WO2025217433A1

WO2025217433A1 - Enhanced controller operation and user protection of moveable closures

Info

Publication number: WO2025217433A1
Application number: PCT/US2025/024122
Authority: WO
Inventors: Charlie PLASKASOVITIS; Riyaz MERCHANT
Original assignee: Tesla Inc
Current assignee: Tesla Inc
Priority date: 2024-04-11
Filing date: 2025-04-10
Publication date: 2025-10-16
Anticipated expiration: 2026-10-11

Abstract

Systems and methods for enhanced controller operation and user protection of moveable closures. An example method includes monitoring progression of a moveable closure towards cinching of a striker into a latch to close the moveable closure based on a closure angle of the moveable closure. Object detection techniques are implemented based on the progression, with the techniques including a sensitive technique. Implementing the sensitive technique is based on comparing acceleration values of the moveable closure with motion profile information derived from least one prior close of the moveable closure. An action is triggered in response to the object detection techniques.

Description

ENHANCED CONTROLLER OPERATION AND USER PROTECTION OF MOVEABLE CLOSURES

CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] This application claims priority to U.S. Prov. Patent App. No. 63/633011, titled "ENHANCED CONTROLLER OPERATION AND USER PROTECTION OF MOVEABLE CLOSURES" and filed on April 11, 2024, the disclosure of which is hereby incorporated herein by reference in its entirety.

BACKGROUND

[0002] Modern vehicles typically include moveable closures, such as trunks, which may be controlled by the vehicles to simplify operation of the moveable closures. For example, a vehicle may include a trunk that can be triggered to close based on an action of a person (e.g., pushing a button). Similarly, a moveable closure may include a door which the vehicle may automatically open or close.

SUMMARY

[0003] An example embodiment described herein includes a method. The method is implemented by a controller in communication with at least one strut associated with opening and closing a moveable closure. The method comprises monitoring progression of the moveable closure towards cinching of a striker into a latch to close the moveable closure, wherein monitoring progression includes monitoring a closure angle associated with the moveable closure; implementing one or more object detection techniques based on the monitored progression, wherein the one or more object detection techniques include a sensitive technique, and wherein implementing the sensitive technique is based on comparing acceleration values associated with acceleration of the moveable closure to motion profile information, the motion profile information being associated with at least one prior close of the moveable closure; and triggering an action in response to the one or more object detection techniques. [0004] Another example embodiment described herein includes a controller. The controller is in communication with at least one strut associated with opening and closing a moveable closure. The controller is configured to monitor progression of the moveable closure towards cinching of a striker into a latch to close the moveable closure, wherein monitoring progression includes monitoring a closure angle associated with the moveable closure; implement one or more object detection techniques based on the monitored progression, wherein the one or more object detection techniques include a sensitive technique, and wherein implementing the sensitive technique is based on comparing acceleration values associated with acceleration of the moveable closure to motion profile information, the motion profile information being associated with at least one prior close of the moveable closure; and trigger an action in response to the one or more object detection techniques.

[0005] Another example embodiment described herein includes non-transitory computer storage media storing instructions configured to be executed by a controller. The instructions cause the controller to monitor progression of the moveable closure towards cinching of a striker into a latch to close the moveable closure, wherein monitoring progression includes monitoring a closure angle associated with the moveable closure; implement one or more object detection techniques based on the monitored progression, wherein the one or more object detection techniques include a sensitive technique, and wherein implementing the sensitive technique is based on comparing acceleration values associated with acceleration of the moveable closure to motion profile information, the motion profile information being associated with at least one prior close of the moveable closure; and trigger an action in response to the one or more object detection techniques.

BRIEF DESCRIPTION OF THE DRAWINGS

[0006] Figure 1 illustrates a vehicle with an example moveable closure performing object detection.

[0007] Figure 2A is a block diagram of an example vehicle performing object detection based on a sensitive technique. [0008] Figure 2B is a block diagram of the example vehicle performing object detection based on the sensitive technique and cinch state.

[0009] Figure 2C is a block diagram of the example vehicle performing object detection based on a latch pinch technique.

[0010] Figure 3 is a flowchart of an example process for a controller to perform object detection using example techniques as described herein.

[0011] Figure 4A is a flowchart of an example process for a controller to perform a sensitive technique for object detection.

[0012] Figure 4B is a flowchart of an example process for a controller to perform a latch pinch technique for object detection.

DETAILED DESCRIPTION

[0013] This application describes techniques to enhance the operation of moveable closures, for example to guard against, and detect, object obstructions (e.g., obstacles to closing the moveable closure). Example moveable closures may include hoods, trunks, windows, powered doors, and so on. As an example, this application describes techniques to enhance the closure of a hood or trunk of a vehicle to ensure that a person's fingers are not pinched. While this application references vehicles, as may be appreciated any moveable closure may benefit from the techniques herein. For example, window closures in domiciles, buildings, and so on may use the techniques described herein. Additionally, in some embodiments the techniques described herein may be used for opening of moveable closures.

[0014] A moveable closure, such as a hood, may be raised, or lowered, using one or more struts. For example, and with respect to a vehicle, a moveable closure may have a strut on the left and a strut on the right side of the vehicle. As another example, the moveable closure may have 1, 3, 4, 5, and so on, struts. In some embodiments, one or more controllers may be used to operate (e.g., drive), or otherwise control, the struts. For example, in some embodiments each strut may be associated with its own controller. In an example in which two or more controllers are used, the controllers may communicate with each other to determine status information associated with the struts. In some embodiments, one controller may be considered a leader while the other a follower. The leader may be responsible for responding to system-level inputs to initiate, update, and/or halt motions of the moveable closure. The follower may implement commands from the leader, and in some embodiments may alert or otherwise signal the leader regarding an obstruction during closure of the moveable closure.

[0015] The controllers may monitor the adjustment of the struts. In some embodiments, the strut positions may be measured in degrees open and referenced from a fully closed position (e.g., defined as a particular degree, such as zero). The zero degree may, in some embodiments, be defined based on a prior successful close (e.g., the angle at which the closure was indicated as being fully closed or latched may be used as the zero angle). These measurements are described herein as positional information and may leverage, in some embodiments, one or more encoders. When moving, the one or more controllers may implement a control loop (e.g., a PID controller), optionally with fixed or adjustable parameters for acceleration/deceleration and maximum speed. In some embodiments, the controller(s) may use open-loop (fixed duty cycle) control to avoid transients created as a PID controller responds to interference between a striker and latch, such as when the moveable closure interfaces with a latch.

[0016] As will be described, the one or more controllers (hereinafter controllers) may mitigate interaction with an object which may be obstructing closure of the moveable closure. For example, the controllers may ensure that a person's fingers are not pinched due to the closure. In some embodiments, the controllers may utilize different techniques based on the angle or position of the moveable closure. These techniques are referred to herein as object detection techniques. For example, and with respect to a hood, the controllers may use a first technique, referred to herein as a base technique, between a fully open and a first threshold angle above closure. The controllers may use a second technique, referred to herein as a sensitive technique, between the first threshold angle and a second angle (e.g., a range of angles in which an object, such as an arm or finger, is more likely to be impacted). The controllers may use a third technique, referred to herein as a latch pinch technique, between the third angle and closed. The latch pinch technique may, in some embodiments, be implemented based on initiation of latch actuation. For example, a sensor, or other element, (e.g., an actuator home switch) may be used to detect that a striker has entered, or is about to enter, the latch.

[0017] With respect to the base technique, the controllers may monitor current drawn by one or more motors (e.g., motors associated with the struts) that are used to cause closure of the moveable closure. In some embodiments, a left controller may monitor current associated with a left-side motor and a right controller may monitor current associated with a right-side motor. The controllers may actively monitor the current drawn by the motors and the rate of change of the current to detect rapid increases in current. As may be appreciated, the motor working rapidly and/or harder (e.g., drawing more current) may indicate the presence of an obstruction.

[0018] Absolute and rate-of-change current thresholds may optionally be set individually for each portion of motion, with different thresholds for opening, closing, latch entry, latch exit, and so on. The controllers may trigger an object detection based on the absolute current threshold being exceeded. For current-rate based detection, in some embodiments a derivative of current draw may be required to exceed a threshold value for a threshold amount of time. Optionally, each current-rate sample may be required to exceed a percentage of the previous sample (e.g., to reject a situation where the current derivative has started to decrease which implies that the event was transient and not a persistent obstruction). If any of the above conditions cause an object to be detected, the controllers may stop or reverse the motion of the moveable closure. The controllers may additionally cause audio output, for example a chime or other sound to indicate object detection.

[0019] With respect to the sensitive technique, in some embodiments stricter (e.g., more sensitive) thresholds for current may be used. Additionally, the sensitive technique may leverage information derived from one or more successful closes of the moveable closure (referred to herein as motion profile information). Example motion profile information may include acceleration of each strut for individual positions of the strut. In some embodiments, velocity, jerk, and so on, may be indicated. The motion profile information may be compared against the measured acceleration of each strut, for example to determine if the acceleration is at least a threshold different. A difference greater than a threshold, as may be appreciated, may indicate that an obstruction is causing a decrease, or rapid increase (e.g., due to a PID controller attempting to compensate for an obstruction, there may be a rapid increase in acceleration for an individual strut position), in acceleration as compared to a successful close.

[0020] With respect to the latch pinch technique, example cinch metrics may be accessed which are associated with one or more prior successful closes (e.g., of the vehicle, or via crowd sources). The cinch metrics, which are referred to herein as cinch profile information, may reflect cinch time (e.g., time taken to complete a cinch). The cinch metrics may also reflect energy associated with cinching (e.g., energy consumed by the latch during cinch actuation). As will be described, the cinch profile information may be compared against measured cinch time and energy during a real-time closure.

[0021] In some embodiments, the above-described thresholds may be determined based on log data from a fleet of vehicles. The thresholds may additionally be determined based on testing to ascertain reasonable values. With respect to a fleet of vehicles, a portion of the log data may reflect successful closures of a moveable closure. Example log data may include the above-described motion profile information and/or cinch profile information. The log data may be aggregated for analysis. In some embodiments, the log data may be specific to a particular vehicle model. In some embodiments, the log data may be specific to a particular moveable closure (e.g., of a particular vehicle model, such as a front trunk, rear trunk, door, and so on).

[0022] The aggregated log data may be formed to ensure breadth of temperature range and/or pitch angle. For example, as may be appreciated the pitch angle of a vehicle may cause different motion profile information. Thus, the log data may include differently pitched vehicles to ensure that the resulting thresholds allow for differences in vehicle pitch. In some embodiments, the determined thresholds may be specific to ranges of pitch angle. In some embodiments, motion profile information received from vehicles may be adjusted based on pitch (e.g., simulate the acceleration values based on a vehicle being on a flat, rather than pitched, surface).

[0023] Another set of log data may be obtained, for example data which reflects obstructions (e.g., deliberately placed obstacles). This log data may be specific to model of vehicle, moveable closure, type of obstacle, weather conditions, age of vehicle, geographic area, and so on. A system may simulate the object detection techniques described herein on the aggregated log data and the other set of log data. The system may thus simulate how the object detection techniques would behave, such as detecting obstacles. The system may adjust the thresholds described herein based on correct obstacle detections. The system may similarly adjust the thresholds based on incorrect obstacle detections. The system may use, for example, a machine learning model, optimization processes (e.g., stochastic descent), and so on.

[0024] In some embodiments, the thresholds may be temporarily adjusted (e.g., inflated) based on detection of an object. For example, there may be an object blocking the closure of the moveable closure. In examples, the techniques described herein may detect the object. Subsequently, the thresholds may be inflated such that the greater force may be allowed to be applied to the object. As may be appreciated, there may be an object (e.g., a twig) which is causing the moveable closure not to close. Thus, in some embodiments it may be assumed that an increased force on the object is acceptable (e.g., optionally within a period of time). This inflation may extend, for example, up to a limit (e.g., up to a threshold constant multiplied by the thresholds). Once the moveable closure successfully closes, in some embodiments the thresholds may return to their nominal (e.g., non-inflated) values.

[0025] The above and other features will now be described in more detail.

Example Block Diagrams

[0026] Figure 1 illustrates a vehicle 100 with an example moveable closure 102 performing object detection. In the illustrated example, the moveable closure 102 is a closure associated with a trunk (e.g., a front truck). The moveable closure 102 may be powered, such that it is able to be opened and closed (e.g., based on information from a controller or processor).

[0027] For example, one or more struts (e.g., powered actuators) may be used to cause the moveable closure 102 to open and close. As one example, the struts may be mounted to, or otherwise connected to, a body of the vehicle and the moveable closure 102. In some embodiments, there may be 2, 3, 4, 5, 6 struts (e.g., with respect to two, there may be a left strut and a right strut). The struts may be associated with motors that cause a pushing or pulling force. In some embodiments, individual struts may include, or otherwise be associated with, individual encoders (e.g., position encoders).

[0028] The moveable closure 102 may include a striker 110 which may interact with a latch 120. In the illustrated example, the striker 110 is positioned on the moveable closure 102 such that it moves with the moveable closure 102. The latch 120 is illustrated as being positioned on a body of the vehicle 100. As may be appreciated, in some embodiments the latch 120 may be positioned on the closure 102 and the striker 110 may be positioned on the body of the vehicle 100.

[0029] The latch 120 may include functionality to cinch the striker 110. For example, the latch 120 may include elements that enable capturing, and holding, the striker 110 to enable safe cinching of the moveable closure 102. The latch 120 may additionally include latch actuator(s) that cause the cinching of, or release of, the striker 110. For example, the latch actuator(s) may pull the striker to enable a tight-fitting cinch. The latch 120 may additionally include a sensor, such as a home switch, that is used to inform a cinch state associated with the latch 120. For example, the sensor may indicate whether the latch 120 is in a resting (e.g., home) position. The latch 120 may include other sensors, or other elements, such as a mechanical trigger, to determine whether the striker 110 has entered the latch 120.

[0030] Controller(s) (e.g., described in Figure 2A-2C) may cause the moveable closure 102 to initiate closing. For example, a driver or passenger of the vehicle 100 may have provided user input to cause the moveable closure 102 to close. While the moveable closure 102 is closing, the controller(s) may detect objects and take action(s), such as reversing the closure, stopping the closure, and so on.

[0031] As described herein, the controller(s) may implement one or more object detection techniques based on progression of the moveable closure 102 towards closing (e.g., cinching of the latch 120 and striker 110). For example, the controller(s) may implement the above-described base object detection technique while the moveable closure 102 is at greater than a first threshold closure angle. An example first threshold closure angle may be 12, 15, 20, 25, and so on degrees. The base technique, as described herein, may utilize current metrics (e.g., current drawn by the above-described motors, rate of change of current, and so on) in comparison to threshold(s).

[0032] As the closure angle 104 gets smaller, for example at or under the first threshold closure angle, the controller(s) may implement the above-described sensitive technique. The sensitive technique may similarly leverage current metrics, optionally along with motion profile information. For example, motion profile information may reflect normal movement metrics of the moveable closure 102 which are associated with successful closure. Normal, in some embodiments, may refer to movement metrics determined based on the most recent, or one or more prior, successful closes. In this example, the normal movement metrics may include acceleration characteristics of the moveable closure.

[0033] Based on operating within a high sensitivity zone (e.g., less than 12, 15, 20, and so on, degrees) the sensitive algorithm may thus help detect objects, such as fingers, being within the path of closure. The above-described latch pinch algorithm may detect objects, such as pinching of a portion of a finger or other small objects, that may be caused during cinching of the latch.

[0034] For example, the latch pinch technique may be implemented subsequent to detection of the striker 110 entering the latch 120. In this example, the latch 120 may be considered to be in an ajar state. Thereafter, a controller (e.g., controller 150A-150N of Figures 2A-2C) may initiate a cinching operation by instructing an actuator of the latch 120, or otherwise connected to the latch, to begin pulling the striker 110. In response, the actuator may depart its home or resting position - referred to herein as becoming unhomed - at which point the latch pinch technique may begin tracking cinch-reiated metrics.

[0035] The latch pinch algorithm may utilize cinch profile information that reflect metrics associated with successful cinching (e.g., a most recent, or one or more prior, successful closes). For example, the metrics may include cinch time which indicates the difference between the time at which the latch is unhomed (e.g., leaves its home or resting position) and the time at which cinching is complete. As another example, the metrics may include energy consumed during cinch actuation (e.g., energy associated with a latch actuation motor). Thus, the controller(s) may compare measured cinch time and energy to the cinch profile information.

[0036] Figure 2A is a block diagram of an example vehicle performing object detection based on the sensitive technique. In Figure 2A, a left controller 150A and a right controller 150N are illustrated. As described above, in some embodiments the vehicle 100 may include a controller 150A associated with a left-side of a moveable closure (e.g., left strut 160A) and a different controller 150N associated with a right-side of the moveable closure (e.g., right strut 160N). In some embodiments, one of the controllers may be a leader that controls opening and closing of the closure. The leader may also detect objects during closure of the moveable closure and trigger opening of the moveable closure. The remaining one of the controllers may follow the leader controller (e.g., it may follow instructions to open and close under nominal conditions). The remaining one of the controllers may additionally detect objects during closure of the moveable closure, and trigger opening of the moveable closure (e.g., a non-nominal open). For example, the remaining one of the controllers may provide status information 154 reflecting a detected object to the leader or may directly cause opening. While two controllers are illustrated, as may be appreciated one controller, 3 controllers, and so on, may be used and fall within the scope of the disclosure.

[0037] The controllers 150A-150N may provide control information 152A-152N to the struts 160A-160N to cause opening and closing of the moveable closure. During closure, the struts 160A-160N may output positional information 162A-162N reflecting strut position. [0038] With respect to the sensitive technique, the controllers 150A-150N may implement the technique based on the closure angle of the moveable closure being less than a threshold. Thus, the controllers 150A-150N may transition to implementing the sensitive technique as the moveable closure moves closer towards closure.

[0039] As described herein, the controllers 150A-150N may access current information 164A-N. This information may include current drawn by motors associated with struts 160A-160N (e.g., rate of change of current, and so on) in comparison to threshold(s). For example, the controllers 150A-150N may monitor the current drawn and also derive, or otherwise access, the rate of change of the current. In examples, the controllers 150A-150N may compare these current metrics to thresholds. For example, there may be a threshold associated with the current being drawn. As another example, there may be a threshold associated with the rate of change. The thresholds may be required to be exceeded, in some embodiments, for at least a threshold amount of time. The thresholds may also be more sensitive (e.g., easier to cross) than the thresholds used for the base technique. The controllers 150A-150N may additionally increase the rate at which current is monitored as compared to the base technique (e.g., 1000 Hz, 1500 Hz, and so on, as compared to 75 Hz, 100 Hz, 150 Hz for the base technique).

[0040] In some embodiments, the angle of the moveable closure relative to gravity (e.g., the vehicle may be at a pitch angle, such as on a hill) may cause adjustment of thresholds associated with detection of an obstruction. For example, the inflation factor may be determined by the controllers using: where M and b are slope and offset fit factors (e.g., found empirically). The result may be saturated, such that the value is selected between a particular range. As one example, the inflation factor may be between 1.0 and 2.0. The maximum may occur based on the moveable closure angle (e.g., theta) being maximized and the vehicle pitch (e.g., gamma) being, as one example, 25 degrees (e.g., uphill) or greater.

[0041] In some embodiments, the controllers 150A-150N may trigger an action to reverse closing of the moveable closure based on the current metrics exceeding respective thresholds (e.g., for greater than a threshold amount of time). In some embodiments, the controllers 150A-150N may also require comparison to motion profile information 156 (also referred to acceleration divergence). As described herein, motion profile information 156 may be stored in a table, or other data structure, and may be learned from a prior successful close of the moveable closure to increase confidence that a detected object is genuine. That is, obstructions may be detected based on acceleration divergences as compared to prior successful closures.

[0042] For example, while the moveable closure is closing and moving through a closure angle range, the controllers 150A-150N may record the acceleration of each strut in, for example, degrees/second at a threshold rate. The acceleration may be stored in memory (e.g., as an array indexed by strut position). In some embodiments, each acceleration value may be spaced a threshold apart (e.g., 3, 5, 7, 10 encoder ticks apart) for a threshold number of values (e.g., 150, 160, 165, 200 values covering strut positions). On each close moving through the sensitive zone, the controllers 150A-150N may compare the live strut acceleration against the saved values from the previous close. The values in the saved acceleration table may be linearly interpolated by the controllers 150A-150N for ticks that fall between the edges of the threshold separation between ticks (e.g., 5 tick bins).

[0043] The controllers 150A-150N may determine detection of an obstruction based on individual live accelerations being different than corresponding individual saved values by a threshold amount or threshold percentage. In some embodiments, the live acceleration may not be sufficient to trigger detection of the obstruction. In these embodiments, additional techniques may be used such as triggering of the base technique and/or current-rate criteria being met.

[0044] Thus, the sensitive technique may leverage prior successful closures to inform correct operation of a current closure. In some embodiments, a new table may be stored, and used, for each successful closure. In some embodiments, a new table may be linearly or non-linearly modified based on prior stored tables. In some embodiments, a table may be overwritten if conditions have changed significantly. In some embodiments, the temperature of the vehicle, angle of the vehicle (e.g., on a slope), and so on may be used to adjust a stored table. In some embodiments, tables may be updated using weighted updates. In some embodiments, the tables may be normalized (e.g., acceleration may be normalized based on the speed of the moveable closure).

[0045] In some embodiments, if both the acceleration divergence and currentrate criteria of the sensitive technique are met, the controllers 150A-150N may cause the moveable closure to reverse direction. In some embodiments, the controllers 150A-150N may take action (e.g., reverse direction) based on the moveable closure being greater than a threshold closure angle (2 degrees, 3 degrees, 5 degrees). As will be described in Figure 2B, in some embodiments the controllers 150A-150N may leverage additional information based on the moveable closure being less than the threshold closure angle.

[0046] Figure 2B is a block diagram of the example vehicle 100 performing object detection based on the sensitive technique and cinch state 172. As the moveable closure gets closer to being closed, for example a lower closure angle, the striker may start to interact with the latch 170. To detect the presence of an object, the controllers 150A-150N, or one of the controllers, may use the cinch state 172 associated with the latch 170. Cinch state 172, as described herein, may reflect whether the latch 170 is unlatched, ajar, in-process of being latched, latched, and so on. Ajar, for example, may indicate that the striker has entered the latch 170 (e.g., been mechanically caught), but the latch 170 has not completed latching the striker. For example, ajar may indicate that actuation of the latch 170 has not completed.

[0047] If an object is detected at or below the above-described threshold closure angle (2, 3, 5, degrees), the controllers 150A-150N may cut power to the struts (e.g., 160A- 160N) for a threshold time window (e.g., 20, 25, 30 milliseconds). For example, the object detection may be based on the sensitive technique described in Figure 2A. During this time window, if the cinch state 172 changes to ajar, the controllers 150A-150N, or one of the controllers, may trigger a cinch actuation as normal. As may be appreciated, this may allow the moveable closure to close if unobstructed since the momentum of the moveable closure may otherwise cause the cinch to complete. If obstructed, this momentum can be shed, providing the benefit of the mechanical pinch protection in the latch 170 and preventing additional force being exerted on the object. If the latch 170 does not transition (e.g., to the ajar or latched state) within the threshold time window, the controllers 150A-150N may cause reversal of the moveable closure motion.

[0048] In some embodiments, when the latch 170 has started to cinch the struts (e.g., struts 170A-170N), for example based on the cinch state (e.g., ajar, in-process), the controllers 150A-150N may apply a particular duty cycle to their motors (e.g., 20%, 25%, 30%) to help effectuate the closure. With respect to the above description of the sensitive technique, if an object is detected at or below the threshold (e.g., 2, 3, 5, degrees), the controllers 150A-150N may not apply the particular duty cycle. Thus, the struts may not help with the closure such that, as described above, the momentum of the moveable closure may be used.

[0049] At a substantially similar time that the controllers 150A-150N begin reversal of the moveable closure, the controllers 150A-150N may instruct the latch 170 to update its state 172 to be unlatched. Thus, the latch 170 may be held in its home or released position (e.g., an actuator may cause the latch 170 to be positioned in a home position). This may allow the moveable closure to more easily reverse, for example, where the reversal has already begun but the momentum of the closure is sufficient to carry the striker into the latch 170. As may be appreciated, this would normally result in the striker being captured and held in the ajar position. In some embodiments, the latch 170 may be associated with a different controller or electronic control unit (ECU). For example, the controllers 150A-150N, such as controller 150A, may provide instructions to the different controller or ECU.

[0050] To facilitate a quick release of the moveable closure in this case, the controllers 150A-150N may prime the latch 170 by not fully rehoming after a release actuation, such that the unarm actuation can rapidly complete. As described above, in some embodiments a different controller or ECU may instruct the latch 170.

[0051] Figure 2C is a block diagram of the example vehicle performing object detection based on a latch pinch technique. The latch pinch technique may be used based on, for example, the striker entering the latch to initiate actual closure of the moveable closure. The controllers 150A-150N, or one of the controllers, may use cinch state 172 to detect objects during this final stage of closure. For example, the cinch state 172 may indicate that the state is ajar, in-process, and so on. This may help for small object sizes which cause the obstruction to not be detected until after the striker enters the latch and the cinch actuation begins.

[0052] Each time a cinch actuation occurs (e.g., successful close with no obstructions detected), the controllers 150A-150N, or one of the controllers, may save the time taken to complete the cinch and the energy consumed by the latch (e.g., latch actuation motor) during the cinch actuation (referred to herein as cinch profile information 158). For example, the cinch profile information 158 may be overwritten or may be adjusted based on the successful cinch. Additionally, as described above, the controllers 150A-150N may save acceleration and optionally other relevant metrics as described herein. The cinch actuation time may represent the time between the point at which the actuator home switch becomes not pressed (e.g., actuator is unhomed out of its normal or resting position, such as to perform latching, cinching, and so on) and the end of the latch state (e.g., latched). The cinch energy may be calculated, for example, based on the following for a discrete system with a variable applied duty cycle:

Where sample Vinput reflects the input voltage (e.g., to the actuator associated with the latch 170), duty cycle reflects a percentage duty cycle, I reflects the current, period is a threshold time (e.g., 10ms) for the moveable closure latch and n is the total number of samples during cinch time as defined above and n is the total number of samples during cinch time as defined above. The controllers 150A-150N, or one of the controllers, may receive energy information 174 in some embodiments reflecting one or more of duty cycle, current, and so on. For example, a different controller may be associated with the latch 170 and may report the information 174 to the controllers 150A-150N or one of the controllers.

[0053] The controllers 150A-150N, or one of the controllers, may indicate that a cinch is obstructed based on the cinch time and/or cinch energy consumed exceeding the thresholds indicated in the cinch profile information 158 (e.g., exceeding by a threshold amount of percentage). The controllers 150A-150N may stop the actuation based on an obstructed cinch being detected. The controllers 150A-150N may cause the latch to be placed into an ajar state before releasing the latch fully.

[0054] If an object is detected, the controllers 150A-150N may cause the moveable closure to lift to a position at which the closing motion started (e.g., a position at which user input was provided to cause closure). In some embodiments, the controllers 150A-150N may disable the latch pinch technique for a threshold amount of time (e.g., 1 minute, 2 minutes, 5 minutes) or until the moveable closure (e.g., latch) closes properly (e.g., based on the cinch state 172). The controllers 150A-150N may then re-enable the latch pinch algorithm (e.g., with default thresholds or based on learned parameters due to a successful close).

[0055] In some embodiments, each time, or at least a subset of times, a pinch is detected at positions below a threshold angle (e.g., 15 degrees), the controllers may inflate sensitive algorithm thresholds by a fixed percentage until reaching a minimum allowable level comparable to the pre-existing strategy. This helps get the moveable closure closed for vehicles that may have an obstructed mechanism, for example from debris, dirt or ice buildup. The controllers may return to full sensitivity once the moveable closure is successfully closed again. For example, a new table may be used (e.g., overwritten). Thus, the inflation may cause the above-described thresholds to increase (e.g., acceleration divergence, current differences, and so on) to enable the moveable closure to close.

[0056] Thresholds may additionally be adjusted based on environmental conditions (e.g., weather, temperature, and so on). Thresholds may be adjusted based on the age of the vehicle (e.g., they may be expected to have differences in motion profile, cinch profile, and so on). These adjustments may be crowd sourced, such as based on a fleet of vehicles as described herein.

Example Flowcharts

[0057] Figure 3 is a flowchart of an example process 300 for a controller to perform object detection using example techniques as described herein. For convenience, the process 300 will be described as being performed by a controller (e.g., controller 150A, controller 150N, both controllers, and so on).

[0058] At block 302, the controller monitors progression of a moveable closure toward cinching. As described above, the moveable closure (e.g., a hood, a trunk, and so on) may be initiated to close. For example, a driver or passenger may use a user interface of a mobile application, a display of a vehicle, a physical button of the vehicle, a sensor of the vehicle (e.g., the driver or passenger may wave a foot or hand near the sensor), to cause closure of the moveable closure.

[0059] As the moveable closure traverses through closure angles, the controller may monitor the closure angle. For example, the controller may obtain information reflecting the closure angle, or otherwise identify the closure angle, based on positional information obtained from struts effectuating the closure. The controller may also obtain information reflecting cinch state, such as whether the latch is unlatched, ajar, or latched.

[0060] At block 304, the controller implements object detection techniques based on the progression. As described above, the controller may implement a base technique when the moveable closure is greater than a first threshold closure angle. Below the first threshold closure angle, and optionally above a second threshold closure angle, the controller may implement a sensitive technique. The sensitive technique may optionally use a cinch state, for example if the closure angle is below the second threshold closure angle. Once the striker has entered the latch, the controller may use a latch pinch algorithm to detect objects.

[0061] At block 306, the controller triggers an action in response to the object detection techniques. The controller may detect an object as described herein, for example based on current metrics, motion profile information, and/or cinch profile information. In response, the controller may cause reversal of the moveable closure to open it up more. The controller may additionally cause the moveable closure to stop or pause closing. The controller may additionally update the latch state, for example to ensure that the striker is able to easily remove itself from the latch. The controller may optionally cause a warning sound or chime to be output (e.g., via a speaker of a vehicle). In some embodiments, the controller may trigger a message to be presented on a display of a vehicle or on a user interface of a mobile application associated with the vehicle.

[0062] Based on a successful latching (e.g., cinching), at block 308 the controller updates motion profile information and/or cinch profile information as described herein. For example, the controller may update the motion profile information to reflect acceleration values. In some embodiments, the controller may store an indication of angle, temperature, and so on, associated with the vehicle. In this way, the acceleration values may be adjusted in a subsequent use based on a new angle, temperature, and so on, of the vehicle. Optionally, the controller may adjust measured acceleration values to reflect a flat angle such that when used for a future close the controller may adjust the values based on a measured angle of the vehicle. As another example, the controller may update the cinch profile information to reflect cinch time and energy.

[0063] Figure 4A is a flowchart of an example process 400 for a controller to perform a sensitive technique for object detection. For convenience, the process 400 will be described as being performed by a controller (e.g., controller 150A, controller 150N, both controllers, and so on).

[0064] At block 402, the controller monitors the positional movement of the struts associated with a moveable closure. As described above, with respect to at least Figures 2A-2B, the controller may obtain information reflecting the position of the closure. The controller may determine, or otherwise access, acceleration values associated with the positions.

[0065] At block 404, the controller accesses motion profile information associated with a most recent, or derived from one or more prior, successful closes of the moveable closure. The motion profile information may indicate, for example, individual acceleration values associated with individual strut positions.

[0066] At block 406, the controller compares the positional movement with the motion profile information. The controller may determine whether an acceleration value indicated in the motion profile information is greater than, or less than, a threshold of a corresponding measured acceleration (e.g., for a same, or similar, position of a strut). In some embodiments, the controller may determine whether at least a threshold number of acceleration values are greater than, or less than, the threshold.

[0067] At block 408, the controller triggers an action based on the comparisons. The controller may, as one example, cause reversal of the moveable closure based on the comparison indicating detection of an object. For example, the comparison may indicate that an acceleration value in the motion profile information is greater than, or less than, a threshold of a corresponding measured acceleration.

[0068] At block 410, the controller optionally inflates the thresholds. As described above, the controller may inflate the thresholds to make it harder for the comparison to indicate detection of an object. Upon a successful close, the controller may update the motion profile information to reflect acceleration values mapped to strut position for the successful close.

[0069] Figure 4B is a flowchart of an example process 420 for a controller to perform a latch pinch technique for object detection. For convenience, the process 420 will be described as being performed by a controller (e.g., controller 150A, controller 150N, both controllers, and so on).

[0070] At block 422, the controller monitors time and/or energy associated with cinching a moveable closure. As described above, with respect to at least Figure 2C, the controller may identify a time at which the striker (e.g., on the closure) has entered the latch (e.g., on a body of a vehicle). The controller monitors an amount of time from the identified time along with monitoring energy associated with cinching.

[0071] At block 424, the controller accesses cinch profile information associated with a most recent, or derived from one or more prior, successful closes of the moveable closure. The cinch profile information may indicate, for example, a time associated with successful cinching along with an associated energy.

[0072] At block 426, the controller compares the monitored time and/or energy with the cinch profile information. The controller may determine whether the monitored time is greater, for example by a threshold or threshold percentage, than the time in the cinch profile information. Similarly, the controller may determine whether the monitored energy is greater, for example by a threshold or threshold percentage, than the energy in the cinch profile information. Based on positive determinations, the controller may detect an object.

[0073] At block 428, the controller triggers an action based on the comparisons. The controller may, as one example, cause reversal of the moveable closure based on the comparison indicating detection of an object.

Example Embodiments

[0074] The techniques described herein may be trained using log data (e.g., ECU log data) collected from a fleet of vehicles. Two data sets may be built to evaluate and train object detection performance. For example, a set of nominal, unobstructed, closes recorded from the fleet may be used. In this example, the closes may have sufficient breadth of temperature range and other environmental characteristics. As another example, a set of logs may be collected where object detection has been turned off and obstructions have been deliberately included. This dataset may be labeled with the type and location of the obstruction for classification by a training algorithm.

[0075] The techniques described herein may be simulated based on the recorded data from the fleet to determine where object detections occur. After running on both sets, a detection score may be generated by adding points for a pinch detected on the object data set and for no object detected in the nominal dataset. The weight of these points may be adjusted based on whether one wants to aim to bias for greater detection sensitivity or reduced false trip rate. The scoring of detected pinches may be adjusted on the object dataset to give additional points if the strut closest to where the object. The best parameters, such as the above-described thresholds, may be found through a stochastic descent type optimization process. The algorithm parameters are optimized using these two sets of data by making small adjustments to each of the parameters targeted for optimization and recalculating the detection score.

[0076] Calibration may be saved when the moveable closure enters the closed state while reporting a position below, as one example, 10 degrees. When uncalibrated, opening movements may be prevented and closing movements may follow an adjusted profile to ensure a complete close without relying on accurate position information.

[0077] When moving, the strut motion may be managed through closed-loop control (e.g., PID speed and/or position control) with fixed parameters for acceleration/deceleration and maximum speed. At positions around entering or leaving the latch, the controllers may use open-loop (e.g., fixed duty cycle) control to avoid transients created as the PID controller responds to interference between the striker and latch. When the latch has started to cinch, the controllers may apply a fixed cinch assist duty in the closing direction to both struts. This may help to ensure a successful cinch since the latch may, as one example, have a form of mechanical pinch protection that causes the cinch to fail if something is preventing the moveable closure from lowering.

Other Embodiments

[0078] All of the processes described herein may be embodied in, and fully automated, via software code modules executed by a computing system that includes one or more computers or processors. The code modules may be stored in any type of non- transitory computer-readable medium or other computer storage device. Some or all the methods may be embodied in specialized computer hardware.

[0079] Many other variations than those described herein will be apparent from this disclosure. For example, depending on the embodiment, certain acts, events, or functions of any of the algorithms described herein can be performed in a different sequence or can be added, merged, or left out altogether (for example, not all described acts or events are necessary for the practice of the algorithms). Moreover, in certain embodiments, acts or events can be performed concurrently, for example, through multi-threaded processing, interrupt processing, or multiple processors or processor cores or on other parallel architectures, rather than sequentially. In addition, different tasks or processes can be performed by different machines and/or computing systems that can function together.

[0080] The various illustrative logical blocks, modules, and engines described in connection with the embodiments disclosed herein can be implemented or performed by a machine, such as a processing unit or processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A processor can be a microprocessor, but in the alternative, the processor can be a controller, microcontroller, or state machine, combinations of the same, or the like. A processor can include electrical circuitry configured to process computer-executable instructions. In another embodiment, a processor includes an FPGA or other programmable device that performs logic operations without processing computer-executable instructions. A processor can also be implemented as a combination of computing devices, for example, a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP core, or any other such configuration. Although described herein primarily with respect to digital technology, a processor may also include primarily analog components. For example, some or all of the signal processing algorithms described herein may be implemented in analog circuitry or mixed analog and digital circuitry. A computing environment can include any type of computer system, including, but not limited to, a computer system based on a microprocessor, a mainframe computer, a digital signal processor, a portable computing device, a device controller, or a computational engine within an appliance, to name a few.

[0081] Conditional language such as, among others, "can," "could," "might" or "may," unless specifically stated otherwise, are understood within the context as used in general to convey that certain embodiments include, while other embodiments do not include, certain features, elements and/or steps. Thus, such conditional language is not generally intended to imply that features, elements and/or steps are in any way required for one or more embodiments or that one or more embodiments necessarily include logic for deciding, with or without user input or prompting, whether these features, elements and/or steps are included or are to be performed in any particular embodiment.

[0082] Disjunctive language such as the phrase "at least one of X, Y, or Z," unless specifically stated otherwise, is understood with the context as used in general to present that an item, term, etc., may be either X, Y, or Z, or any combination thereof (for example, X, Y, and/or Z). Thus, such disjunctive language is not generally intended to, and should not, imply that certain embodiments require at least one of X, at least one of Y, or at least one of Z to each be present.

[0083] Any process descriptions, elements or blocks in the flow diagrams described herein and/or depicted in the attached figures should be understood as potentially representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or elements in the process. Alternate implementations are included within the scope of the embodiments described herein in which elements or functions may be deleted, executed out of order from that shown, or discussed, including substantially concurrently or in reverse order, depending on the functionality involved as would be understood by those skilled in the art.

[0084] Unless otherwise explicitly stated, articles such as "a" or "an" should generally be interpreted to include one or more described items. Accordingly, phrases such as "a device configured to" are intended to include one or more recited devices. Such one or more recited devices can also be collectively configured to carry out the stated recitations. For example, "a processor configured to carry out recitations A, B and C" can include a first processor configured to carry out recitation A working in conjunction with a second processor configured to carry out recitations B and C.

[0085] It should be emphasized that many variations and modifications may be made to the above-described embodiments, the elements of which are to be understood as being among other acceptable examples. All such modifications and variations are intended to be included herein within the scope of this disclosure

Claims

WHAT IS CLAIMED IS:

1. A method implemented by a controller, the controller being in communication with at least one strut associated with opening and closing a moveable closure, the method comprising: monitoring progression of the moveable closure towards cinching of a striker into a latch to close the moveable closure, wherein monitoring progression includes monitoring a closure angle associated with the moveable closure; implementing one or more object detection techniques based on the monitored progression, wherein the one or more object detection techniques include a sensitive technique, and wherein implementing the sensitive technique is based on comparing acceleration values associated with acceleration of the moveable closure to motion profile information, the motion profile information being associated with at least one prior close of the moveable closure; and triggering an action in response to the one or more object detection techniques.

2. The method of claim 1, wherein monitoring progression includes monitoring positions of the at least one strut, the position informing the closure angle, and wherein the sensitive technique is implemented while the closure angle is less than a threshold.

3. The method of claim 1, wherein the closure angle is less than a first threshold and greater than a second threshold, and wherein implementing the sensitive technique comprises: identifying, based on the motion profile information, detection of an object; accessing a latch state associated with the latch, the latch state indicating that the striker has entered the latch; and triggering the action based on the latch state not transitioning to a latched state after a threshold amount of time.

4. The method of claim 1, wherein the sensitive technique further includes comparison of measured current metrics to respective thresholds.

5. The method of claim 1, wherein the object detection techniques include a latch pinch technique, wherein the latch pinch technique is implemented based on the striker entering the latch, and wherein implementingthe latch pinch technique is based on an energy associated with cinching of the striker into the latch.

6. The method of claim 5, wherein the energy associated with cinching is compared to cinch profile information reflecting energy associated with at least one prior close of the moveable closure.

7. The method of claim 6, wherein the cinch profile information further reflects a time associated with cinching of the striker into the latch.

8. The method of claim 1, wherein triggering an action reversing the moveable closure or causing output of an audible warning.

9. The method of claim 1, wherein comparing acceleration values to motion profile information is based on at least one threshold, and wherein based on detection of the object, the threshold is inflated.

10. The method of claim 1, wherein individual object detection techniques are associated with thresholds, and wherein the thresholds were derived based on access to information associated with a fleet of vehicles.

11. A controller, the controller configured to be in communication with at least one strut associated with opening and closing of a moveable closure, wherein the controller is configured to: monitor progression of the moveable closure towards cinching of a striker into a latch to close the moveable closure, wherein monitoring progression includes monitoring a closure angle associated with the moveable closure; implement one or more object detection techniques based on the monitored progression, wherein the one or more object detection techniques include a sensitive technique, and wherein implementing the sensitive technique is based on comparing acceleration values associated with acceleration of the moveable closure to motion profile information, the motion profile information being associated with at least one prior close of the moveable closure; and trigger an action in response to the one or more object detection techniques.

12. The controller of claim 11, wherein to monitor progression, the controller is configured to monitor position of the at least one strut, the position informing the closure angle, and wherein the sensitive technique is implemented while the closure angle is less than a threshold.

13. The controller of claim 11, wherein the closure angle is less than a first threshold and greater than a second threshold, and wherein to implement the sensitive technique the controller is configured to: identify, based on the motion profile information, detection of an object; access a latch state associated with the latch, the latch state indicating that the striker has entered the latch; and trigger the action based on the latch state not transitioning to a latched state after a threshold amount of time.

14. The controller of claim 11, wherein the sensitive technique further includes comparison of measured current metrics to respective thresholds.

15. The controller of claim 11, wherein the object detection techniques include a latch pinch technique, wherein the latch pinch technique is implemented based on the striker entering the latch, and wherein implementingthe latch pinch technique is based on an energy associated with cinching of the striker into the latch.

16. The controller of claim 15, wherein the energy associated with cinching is compared to cinch profile information reflecting energy associated with at least one prior close of the moveable closure.

17. The controller of claim 16, wherein the cinch profile information further reflects a time associated with cinching of the striker into the latch.

18. The controller of claim 11, wherein triggering an action includes reversing the moveable closure or causing output of an audible warning.

19. The controller of claim 11, wherein comparing acceleration values to motion profile information is based on at least one threshold, and wherein based on detection of the object, the threshold is inflated.

20. Non-transitory computer storage media storing instructions configured for execution by a controller, the controller being configured to be in communication with at least one strut associated with opening and closing of a moveable closure, wherein the controller is configured by the instructions to: monitor progression of the moveable closure towards cinching of a striker into a latch to close the moveable closure, wherein monitoring progression includes monitoring a closure angle associated with the moveable closure; implement one or more object detection techniques based on the monitored progression, wherein the one or more object detection techniques include a sensitive technique, and wherein implementing the sensitive technique is based on comparing acceleration values associated with acceleration of the moveable closure to motion profile information, the motion profile information being associated with at least one prior close of the moveable closure; and trigger an action in response to the one or more object detection techniques.

21. The computer storage media of claim 20, wherein the closure angle is less than a first threshold and greater than a second threshold, and wherein to implement the sensitive technique the controller is configured to: identify, based on the motion profile information, detection of an object; access a latch state associated with the latch, the latch state indicating that the striker has entered the latch; and trigger the action based on the latch state not transitioning to a latched state after a threshold amount of time.

22. The computer storage media of claim 20, wherein the object detection techniques include a latch pinch technique, wherein the latch pinch technique is implemented based on the striker entering the latch, and wherein implementing the latch pinch technique is based on an energy associated with cinching of the striker into the latch.

23. The computer storage media of claim 22, wherein the energy associated with cinching is compared to cinch profile information reflecting energy associated with at least one prior close of the moveable closure.

24. The computer storage media of claim 20, wherein comparing acceleration values to motion profile information is based on at least one threshold, and wherein based on detection of the object, the threshold is inflated.