction and Speed of door movement via the door drive influence. The occupant can, for example, reinforced by the door drive the door in the usual way, starting from the safety position, but with much less effort due to the support of the door drive. Starting from the safety position, the door preferably opens automatically according to the specification of the occupant. The default of the occupant is preferably during the

Opening movement by further pushing, pushing, stopping or changing the direction of movement with respect to the speed, the opening angle, the stop and the direction of movement by the occupant variable and preferably as often.

According to a preferred embodiment, it can be checked whether an operating element for opening the hinged door is actuated in a first operating mode or in a second operating mode, for example, whether an inner door opener is operated shorter or longer, or in an alternative implementation, whether a door opener once or twice is pressed in quick succession. In response to detecting an actuation of the

Operating element in the first operating mode (eg, a shorter time operation), the closed swing door is opened by the door drive up to the defined safety position and remains in the

Safety position, as already explained above. In response to detecting actuation of the operating member in the second mode of operation (eg, a time-prolonged actuation), the closed swing door is opened beyond the defined safety position without the hinged door remaining in the safety position.

In the above-described teaching of the differentiation of two different operating modes of the operating element, it would also be conceivable that the safety position is not necessarily a position in which the vehicle width does not exceed the vehicle width before the swing door is opened. It is advantageous if the actuation duration of the actuation of the

Control element is determined and the actuation period is compared with a second actuation duration threshold. The second operating time threshold value is preferably in the range of 0.5 s to 2.0 s. In response to detecting an actuation of the operating element with a

Actuation time less than or equal to the second

Operating time threshold value, the closed swing door is opened by the door drive up to the defined safety position and remains in this safety position. Optionally, upon actuation, the actuation may be shorter than the first actuation duration threshold (eg, 0.03 sec)

disregarded, with the swing door not in the

Safety position is moved. In response to detecting an actuation of the control element with an actuation duration greater than or greater than the actuation duration threshold value, on the other hand, the closed pivotal door is opened beyond the defined safety position. According to a first alternative, the hinged door is a back door of a passenger car with four side doors. In this case, the wing mirror on the side of this swing door is not changed in its position by the pivoting movement of the rear door, since the exterior mirror is mounted on the front door or on any of the doors.

But it is also possible that it is the swing door to a front door of a passenger car with four side doors.

In the event that this front door has an outside mirror (i.e., the outside mirror is attached to the front door) that defines the vehicle width when the front door is closed, the

Opening movement of the door in the direction of the safety position the current Vehicle width beyond the width of the vehicle before opening the swing gate, if no further action is taken.

To overcome this problem, a power-driven one

Exterior mirror drive can be used to fold the exterior mirror. In response to the determination of the desired opening, the exterior mirror is at least partially folded in by the exterior mirror drive, in particular the exterior mirror can also be completely folded in (that is, folded in as far as the exterior mirror through the exterior mirror

Exterior mirror drive, for example, when operating a control element for folding the mirror is usually folded).

The at least partial folding can be done before the beginning of the

Opening movement of the door started and completed. In this case, however, the time required from the determination of the desired opening until the safety position is reached is increased by the time required for the at least partial folding in.

In this above-described teaching of folding the

Exterior mirror in response to a determination of the desired opening and the particular embodiment of this teaching described below, it would also be conceivable that the safety position is not necessarily a position in which the vehicle width does not exceed the vehicle width before opening the swing door.

In order to keep the time as small as possible, the at least partial folding of the exterior mirror and the opening movement of the swing door by the door drive up to a defined safety position at least for a part of the duration of the partial folding and at least for a part of the duration of the opening movement. The at least partial folding of the exterior mirror begins in time before the beginning of the opening movement or begins with the beginning of the time Opening movement. Here, the exterior mirror is folded so fast at least partially, that during opening the vehicle width of the motor vehicle does not go beyond the vehicle width before opening the swing door. In particular, if the safety position is not necessarily a position in which the vehicle width does not exceed the vehicle width before the swing door is opened, it would also be conceivable to respond to this requirement for the speed of the vehicle

Refrain folding movement. A second aspect of the invention is a control device for opening a side-opening closed swing door of a

Motor vehicle directed from the inside. The vehicle includes one

power-driven door operator for opening the hinged door. The

Control device is set up to determine an opening request of the occupant to open the swing door. For this purpose, the control device, for example, receives the electrical signal of an inner door opener or the signal of a capacitive sensor in the inner handle of the door.

The controller is further arranged in response to the

Actuate the door drive so that the swing door is automatically opened to a defined safety position with a certain opening angle and remains in the safety position, wherein the

When the swing door is in the safety position, the vehicle width does not exceed the vehicle width before opening the swing door.

In addition, the control device is set up after opening the swing door in the safety position to determine a passenger action for further opening the swing door on the safety position addition. For this purpose, for example, the signal of one or more Hall sensors of the door drive can be evaluated, which can be determined whether the occupant manually drives the swing door from the safety position out. In addition, the control device is set up, in response to this, to control the door drive in such a way that the pivoting door is opened beyond the safety position.

The above statements on the method according to the invention according to the first aspect of the invention also apply correspondingly to the control device according to the invention according to the second aspect of the invention. Not explicitly described here advantageous

Embodiments of the control device according to the invention

correspond to the described advantageous embodiments of the method according to the invention.

The invention is described below with the aid of the attached

Drawings described with reference to an embodiment. In these show:

1 is a flow chart for an embodiment of the

inventive method for opening a side door;

Fig. 2 is a plan view of a vehicle with an open back door in the

Safety position with a door opening angle α = C-SP = 10 °;

Fig. 3 is a plan view of a vehicle with an open back door in the

Safety position with a door opening angle α = ctsp = 13 °;

4 shows an exemplary system for opening the door;

Fig. 5 is a plan view of a vehicle before opening the front door; 6 shows a plan view of a vehicle with the front door slightly open, with a door opening angle α = 5 ° and a side mirror folded in by 15 °; and

Fig. 7 is a plan view of a vehicle with the front door open in the

Safety position with a door opening angle α = c <sp = 10 ° and a side mirror folded in by 30 °.

In Fig. 1 is a flow chart for an embodiment of the

inventive method for opening a closed side door of a two-lane passenger car shown schematically.

In step 100, an actuation of an operating element (eg a

Actuation of the door opener or a touch of the door inner handle) for an actuation period T _B greater than equal to a Mindestbetätig ungsdauer T _B , min (eg T _min = 0.03 s) found. If the actuation time is less than T _min , the actuation does not trigger any opening of the door. The debounce time of the operating element is, for example, 0.01-0.03 s. In the query 110 it is checked whether the current opening angle α of the opening side door is greater than or equal to the defined opening angle ctsp of the side door in the safety position (eg ctsp = 5 °). The current

Aperture angle α, for example, via the Hall signals of the im

Door drive integrated Hall sensors can be determined by

For example, based on the Hall signals, the number of revolutions of the drive motor is determined and based on the number of revolutions of the opening angle α is determined.

If the current opening angle α of the opening side door is greater than or equal to the defined opening angle asp, the door drive is controlled in such a way that the door is closed again by a certain door gap (see step 2 0). When closing the door a critical of Closing direction counteracting acceleration is detected, the drive is stopped (see query 220). In query 230 it is checked whether a so-called pre-locking switch has been switched, which is switched shortly before closing. If this is the case, the door is closed and the door lock is electrically closed in step 240, preferably by means of a soft-close mechanism.

If the opening angle α is smaller than the opening angle asp of

Security position is checked in the query 120, if the side door is closed. This is based on the state TKS of a

Door contact switch detected. If the state TKS of the

Door contact switch corresponds to a logical 1, the door is closed. If TKS = 1 and the door is closed, the door lock of the door is first opened (see step 130). The door lock is an electrically controllable door lock. When opening the

Door lock, for example, a pawl is moved via an electrically controllable actuator, so that a door-side catch a

The body-side fastened striker releases and the door is then moved over the door drive. The door lock may also be an electric door lock with a so-called soft-close automatic, in which the door is completely pulled and secured when closing the door via an electric motor starting from a so-called pre-locking position (for example, about 6 mm door gap) ; In this case, the door lock is controlled so that the door can be opened.

After opening the door lock, the door drive of the door is actuated, so that the door drive causes the door to open (see step 140). At each step 140, the door is further opened by a small gap (eg, by an additional door opening angle Δα of 1 °).

In the query 50, it is checked whether the current door opening angle α corresponds to the door opening angle a _S p of the safety position. As long as not If this is the case, the door is opened further via the door drive (see step 140) until, finally, the door opening angle α corresponds to the door opening angle asp of the safety position. If the door is in the safety position with α = asp, the vehicle width does not exceed the vehicle width before opening the vehicle door.

In Fig. 2, the back door 300 of a four-door passenger car is shown in plan view from above, which was moved via a door drive in the defined safety position with a door opening angle α = asp (here asp = 10 °). The vehicle width bFZG with closed

Side doors are determined over the outer boundary of the two side mirrors 301, 302, as shown in Fig. 2. If the back door 300 in the

When the safety position has been moved, the width of the vehicle does not exceed the vehicle width b _F zG with the side doors closed; the two side mirrors 301, 302 still determine the width of the vehicle.

In the example of FIG. 3, a larger opening angle asp is selected for the safety position (for example C-SP = 13 °) and the back door 300 is opened in the safety position with α = asp so that the opened back door 300 on the line 303 the outer boundary of the side mirror 301 and thus the open back door 300 (together with the side mirror 301) and the side mirror 302 defining the width, and this vehicle width corresponds to the vehicle width f _F zG with the doors closed.

After the side door 300 has been moved to the safety position with α = asp and stands there, it is checked whether the occupant wants to open the door 300 further and this door manually, for example by pushing or pushing drives. When this is detected, the door operator supports the manual drive of the door so that the door can be opened with less effort on the part of the occupant. By manually driving the door, the drive moves; This is detected, for example, by an integrated sensor system (for example Hall sensors) in the drive or an external sensor system. By means of

Sensors can be both opening and closing and additionally the manually specified actual speed and the manually predetermined acceleration are detected and controlled the door drive based on it. In this way, the occupant can be relieved when driving the door and the occupant opening the door with less effort than without support by the door drive are enabled. The occupant can thus influence the door drive through his initial movement of the door 300.

For this purpose, in accordance with FIG. 1 in step 160, the current one is manually new

applied acceleration of the door determined. If the loop from step 160 to query 190 has not yet been run during the run, this acceleration corresponds to the current acceleration of the door. The door acceleration is calculated, for example, from the engine speed of the electric motor of the door drive, wherein the engine speed itself is determined from the Hall signals of two offset by 90 ° Hall sensors. For this purpose, the opening speed of the door is first calculated via the engine speed and the gear ratio. From the opening speed can turn the current

Opening acceleration of the door 300 are calculated. However, if the loop is traversed repeatedly, the door will generally already have an acceleration at the end of the previous loop pass. This acceleration may be estimated and deducted in step 160 from the actual (total) acceleration of the door measured over engine speed; The difference then results in the manually newly applied acceleration. If the occupant wants to open the door further, this drives the door 300 in the opening direction (for example, by pushing or pushing the door 300). This results in a corresponding acceleration of the door 300 in step 160. If the occupant does not drive the door 300, then in step 160 the door 300 will accelerate to zero.

In step 165 it is checked if a critical negative is manually new

applied acceleration of the door is present, for example, because the door when opening an obstacle collided, or because the occupant wants to stop the movement of the door. The threshold for a critical

Acceleration is preferably dependent on the respective angle segment in which the opening angle α is located. The whole

Door opening angle value range is divided into several angle segments that correspond to individual angular range intervals.

In addition, it is checked in step 200 whether an obstacle has been detected by means of a radar sensor, with which a collision threatens upon further opening of the door. If so, the process is ended. Based on the manually applied acceleration of the door 300, in step 170, a target opening speed is determined, based on which the door drive is controlled or regulated.

For this purpose, for example, in step 170, based on the acceleration of the door 300, an acceleration factor f _{B is determined} by means of a table. In the table, a different acceleration factor f _{B is} assigned to the individual value range intervals of the acceleration. A range of values interval having higher acceleration values than another value range interval having lower acceleration values has a higher acceleration factor fβ than the other one

Range of values interval with lower acceleration values. Furthermore, the target opening speed is also determined as a function of the current opening angle α of the door. For this purpose, for example, a base value v _B for the target speed of the door 300 as a function of the respective angle segment, in which the opening angle α of the door 300 is currently determined. For example, for the segment with the largest opening angles α, a lower base value v _{B is used} than for the segment with average opening angles α. The base values v _B for the individual segments are stored, for example, in a table. The respective current base value v _B can then be retrieved from the table as a function of the current opening angle α.

The setpoint speed v _so n results, for example, as the product of the acceleration factor f _B and the base value v _B , ie, v _so n = f s s. Depending on the current actual speed v of the door 300 and the calculated target velocity _is v n _as a ramp over the time t is determined for the duty cycle of a PWM signal, the PWM signal is used to control the drive. When the ramp of the duty cycle is passed through, the opening speed v _{ist of} the door 300 is adjusted over a period At to the desired target speed v _so n. Based on the duty cycle, a corresponding PWM signal is determined with the respective duty cycle, via which the switching transistors are controlled for the drive (see step 180) in order to adjust the movement of the door to the desired desired speed v _so n.

In the query 190, it is checked whether the current opening angle α is greater than or equal to a defined maximum permissible opening angle a _en (on the range of 60 ° to 70 °) when opening the door. If so, the process is ended. Otherwise, the system continues to respond to a manual movement of the door by the occupant and corrects the target speed v _so n accordingly and controls the door drive suitably. With every actor movement then the current Speed and the actual acceleration determined and the

Motor speed of the drive adapted via the PWM control.

4, an exemplary system for opening the door is shown schematically. The system comprises a first control unit SG1 on which the above-described method for door opening runs. The control unit SG1 controls a so-called H-bridge circuit H as part of the

Control unit SG1 via a PWM signal. The H-bridge circuit comprises twice two series-connected transistors, with the DC motor GSM located in the middle of the two halves of the H-bridge circuit. Of the

The direct current motor GSM of the door operator comprises two Hall sensors offset by 90 °, whose Hall signals are accepted by the control unit SG1 to determine the opening angle α and the engine speed. The DC motor GSM is part of a spindle drive with a gearbox and a spindle rod. The DC motor GSM drives the gearbox, which in turn sets the spindle rod in rotation. This results in a displacement of the spindle nut and the door moves. For fast braking of the spindle drive a permanently acting mechanical brake is preferably provided, which controls the drive movement of the

Drive motor brakes permanently.

It would also be conceivable, a door drive with an electric

provide controllable brake. The side door 300 is opened with the brake released in the direction of the safety position and shortly before reaching the

Safety position α = c-sp, the brake is actuated via a corresponding signal to stop the door movement. As long as the door in the

Safety position α = c-sp, the brake remains actuated to keep the door in this safety position (for example, a

To prevent movement of the door due to the wind or in case of a tilt of the vehicle). Provided a stronger acceleration of the door 300 is detected against the braking effect due to the manual driving of the door 300, the brake is released again.

Furthermore, the control unit SG1 is connected to a control element BE for opening the door, for example with an inner door opener or a capacitive sensor on the inner handle of the door.

The control unit SG1 is connected via a vehicle bus BUS to a second control unit SG2, which receives commands for closing and opening the door from the control unit SG1 and the door lock TS

according to the specification of the control unit SG1 drives. Furthermore, a radar sensor RS is present.

An exemplary extension of the embodiment described above is explained with reference to FIGS. 5 to 7, in order to open the front door 304 instead of the rear door 300. Fig. 5 shows the initial situation with

closed front door 304.

In response to the operation of the operating member on the inside of the front door 304 to open the door 304, the door mirror drive 301 of the outside mirror 301 thus starts before opening the door via the door operator (see step 140) or simultaneously with the opening of the door

Fold in exterior mirror 301. In this case, during the movement of the door 304, the outside mirror 301 is folded in so fast that during the opening of the door 304 into the

Safety position, the vehicle width of the motor vehicle does not exceed the vehicle width b _F zG before opening the door 304. In order to ensure this, preferably the amount of the angular velocity of the folding of the mirror 301 is at least equal to or even greater than the amount of the angular velocity for the opening angle a, so that during opening of the door, the mirror 301 does not go beyond the line 303.

FIG. 6 shows a snapshot before reaching the safety position: the opening angle α of the door 301 is approximately 5 °; the mirror 301 has been folded in by 15 ° with respect to the position in FIG. 5, so that the mirror 301 does not extend beyond the line 303.

In Fig. 7, the safety position with α = asp = 10 ° has just been reached. The mirror 301 was folded in until then by 30 °; this also corresponds for example to the end position of the mirror 301.

Claims

claims

A method for opening a side-opening closed swing door (300, 304) of a motor vehicle from the inside, which comprises a power-operated door drive for opening the hinged door, with the steps;

- Detecting (100) an opening request of the occupant to

Opening the hinged door (300, 304);

in response, automatic opening (130, 140) of the

Swing door (300, 304) through the door drive to a defined safety position and persistence of the swing door in the safety position, wherein the vehicle width in the safety position located swing door (300, 304) not over the vehicle width (b _F zG) before opening the swing door (300, 304) goes out;

- after opening the hinged door in the safety position,

Determining (160) an action of the occupant to further open the hinged door (300, 304) beyond the safety position; and

in response thereto, further opening (180) the pivot door (300, 304) through the door operator beyond the safety position.

2. The method of claim 1, wherein the opening angle (a _S p) of the pivoting door (300, 304) in the safety position in the range of 5 ° to 20 °.

3. The method according to any one of the preceding claims, wherein the pivoting door (300, 304) is opened in the safety position so far, in that the opened hinged door (300, 304) defines the vehicle width, and this vehicle width corresponds to the vehicle width (b _F zG) before opening the hinged door.

The method of any one of the preceding claims, wherein the step of determining an occupant action to further open the hinged door (300, 304) comprises:

- Detecting (160) a manual, in the opening direction of

Swing door directed driving the swing door (300, 304) by the occupant.

5. The method of claim 4, wherein the step of determining a manual drive comprises:

- determining (160) an acceleration of the hinged door (300, 304) or a variable characteristic thereof.

6. The method according to claim 5, wherein depending on

Acceleration or the character tables for this size

Control signal for controlling the door drive is determined.

7. The method according to any one of the preceding claims, comprising the step:

Check whether a control element (BE) for opening the hinged door in a first mode of operation or in a second

Actuation mode is actuated

in which

in response to a detection of an operation of the

Operating element (BE) in the first mode of operation

Closed swing door is opened by the door drive up to the defined safety position and in the

Safety position persists, and in response to a detection of an operation of the

Operating element (BE) in the second operation, the closed swing door is opened beyond the defined safety position.

The method of claim 7, wherein the step of checking comprises:

Determining the actuation duration of the actuation of the

Operating element (BE); and

Comparing the actuation duration with an actuation duration threshold value,

in which

- in response to the detection of an operation of the

Operating element (BE) with an operating time less than or equal to less than an actuation duration threshold, which corresponds to an actuation of the operating element in the first manner, the closed swing door is opened by the door drive to the defined safety position and in the

Safety position persists, and

in response to a detection of an operation of the

Operating element (BE) with an actuation period equal to or greater than the actuation duration threshold value, which corresponds to an actuation of the operating element in the second manner, the closed swing door on the defined

Safety position is opened out.

A method according to any one of the preceding claims, wherein the hinged door is a back door (300) of a motor vehicle.

10. The method according to any one of the preceding claims, wherein

the hinged door is a front door (300) having an exterior mirror (301) defining the vehicle width (b _F zG), - The motor vehicle is a power-driven

Has mirrors drive for folding the exterior mirror (301), and

the method comprises the following step:

- In response to the determination of the opening desire, at least partial folding of the exterior mirror (301) by the exterior mirror drive.

11. The method of claim 10, wherein

the at least partial folding in of the exterior mirror (301) and the opening movement of the hinged door by the door drive up to the defined safety position - at least for a part of the duration of the partial folding and at least for a part of the duration of the opening movement -

- At least partially folding the exterior mirror (301)

begins before the beginning of the opening movement, or begins in time with the beginning of the opening movement, and

- The outside mirror (301) is at least partially folded so quickly that during opening the vehicle width of

Not above the vehicle width (b _F zG) before the vehicle

Opening the swing door goes out.

12. The method according to any one of the preceding claims, wherein

- A controllable brake, especially one in the door drive

integrated brake, designed to brake the door movement,

- the brake when automatically opening the swing door in

Direction of the safety position is solved, and

- In the safety position, the brake is actuated.

13. Control device (SG1) for opening a side opening closed swing door (300, 304) of a motor vehicle of inside, which comprises a foreign-powered door drive for opening the hinged door (300, 304), wherein the control device (SG1) is set up,

to detect an opening request of the occupant for opening the hinged door (300, 304),

- in response to this, activate the door drive so that the

Swinging door (300, 304) is automatically opened to a defined safety position and remains in the safety position, wherein the vehicle width with located in the safety position swing door (300, 304) not over the vehicle width (bFZG) before opening the hinged door (300, 304 ) goes out,

- After opening the swing door in the safety position to determine a passenger act to further open the swing door on the safety position addition, and

- in response to this, activate the door drive so that the

Swing door (300, 304) is opened beyond the safety position.