EP1407106B2 - Method for opening and closing a part which can be rotated or tilted on a vehicle - Google Patents

Description

State of the art

The invention relates to a method and a device for opening and closing a rotatably or tiltably mounted in a vehicle part, in particular a door, a Ausstellfensters, a trunk lid, a hood or a folding roof, according to the preamble of the independent claims.

With the DE 199 34 629 A1 is a device for opening and closing a hinged to a vehicle flap, such as a trunk lid has become known. In this case, a drive is actuated by means of a control, which moves the flap between a Aufklapp position and a Zuklapp position, wherein the respective position of the flap is detected. The electric motor is connected via a rotary joint with a Helbelmechanismus, which in turn is connected via a rotary joint with the flap.

If such a flap is automatically actuated by the driver by means of a switch on the dashboard, there is a risk that the flap will hit an obstacle when it is opened, thereby damaging it or inflicting foreign harm. When closing the motorized motor there is a risk that objects or parts of the body may be pinched and damaged considerably.

Advantages of the invention

The method according to the invention with the characterizing features of claim 1 has the advantage that obstacles in the immediate vicinity of the vehicle when opening a rotatable or tiltable mounted part detected in time and the part is stopped before hitting an obstacle. The obstacle is detected completely independent of whether the part is operated by motor or manually. In addition, when closing the part, an obstacle located between the part and the vehicle is registered, and the movements of the part are stopped or reversed if the part already touches the obstacle. As a result, both a risk of injury by pinching body parts, as well as damage to the vehicle or this surrounding objects is prevented.

If sensors are arranged on the outer and / or inner side of the movable part, obstacles are detected early regardless of the actuating mechanism of the part, so that the movements of the part can be stopped or reversed upon reaching a minimum distance to the obstacle. The sensor signals are thereby fed to a control unit which either controls the motor movements of the part or which influences the manual movements of the part.

The features listed in the dependent claims advantageous developments of the method according to claim 1 are possible. Since doors and flaps are usually operated only when the vehicle is at a standstill, the sensors need only be operational below a minimum speed. This saves the sensors and energy saved for operating the sensors.

According to the invention, ultrasound sensors or sensors are used for the method which emit and receive electromagnetic waves (RADAR). In this case, transmitter and receiver can advantageously be combined in one component. These sensors can detect an obstacle contactlessly, whereby the part can be stopped before abutting the obstacle.

The sensors are arranged so that their radiation fans cover the entire inner and / or outer surface of the part. If the sensors are moved along with the part, the sensitivity of the obstacle detection remains equally good in every position of the part. Covering the entire surface of the part ensures that every obstacle in the movement area of the part is detected in good time.

If the sensors are not fastened to the body according to the invention, their radiation cone covers the entire adjustment path of the part. In order to reliably detect an obstacle, it is advantageous if a reference signal of the undisturbed motion sequence of the part is stored in the control unit. If the detected sensor signal deviates from the stored reference signal, this deviation is detected as an obstacle and the movement of the part is stopped or reversed. This method can also be used to safely monitor the movement of moving parts with a complex or changing structure (folding roof). Advantageously, the sensors can remain active even when the vehicle is parked for an arbitrarily adjustable period of time. For example, a sensor mounted on the inside of a hood can register the entry of animals, especially martens, into the engine compartment and trigger a warning signal to drive them out. The operational readiness of the sensor can be selected according to the cooling time of the engine. Another advantage of the operational sensors with parked vehicle is the realization of a burglary protection. Thus, the sensors both as a motion detector in the interior of the vehicle as well as in the immediate vicinity of the vehicle register an unauthorized intrusion into the vehicle and trigger an alarm signal.

If the rotatable or tiltably mounted part is actuated by a motor, it is particularly advantageous according to the invention to continuously measure a parameter for the detection of an obstacle which is characteristic of the adjusting force applied by the motor. As a result, both a pinching between the part and the body as well as the movement of the part against an external obstacle can be detected as soon as the measured parameter exceeds or falls below a predetermined limit value. Particularly suitable parameters here are the speed, the torque or the motor current.

An obstacle is detected particularly reliably when the non-contact sensors are combined with the detection of the parameter representing the adjusting force of the part. In this case, in a first stage, the obstacle is already detected before touching it by means of the sensors and, if the obstacle was not detected by them or the part was not stopped / reversed in time, in a second stage, the obstacle in contact with the part by means of the Detecting force representative parameter detected.

The invention consists in subdividing the range of movement of the part into different danger areas. Thus, for example, an obstacle can be detected by means of sensors and immediately before full closure by means of the parameter representing the adjustment force when the part is wide open. This ensures a higher level of security against a risk of pinching.

In a further variation, the function of the detection by means of sensors can be monitored by the parameter representing the adjusting force of the part. It will primarily the sensor signal evaluated but also compared simultaneously with the result of the measurement of the adjusting force representing parameter. Likewise, areas in which obstacles are detected primarily with the parameters representing the adjustment force can be monitored by a comparison with the sensor signal. This also increases the reliability of obstacle detection.

A significant increase in comfort is the operation of the motorized moving part by remote control. The reliable realization of obstacle detection while damage to the part / obstacle or jamming is prevented.

In the event of an accident, the obstacle detection function is preferably switched off. The control unit gets, for example, from the triggering device of the airbag a signal, eg. B. to open a door with maximum force without consideration of obstacle detection. As a result, the exit or recovery of the occupants after an accident is much easier.

Conveniently, it is also possible to actively switch off the obstacle detection function, for example to open a part despite being touched by soft, elastic obstacles (plants). In addition, this can also be the closing function of the part in case of unwanted intrusions (raid) are maintained.

In a further embodiment of the invention, the sensors determine the distance to a potential obstacle in the movement region of the part in order to calculate therefrom an allowable opening / closing angle of the part. This can be done before the part is moved and updated during the motion process. The calculated permissible opening / closing angle is compared with the determined by the position detection position of the part and stopped before reaching the allowable opening / closing angle. The position detection is preferably carried out by means of the measurement of the rotational speed or another parameter representing the adjustment of the part. This method is particularly suitable for opening a door when getting off in a narrow parking space.

The inventive method is advantageously applied to devices for opening and closing doors, Ausstellfenstern, trunk lids, hoods and folding roofs on motor vehicles. This increases comfort while minimizing the risk of injury or damage.

The use of ultrasound sensors is particularly favorable since they provide reliable reception signals, especially at short distances. Also for the radiation of the waves parallel to the surface of the part of this sensor with combined transmitter and receiver is particularly suitable.

Alternatively, it is also possible to use RARDAR sensors which have been adequately tested by other applications, such as, for example, park pilot systems (short range RADAR). In this case, sources of interference that reduce the reliability of the detection are excluded with high security.

It is advantageous if the part, for example a vehicle door, is designed so that it can be bent, since this creates more space, for example, for getting in or out. The more complex movement mechanism can also be reliably monitored by the sensors to avoid a collision with an obstacle. On Folding roof can be stowed very compactly in this way when the vehicle is open.

If the device has a locking mechanism or a braking device, for example, in the hinge area of the part, then, when an obstacle is detected, even if the part is moved manually, it can be stopped before the obstacle is touched. For this purpose, the sensors send a signal to the control unit, which then activates, for example, a lock or an electromagnetic brake device. This can prevent a non-motorized part from hitting an obstacle.

Because the device for actuating the part to an electric motor, it can be stopped or reversed by switching off or reversing the same the part in a simple manner before reaching the obstacle. In the case of motor-driven parts, it is also possible in addition to detect an obstacle by means of a parameter to be measured, which represents the adjusting force of the part - and thus the engine power.

drawing

In the drawing, several embodiments of the inventive method and apparatus are shown and explained in more detail in the following description. Show it FIG. 1 an embodiment of a motor-operated bonnet in section,
the FIGS. 2a and 2b the representations of an ultrasonic sensor,
the FIGS. 3a to 3f various sensor arrangements on a vehicle door,
the FIG. 4 the sensor arrangements of a tailgate,
FIG. 5 a non-inventive sensor arrangement for actuating a trunk lid and
the FIG. 6 schematically the inventive arrangement of a multi-part vehicle door.

Description of the embodiments

This in FIG. 1 illustrated embodiment shows as a movable part 10, an inventive hood 12, which can be opened and closed via a linkage 14 by means of an adjusting motor 16. The hood is rotatably supported by a hinge 18. On the outside and the inside 20, 22 of the hood 12 sensors 24 are arranged in the vicinity of the hinge 18 such that their radiation cone 23 cover substantially the entire outer surface 20 and inner surface 22 of the hood 12.

To open or close the hood 12, an operating switch 26 is actuated, for example, inside the vehicle, which actuates the adjusting motor 16 via a control unit 28. In this case, the control unit 28 puts the sensors 24 into operational readiness so that they send a signal to the control unit 28 as soon as the part 10 approaches an obstacle 30 up to a minimum distance 32. In this case, the minimum distance 32 can be given by the dimensions of the radiation cone 23, or the position and the distance of the obstacle can be determined by the sensors 24. If an obstacle 30 is detected by the sensors 24, the control unit 28 stops or reverses the adjusting motor 16. During opening and closing, the part 10 covers a movement region 34, which is subdivided into different detection regions 36, 38. In this case, an obstacle 30 between the part 10 and the body 11 is detected in the detection area 36 by means of the sensors 24 and in the detection area 38, just before the closing of the hood an entrapment of an obstacle 30 through the Measuring a parameter representing the adjustment of the part 10 detected.

In the exemplary embodiment, the rotational speed of the adjusting motor 16 is continuously measured as the parameter representing the adjusting force of the part 10 and compared with a previously determined limit value. If the speed falls below this threshold value, as long as the part 10 is not yet completely closed, this is interpreted as an entrapment event of an obstacle 30. Then, a signal is sent to the control unit 28 which stops or reverses the variable displacement motor 16. For the distinction of the detection areas 36, 38, a position detection 40 is necessary, which detects the position of the part 10, for example by means of two offset arranged on the motor shaft of the adjusting motor 16 Hall sensors. Likewise, an obstacle 30 is detected when opening the part 10 by means of the measured speed and its comparison with a threshold value when the part 10 is applied to the obstacle 30 when opening. Normally, both detection methods for obstacle detection are active simultaneously. In this case, an obstacle 30 is detected by means of the sensors 24 before the part 10 touches the obstacle 30. If the part 10 is stopped too late, or if an obstacle 30 is overlooked by the sensors 24, in a second step the obstacle 30 is detected by means of the rotational speed measurement (parameter representing the adjustment force). This two-stage system is used when opening and closing part 10 and provides a high level of safety.

In a variant, the function of the sensors 24 in the detection area 36 can additionally be monitored by measuring the rotational speed (parameters representing the adjusting force). For example, if the sensors 24 do not provide an entrapment signal upon closing, although the rotational speed measurement detects an obstacle 30, it will turn on Test mechanism of the sensors 24 activated. The same applies in the absence of Klemmsignal the speed measurement in the detection area 38 when the sensors 24 detect an obstacle 30 for this area. Alternatively, the two detection methods for each detection area 36, 38 can be arbitrarily weighted in the control unit 28 by means of a microprocessor 29 or the signals can be subjected to a processing algorithm.

Alternatively to the operation of the hood 12 by means of control switch 26, this can also be opened and closed by remote control. In this case, the sensors 24 are activated when the remote control is actuated or, when falling below a predetermined minimum speed (for example 20 km / h), automatically put into operational readiness.

The FIGS. 2a and 2b show the structure of an ultrasonic sensor 42, as in the embodiment according to FIG. 1 is used. The ultrasonic waves are generated by means of a membrane 46 arranged on a printed circuit board 44, which is located at one end within a damping medium 48 and a transducer element 50. In the illustrated construction, the transmitter 52 and the receiver 54 are identical in construction (diaphragm 46), whereby a signal is first transmitted by means of a microprocessor 56 and switched over to reception in the following time period. Typically, the transmit and receive times are approximately one millisecond and 49 milliseconds. By setting the reception time, the range of the ultrasonic sensor 42 can be adjusted over the duration of the reflected signal. In an alternative embodiment, transmitter 52 and receiver 54 are realized by two separate diaphragms 46. This allows simultaneous transmission and reception, which means extremely short Running times and thus very small distances between sensor 24 and obstacle 30 can be registered.

As a further alternative, sensors 24 are used which emit electromagnetic waves, in particular short-distance RADAR sensors. The RADAR sensors are arranged in the same way as the ultrasonic sensors. An advantage of the radar sensors is the lower probability of occurrence of sources of interference.

The FIGS. 3a to 3f show various arrangements of ultrasonic sensors 42 using the example of a vehicle door 60. In FIG. 3a is not according to the invention, only a sensor 24 mounted on the outer surface 20 of the vehicle door in the vicinity of the hinge 18. Since the door edge 62 facing away from the hinge 18 covers the largest path of movement, it is particularly important that this entire edge 62 is covered by the radiation cone 23 of the sensor 24. The thickness 64 of the radiation cone 23 perpendicular to the door surface is predetermined by the structural design of the sensor 24. This thickness 64 can be defined in a simple manner as a minimum distance 32 from the part 10 to the obstacle 30. In FIG. 3a two sensors 24 are arranged diagonally so that their radiation cone 23 overlap. So that the transmission signal of the one sensor 24 is not received directly from the other sensor 24, the two transmitters are operated either temporally alternately or at different transmission frequencies. In Figure 3c two sensors 24 are also arranged diagonally, with the two radiation cone 23 not overlapping according to the invention here. In 3d figure two sensors 24 are arranged on the upper edge 66 of the vehicle door 60, wherein due to the profile of the door 60, the radiation cone 23 at the lower edge 68 of the vehicle door have a certain distance from the same. In this arrangement, a larger minimum distance 32 is predetermined to the obstacle 30 on the lower door edge 68 geometric reasons.

With several overlapping radiation cone 23, the location of the obstacle 30 and its distance from the door 60 can be determined very accurately, as a result of which the obstacle is detected even more reliably. The sensor arrangement in FIG. 3e is analogous to the one in FIG. 3a , The sensor 24 is integrated here only in the exterior mirror 70. In FIG. 3f the sensor 28 is not arranged according to the invention in the middle of the door surface and designed as a 360 ° view sensor. That is, parallel to the outer surface 20 of the door 60 in the angular range of 360 ° signals are transmitted and received.

In FIG. 4 In the transverse direction, a plurality of sensors 24 are arranged in a rear spoiler 72 of a hatchback 73 with a hatchback. The sensors 24 are moved here as with the vehicle door 60 with the tailgate 73, so that when opening the tailgate 73, an obstacle 30 is detected as soon as the tailgate 73 approaches this to a minimum distance 32.

In FIG. 5 the sensors 24 are fixedly attached to the body 11 of the vehicle to monitor the range of motion 34 of a trunk lid 74. Here, the sensors 24 are not moved, ie, that the trunk lid 74 moves as a movable part 10 in the radiation cone 23 of the sensors 24, which cover the entire path of movement 34. In this non-inventive method, however, it is necessary to deposit the sensor signal curve of the undisturbed opening / closing of the part 10 in the control unit 28 as a reference signal. When an obstacle 30 occurs in the movement region 34 of the part 10, the sensors 24 detect a sensor signal deviating from the reference signal, which is registered as the occurrence of an obstacle 30.

FIG. 6 shows a further embodiment of a device for opening and closing a vehicle door 60. The vehicle door 60 as a movable part 10 is mounted at its one edge by means of hinges 18 and has at the opposite edge 62 on a distance sensor 80. When the opening mechanism of the door 60 is actuated, the distance sensor 80 determines the distance to a potential obstacle 30. If the opening 60 of the door 60 falls below a predetermined minimum distance 32 (safety distance), the distance sensor 80 sends a signal to the control unit 28 which provides a locking mechanism 82, which prevents further opening of the door 60. The locking can also be done by arranged on the hinges 18 electromagnetic, pneumatic or hydraulic braking devices. Alternatively, an admissible opening angle 86 of the door 60 is calculated from the determined distance to the obstacle 30 and compared with the measured by means of an angle sensor 88 current opening angle. Upon reaching the maximum allowable calculated opening angle 86 of the locking mechanism 82 or the braking device 84 is activated by the controller 28. Thus, even with manual opening of the vehicle door 60 their damage or damage to an obstacle 30 is prevented.

In a variation of the embodiment, the vehicle door 60 has two parts which are interconnected by means of a hinged joint 90. Again, the distance to the obstacle 30 is determined by the distance sensor 80 and the two-piece locking mechanism 82 is controlled by the sensor 80 via a control unit 28. As a result, the two-part door buckles before the obstacle 30 is touched, and a collision of the outer door part 92 with the obstacle 30 is prevented. By kinking the door 60 is more freedom for getting in and out of the passengers available.

In a further variant, the vehicle door 60 is actuated by means of an adjusting motor 16, whereby the door 60 can also be opened and closed automatically by remote control. In this case, it is also possible to send in a crash, a signal of the triggering device of the airbag to the control unit of the motorized door 60 to automatically unlock the doors 60 with disabled obstacle detection and fully open motor with maximum force. In order to ensure an emergency closure of the vehicle door 60, for example in the event of a robbery, the obstacle detection and the stopping / reversing of the adjustment motor 16 are deactivated by means of an additional manual switch. Deactivation of obstacle detection is also actuated (by hand switch) to open or close movable parts 10 of the vehicle even when in contact with light moving objects such as plant parts. The sensors 24 for obstacle detection are on the one hand set by operation of the opening mechanism of the moving parts 10 in operation, alternatively, the sensors 24 for vehicle doors 60, folding roofs, hood 12 and trunk lid automatically put into operation by a tachometer signal to the control unit 28 is supplied to the Sensors 24 activated as soon as a minimum speed is exceeded.

Another option of the device according to the invention is to leave the sensors 24 ready for operation for a predeterminable time even when the vehicle is parked. For example, in the control unit 28 of a bonnet 12, a reference signal is stored in the closed state. If a deviation from this reference signal occurs, this is an indication that something has entered the engine compartment. In this case, a warning signal is triggered in order to prevent any intrusion To scare off rodents. The sensors are automatically switched off after a period of time typical for engine cooling. Likewise, the sensors 24 on the interior surfaces 22 of the vehicle doors 60 may serve to identify unauthorized intruders in the parked vehicle to then trigger a warning system. The sensors 24 on the outer surfaces of the moving parts 10 can optionally remain in standby mode when the vehicle is parked to detect an approach of unauthorized persons to the vehicle, which is also indicated by the triggering of a warning signal.

Claims (11)

1. Method for opening and closing a part (10) which can be rotated or tilted on a vehicle, in particular a door (60), of a hinged window, a boot lid, an engine bonnet (12) or a folding roof, wherein the part (10) is moved in a movement range (34) between a closed position and an opened position, wherein when the part is opened and/or closed obstacles (30) are detected and a movement of the part (10) is stopped or reversed by means of a control unit (28), and sensors (24) which are arranged on the outside and/or inside (20, 22) of the part (10) pass on, during the adjustment of the part (10), a signal to the control unit (28) to stop or reverse the movement of the part (10) as soon as the part (10) approaches an obstacle (30) to less than the minimum distance, characterized in that the part (10) is adjusted by means of an adjustment rotor (16), and in order to detect an obstacle (30) measurement values of at least one parameter which is representative of an adjustment force of the part (10), are continuously detected and evaluated and compared with a predefined threshold value, and when the threshold value is exceeded the adjustment motor (16) is stopped or reversed, and in that the movement range (34) of the part (10) is divided into detection ranges (36, 38) in which the obstacle (30) is detected by means of the specified sensors (24), and other regions in which the obstacle (30) is detected by means of the parameter which represents the adjustment force of the part (10), wherein the sensors (24) emit and receive electromagnetic waves or ultrasonic waves, wherein the waves are emitted in a plurality of overlapping radiation beams (23), essentially parallel to the part (10), and cover the entire surface of the part (10).
2. Method according to Claim 1, characterized in that the sensors (24) are placed in a state of readiness as soon as the vehicle undershoots a minimum speed.
3. Method according to one of the preceding claims, characterized in that the sensors (24) remain in a state of readiness for an adjustable time after the vehicle engine has been switched off, and when an obstacle (30) is detected in the closed position of the part (10), in particular in the engine compartment, a warning signal is triggered.
4. Method according to Claim 1, characterized in that in a first step the obstacle (30) is detected in a contactless fashion by means of the sensors (24), and in a second step, if the part (10) is in contact with the obstacle (30), said obstacle (30) is detected by means of the parameter representing the adjustment force of the part (10).
5. Method according to one of the preceding claims, characterized in that the detection of obstacles by means of the sensors (24) is monitored by means of the parameter representing the adjustment force of the part (10).
6. Method according to one of the preceding claims, characterized in that the part (10) is automatically opened and closed by means of a remote control.
7. Method according to one of the preceding claims, characterized in that in the event of an accident a signal is conducted from an accident-detection device (pre-crash sensing) to the control unit (28), in order to automatically unlock and open the part (10) completely with maximum force without taking into account detection of an obstacle.
8. Method according to one of the preceding claims, characterized in that the function for detecting an obstacle (30) and/or for stopping or reversing the movement of the part (10) can be deactivated.
9. Method according to one of the preceding claims, characterized in that a distance (32) between the part (10) and the obstacle (30) is determined by means of sensors (24), and a permissible opening/closing angle (86) of the part (10) is predefined on the basis thereof.
10. Method according to one of the preceding claims, characterized in that the part (10) is embodied in multiple parts, in particular in a foldable fashion.
11. Method according to one of the preceding claims, characterized in that the device comprises a locking mechanism (82), actuated by the sensors (24) by means of a control unit (28), or a brake device (84) which limit or stop the movement of the part (10) as soon as the sensors (24) have detected an obstacle (30).

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