Powered closure member actuation system

Abstract

The invention relates to a powered closure member actuation system. Systems and methods for detecting abuse of a closure panel of a motor vehicle are provided. The system includes an actuator coupled to the closure panel and a body of the motor vehicle, the actuator having an electric motor, the actuator configured to move the closure panel relative to the body. The system also includes a current sensing circuit coupled to the electric motor and configured to sense a motor current of the electric motor. A controller is coupled to the actuator and the current sensing circuit, and is configured to monitor a motor current of the electric motor and determine whether the motor current exceeds an abuse threshold. The controller is further configured to turn off power to the electric motor in response to the motor current exceeding an abuse threshold.

Description

Technical Field

[0001] The present disclosure relates generally to closure member systems for motor vehicles and, more particularly, to a powered closure member actuation system for moving a closure member, such as a door, between an open position and a closed position relative to a vehicle body. Background Art

[0002] This section provides background information related to the present disclosure which is not necessarily prior art.

[0003] The closing member of a motor vehicle may be mounted to the vehicle body by one or more hinges. For example, a passenger door may be oriented and attached to the vehicle body by one or more hinges to swing about a generally vertical pivot axis. In such an arrangement, each door hinge typically includes a door hinge strap connected to the passenger door, a vehicle body hinge strap connected to the vehicle body, and a pivot pin arranged to pivotally connect the door hinge strap to the vehicle body hinge strap and define a pivot axis. It has been recognized that such swinging passenger doors ("swing doors") have problems such as, for example, the swing door being opened too far or swinging closed due to the unbalanced weight of the door when the vehicle is located on an inclined surface. To address this problem, most passenger doors have some type of stop mechanism or inhibition mechanism integrated into at least one door hinge in the door hinge for inhibiting uncontrolled swinging movement of the door by positively positioning and maintaining the door in one or more intermediate travel positions other than the fully open position. In some high-end vehicles, the door hinge may include an infinite door inhibition mechanism that allows the door to be opened and remain inhibited at any desired opening position. One advantage of a passenger door equipped with a door hinge having an infinite door restraint mechanism is that the door can be positioned and maintained in any position that avoids contact with adjacent vehicles or structures.

[0004] As a further advancement, a powered closing member actuation system has been developed. For a passenger door, similar to the above-described passenger door, a powered closing member actuation system can be used to automatically swing the passenger door about its pivot axis between an open position and a closed position to assist a user as he or she moves the passenger door, and / or to cause the passenger door to pop out or be presented to the user. Typically, the powered closing member actuation system includes a power operating device such as, for example, an electric motor and a rotational-linear conversion device operable to convert the rotational output of the electric motor into a translational movement of an extendable member. In many devices, the electric motor and the conversion device are mounted to the passenger door, and the distal end of the extendable member is fixedly fastened to the vehicle body. An example of a powered closing member actuation system for a passenger door is shown in International Publication No. WO2013 / 013313, co-owned by Schuering et al., which discloses the use of a rotational-linear conversion device having an externally threaded lead screw rotationally driven by an electric motor and an internally threaded drive nut meshingly engaged with the lead screw, and the extendable member is attached to the internally threaded drive nut. Thus, control of the rotational speed and direction of the lead screw results in control of the speed and direction of translational movement of the drive nut and the extendable member, thereby controlling the swinging movement of the passenger door between its open position and its closed position.

[0005] Although such powered closure member actuation systems function satisfactorily for their intended purpose, one recognized disadvantage relates to the operation of known powered closure member actuation systems in a wide variety of situations. For example, a user may wish to change or override the opening direction of the closure member. In order to avoid damage to the closure member, the power operating device or power drive may be provided with an override clutch, enabling the user to change the movement of the closure plate while the motor is operating. However, such clutches may be expensive and noisy, for example emitting a rattling sound that may cause the user to believe that damage has been caused to the actuator. Furthermore, in some cases, rapid changes of the closure plate by the user (known as abuse) may cause actual damage to the actuator and to the mounting connections of the actuator to the vehicle body and the closure plate.

[0006] In view of the foregoing, there remains a need to develop alternative powered closure member actuation systems that address and overcome the limitations and disadvantages associated with known powered closure member actuation systems and provide increased convenience and enhanced operating capabilities. Summary of the invention

[0007] This section provides a general summary of the disclosure, and is not a comprehensive disclosure of its full scope or all of its features, aspects, and objects.

[0008] One aspect of the present disclosure is to provide a system for detecting abuse of a closure panel of a motor vehicle. The system is configured to monitor the motor current of an electric motor and determine whether the motor current exceeds an abuse threshold. The system shuts off power to the electric motor in response to the motor current exceeding the abuse threshold.

[0009] Another aspect of the present disclosure is to provide a method for detecting abuse of a closure panel of a motor vehicle. The method includes the steps of monitoring a motor current of an electric motor using a current sensing circuit of an electric motor coupled to an actuator, the actuator being coupled to the closure panel and a body of the motor vehicle. The method also continues with the steps of determining whether the motor current exceeds an abuse threshold. The method also includes the steps of shutting off power to the electric motor in response to the motor current exceeding the abuse threshold.

[0010] Further areas of applicability will become apparent from the description provided herein.The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure.

[0012] Figure 1 is a perspective view of an example motor vehicle equipped with a powered closure member actuation system located between a front passenger swing door and a vehicle body according to aspects of the present disclosure;

[0013] Figure 2 is a perspective inside view of a closure member as a lift gate according to aspects of the present disclosure;

[0014] Figure 3 shows a block diagram of a powered closure member actuation system according to aspects of the present disclosure;

[0015] Figure 4 A motor voltage and current sensing circuit for an actuator of a powered closure member actuation system according to aspects of the present disclosure is shown;

[0016] Figure 5 shows the range of movement of a closure member between an open position and a closed position according to aspects of the present disclosure;

[0017] Figure 6 and Figure 7 illustrates the range of movement of a closure member between an open position and a closed position according to aspects of the present disclosure, showing a spike in velocity caused by a slamming event;

[0018] Figure 8illustrates a change in the speed at which a closure member moves toward an open position according to an angle of the closure member in an anti-slamming mode according to aspects of the present disclosure;

[0019] Fig. 9 illustrates a change in the speed at which a closure member moves toward a closed position according to an angle of the closure member in an anti-slamming mode according to aspects of the present disclosure;

[0020] Fig.10 illustrates hysteresis implemented in a powered closure member actuation system by dynamically updating comparison limits for significant switching points in accordance with aspects of the present disclosure;

[0021] Fig.11A and Fig. 11B illustrates operation of a controller in both a power assist mode and an anti-slamming mode according to aspects of the present disclosure;

[0022] Fig.12 shows the relationship between the speed of a closing member and the mode of controller operation according to aspects of the present disclosure;

[0023] Fig. 12A An illustrative method of switching between an automatic mode and a power assist mode according to aspects of the present disclosure is shown;

[0024] Fig.13 and Fig.14 Steps of a method of controlling movement of a closure member based on at least one of a position and a velocity of the closure member using a powered closure member actuation system according to aspects of the present disclosure are shown.

[0025] Fig.15 A method of operation of a powered closure member actuation system for controlling movement of a door during an unplanned stop when the door is operating in an automatic mode according to an illustrative embodiment is shown;

[0026] Fig.15A a door motion graph showing speed versus door angle according to an illustrative embodiment showing door motion during automatic mode operation prior to an interruption, door motion during power-assisted operation after an interruption in automatic mode operation, followed by resumption of automatic mode operation with a motion profile that does not exceed the door motion prior to the interruption;

[0027] Fig.16 A method of operation of a powered closing member actuation system for controlling movement of a door from a small angular position greater than an auxiliary position in an automatic mode is shown in accordance with an illustrative embodiment;

[0028] Fig.17A method of operation of a powered closure member actuation system when wind forces act on a door of a vehicle according to an illustrative embodiment is shown;

[0029] Fig.17A and Fig. 17B is a graph showing changes in sensed current as a result of a user manually controlling a door according to an illustrative embodiment;

[0030] Fig.18 A method of detecting operation of a manually controlled powered closure member actuation system of a closure panel while detecting a user using a non-contact obstacle detection system is shown in accordance with an illustrative embodiment;

[0031] Fig.19 A method of operation of a powered closure member actuation system that detects movement of a vehicle while detecting movement of a closure member is shown in accordance with an illustrative embodiment;

[0032] Fig. 20 shows other configurations of a controller operating in different obstacle detection modes according to an illustrative embodiment;

[0033] Fig.21 shows motor current based on motion monitoring on a closure member according to an illustrative embodiment;

[0034] Figure 22 to Figure 26 A technique for determining an abuse loading condition based on detected current flow according to an illustrative embodiment is shown;

[0035] Fig. 27 shows a side view of a motor vehicle with a liftgate in a substantially open position according to an illustrative embodiment;

[0036] Fig.28 is another side view of a motor vehicle with the liftgate only partially open, illustrating the side loads on the spindle or actuator that result from Fig. 27 The more axial load compared to the increased moment arm change;

[0037] Fig.29 Steps of a method of detecting abuse of a closure plate of a motor are shown according to an illustrative embodiment. DETAILED DESCRIPTION

[0038] In the following description, details will be set forth to provide an understanding of the present disclosure. In some cases, certain circuits, structures, and techniques are not described or shown in detail to avoid obscuring the present disclosure.

[0039] In summary, at least one example embodiment of a power closure member actuation system or a user modifiable system constructed according to the teachings of the present disclosure will now be disclosed. Example embodiments are provided so that the present disclosure will be thorough and will fully convey the scope to those skilled in the art. Many specific details such as examples of specific components, devices and methods are set forth to provide a thorough understanding of the embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details do not need to be adopted, and example embodiments can be implemented in many different forms and should not be construed as limiting the scope of the present disclosure. In some example embodiments, well-known processes, well-known device structures and well-known technologies are described in detail.

[0040] First refer to Figure 1 , an example motor vehicle 10 is shown including a first passenger door 12, or also referred to as an example closure member 12, 3000, which is pivotally mounted to a vehicle body 14 via an upper door hinge 16 and a lower door hinge 18 shown in phantom. In accordance with the present disclosure, a powered closure member actuation system 20 is integrated into the pivotal connection between the first passenger door 12 and the vehicle body 14. According to a preferred configuration, the powered closure member actuation system 20 generally includes a power-operated actuator mechanism or actuator 22 fixed within an interior cavity of the passenger door 12 and a rotary drive mechanism driven by the power-operated actuator mechanism 22 and drivingly coupled to a hinge component associated with the lower door hinge 18. Driven rotation of the rotary drive mechanism causes controlled pivotal movement of the passenger door 12 relative to the vehicle body 14. According to the preferred configuration, the power-operated actuator mechanism 22 is rigidly coupled to the door-mounted hinge component of the upper door hinge 16 in close proximity, while the rotary drive mechanism is coupled to the vehicle-mounted hinge component of the lower door hinge 18. However, those skilled in the art will recognize that alternative packaging configurations for the powered closure member actuation system 20 may be used to accommodate available packaging space. One such alternative packaging configuration may include mounting the power-operated actuator mechanism to the vehicle body 14 and drivingly interconnecting the rotary drive mechanism to the door-mounted hinge component associated with one of the upper door hinge 16 and the lower door hinge 18.

[0041] Each of the upper door hinge 16 and the lower door hinge 18 includes a door-mounted hinge component and a body-mounted hinge component that are pivotally interconnected by a hinge pin or column. The door-mounted hinge component is hereinafter referred to as a door hinge strap, and the body-mounted hinge component is hereinafter referred to as a body hinge strap. Although the powered closing member actuation system 20 is shown only as being associated with the front passenger door 12, those skilled in the art will recognize that the powered closing member actuation system 20 can also be associated with any other closed member (e.g., a door or liftgate) of the vehicle 10, such as the rear passenger door 17 and the trunk lid 19. Further details regarding such a powered closing member actuation system 20 are discussed in International Publication No. WO2020252601 to Herman et al., which is incorporated herein by reference.

[0042] Reference Figure 2 , another vehicle 10 having a vehicle body 14 is shown, wherein the closing panel is shown as a liftgate 3000 coupled to the vehicle body 14. The closing panel 3000 is connected to the vehicle body 14 via one or more hinges 3002 and a vehicle latch 83 (e.g., for holding the closing panel 3000 in a closed position once closed). It is also recognized that the hinge 3002 can be configured to bias the hinge 3002 to bias the closing panel 3000 toward an open position and / or toward a closed position. Therefore, the hinge 3002 can also include one or more actuating struts to assist in the opening and closing of the closing panel 3000 as desired. The closing panel 3000 has a mating latch component 3004 (e.g., a strike pin) mounted thereon for coupling with a latch 83 mounted on the vehicle body 14. Alternatively, the latch 83 can be mounted on the closing panel 3000, and the mating latch component (striker pin) 3004 is mounted on the vehicle body 14 (not shown). For example, the latch 83 can have a ratchet (not shown) for holding the strike pin 3004 between a strike pin release position corresponding to the open position of the closure panel 3000 and an auxiliary strike pin capture position corresponding to a partially closed position (e.g., an auxiliary position) of the closure panel 3000. In addition, the ratchet can be configured to have a primary strike pin capture position corresponding to a fully closed position (e.g., a latched position or a primary position) of the closure panel 3000.

[0043] Still refer to Figure 2 , the actuator 22 may take the form of one or more power-actuated strut assemblies 22. The closure panel 3000 is connected to the vehicle body 14 via one or more hinges 3002 and latches 83 (e.g., for holding the closure panel 3000 in a closed position once closed). At least one of the strut assemblies 22 also includes a motor 36 for extending and retracting the strut assembly 22, thereby opening and closing the liftgate 3000.

[0044] The hinge 3002 (and / or the strut assembly 22) can provide movement of the closure panel 3000 between the closed panel position and the open panel position, such that the hinge 3002 can participate during movement of the closure panel 3000 between the open panel position and the closed panel position, can participate (e.g., as a biasing hinge 3002 or strut assembly 22) in driving the movement of the closure panel 3000 toward the open panel position, or can participate in driving the movement of the closure panel 3000 toward the closed panel position. In the illustrated embodiment, the closure panel 3000 pivots between the open panel position and the closed panel position about a pivot axis 3006 (e.g., of the hinge 3002), which can be configured to be horizontal or otherwise parallel to a support surface 3008 of the vehicle 10. In other embodiments, the pivot axis 3006 can have some other orientation, such as vertical or otherwise extending at an angle outward from the support surface 3008 of the vehicle 10. In yet another embodiment, the closure panel 3000 can move in a manner other than pivoting, for example, the closure panel 3000 can translate along a predefined track, or can undergo a combination of translation and rotation between an open panel position and a closed panel position, such that the hinge 3002 includes both a pivoting component and a translating component (not shown). A door seal 3010 is also shown. Additional details regarding the lift gate 3000 and its operation are discussed in US20220243503, which is incorporated herein by reference.

[0045] Figure 3 A block diagram of a powered closure member actuation system 20 of a powered door system 21 for moving a closure member (e.g., door 12) of a vehicle 10 between an open position and a closed position relative to a vehicle body 14 is shown. As discussed above, the powered closure member actuation system 20 includes an actuator 22 coupled to the closure member (e.g., door 12) and the vehicle body 14. The actuator 22 is configured to move the closure member 12, 3000 relative to the vehicle body 14. The powered closure member actuation system 20 also includes a controller 50 coupled to the actuator 22 and in communication with other vehicle systems (e.g., a body control module), and also receives vehicle power from the vehicle 10 (e.g., from a vehicle battery 53).

[0046] The controller 50 can operate in at least one of an automatic mode (in response to an automatic mode start input 54) and a power-assisted mode (in response to a motion input 56). In the automatic mode, the controller 50 commands the closing member to move through a predetermined motion profile (e.g., to open the closing member). The power-assisted mode differs from the automatic mode in that the motion input 56 from the user can be continuous to move the closing member, rather than a single input from the user in the automatic mode. The command 51 from the vehicle system can, for example, include an instruction to the controller 50 to open the closing member, close the closing member, or stop the movement of the closing member. Such control inputs, such as inputs 54, 56, can also include other types of inputs 55, such as inputs from a body control module, which can receive a wireless command to control the door to open based on a signal such as a wireless signal received from, for example, a key fob 60 or other wireless device (e.g., a cellular smart phone) or from a sensor assembly such as a radar or optical sensor assembly disposed on the vehicle, which detects the user's approach, such as a gesture or gait of the user, such as walking, as the user approaches the vehicle. For example, other components that may have an impact on the operation of the power closing member actuation system 20 are also shown, such as a door seal 57 of the vehicle door 12. Additionally, environmental conditions 59 (rain, cold, heat, etc.) may be monitored by the vehicle 10 (e.g., by a body control module) and / or the controller 50. The controller 50 also includes an artificial intelligence learning algorithm 61. A vehicle tilt sensor 86 (e.g., an accelerometer) may also be included in or coupled to the controller 50 for detecting the tilt of the motor vehicle 10.

[0047] Figure 4 A current sensing circuit 3083 is shown that may be included as part of a powered closure member actuation system 20. The electric motor 36 of the actuator 22 has a pair of motor terminals 3083a, 3083b and is configured to drive a coupling such as a gear train, a gear reduction unit, etc. to move a closure plate (e.g., a liftgate 3000), and includes a four-terminal shunt resistor 3092 (e.g., Bourns CST0612) in series with the electric motor 36. Alternatively, the four-terminal shunt resistor 3092 may alternatively be part of the motor voltage and current sensing circuit 3083. Two current sensing amplifiers 3094 (e.g., Texas Instruments INA286-Q1) are coupled to the four-terminal shunt resistor 3092 to sense current in two directions (a first rotational direction of the electric motor 36 and a second rotational direction opposite the first rotational direction).

[0048] The motor voltage and current sensing circuit 3083 also includes two voltage dividers 3096, which are also coupled to the four-terminal shunt resistor 3092 to provide voltage sensing in two directions. Likewise, the voltage divider 3096 may alternatively be part of the electric motor 36. Although the motor voltage and current sensing circuit 3083 may be implemented as shown, it should be understood that the motor voltage and current sensing circuit 3083 may alternatively be implemented using various other circuits capable of sensing the motor current and motor voltage of the electric motor 36.

[0049] Figure 5 The range of movement of a closure member (e.g., door 12 or liftgate 3000) between an open position and a closed position is shown. Although the open and closed positions are shown as being 90 degrees apart from each other, it should be understood that other configurations and movements of the closure panel 12, 3000 are contemplated (e.g., the open and closed positions may be greater or less than 90 degrees from each other). Based on at least one closure member feedback sensor 64 ( Figure 2 ) detected position and / or velocity of the closure plate 12, 3000, the controller 50 may control the actuator 22 to prevent or minimize slamming of the closure member 12, 3000 (e.g., to prevent abuse by a user). The slam control conditions depend on the direction of the slam (open or closed) and the angle at which the slam is detected. Figure 5 The angles X and Y shown in are example slam control conditions in the opening and closing directions, respectively, and the full travel angle is indicated at 300.

[0050] Abuse caused by slamming of the closure member 12, 3000 may result in damage to the vehicle latch 83, the vehicle door 12, the door hinges 16, 18, the mounting points of the spindle to the door and / or body, the end fittings of the balancer, and may also result in damage to the actuator 22 when the slamming causes the actuator 22 to exceed the operating rating of the actuator. For example, the slamming of the closure member 12, 3000 itself may cause the actuator 22 to operate above the operating rating, which may cause damage to the actuator 22, resulting in shortened life and reduced performance, and ultimately leading to failure requiring replacement or repair of the actuator 22. In one example, the slamming of the closure member 12, 3000 may cause the actuator 22 to operate above the operating rating and, for example, cause the motor 36 of the actuator 22 to rotate above the maximum rotational speed limit of the motor 36, which speed limit may cause damage to the motor 36 in the form of coil winding separation due to high centrifugal forces in configurations where the actuator 22 includes a DC brush motor, or other types of damage. Such a slamming event of the closure plate 12 may result in such a maximum rotational speed limit of the motor 36 being exceeded, particularly when a gear reduction unit is coupled to the motor output, resulting in an increase in the speed of the motor 36 due to the slower movement of the closure member 12, 3000. Furthermore, abuse of the actuator 22 in response to a slamming event in order to mitigate damage to vehicle doors, latches, door hinges, etc. caused by slamming may also result in damage to the actuator 22 that is controlled in response, such as by controlling the actuator 22 to reduce the speed of the closure member 12, 3000 caused by the slamming without regard to the actuator 22 being controlled to exceed the operating limit or rating of the actuator 22 in order to meet such a speed reduction, such as to ensure that the closure member 12, 3000 stops before experiencing a hard stop.For example, the present disclosure provides control of the actuator 22 for responding to a slam event within the operating limits of the actuator 22 to prevent and / or mitigate damage to the actuator 22 caused by the slam event, and, for example, provides control of the actuator 22 to maintain operation of the actuator 22 below a maximum rotational speed of the motor 36 (e.g., excessive speeds may cause the coil windings to separate or separate), a maximum power rating of the motor 36 (e.g., excessive power provided to the motor 36 of the actuator 22 may cause damage to electrical components and / or cause overheating), a maximum back electromotive force (EMF) output rating (e.g., due to the closing member 12, 30 00 slamming and allowing the motor 36 to be back driven without reducing the speed of the back driven motor 36 may result in an excessive amount of back EMF voltage generated by the motor 36, thereby causing overloading of electronic components such as the controller 50 or other back EMF protection circuit systems), maximum thermal ratings (e.g., operating the motor 36 for a long period of time in a stalled or slow moving closing member due to the tilting of the door 12 or lift gate 3000 - the actuator 22 must resist the movement of the tilt control door 12 or lift gate 3000), and maximum electric braking ratings (e.g., excessive power provided to the motor 36 of the actuator 22 may damage electrical components and / or cause overheating). Other actuator limitations or ratings are contemplated, such as any ratings or limitations associated with a reduction gear train coupled to the output of the motor 36.

[0051] In another example, abuse caused by slamming the closing member 12, 3000 when the closing plate is at a small opening angle may cause damage to the vehicle latch 83, the vehicle door 12, the door hinges 16, 18, the lift gate 3000, the hinge 3002, the spindle / balancer and / or the pivot point of the spindle / balancer. When the opening angle of the door or lift gate is small, the abuse may be amplified due to the minimum moment arm, such as causing side loads on the actuator and actuator mounting connector when the closing plate is a lift gate 3000 and the actuator is a balancer / spindle. For example, the abuse may be amplified when the abuse is in a direction opposite to the operating direction of the actuator, such as, for example, when the abuse is toward the door closing direction when the actuator 22 is actively powered in the door opening direction.

[0052] like Figure 6As shown in FIG. 30 , there is an example of a closure member 12, 3000 being slammed toward an open position. Specifically, at numeral 302, the door begins to open in automatic mode, but the user decides to slam the door toward the open position, causing the initial velocity of the closure plate to exceed a predetermined maximum velocity threshold value Vmax, as indicated by peak 304 as detected by the controller 50. Since the slamming exceeds the maximum velocity rating of the motor 36, the speed of the motor is reversely driven through the reduction gear train, which may cause damage, such as separating the motor coils of a brushed DC motor. Furthermore, the slamming may, as a result, generate a large spike in the EMF in the motor, causing damage to the electronic components connected to the motor 36.

[0053] Similarly, Figure 7 An example of a slamming of the closing member 12, 3000 toward the open position is shown. Specifically, at numeral 306, the door begins to open in the automatic mode, but the user decides to slam the door toward the open position, causing the initial speed of the closing member 12, 3000 to exceed the predetermined maximum speed threshold Vmax, as shown by peak 308 as detected by the controller 50. Since the slamming exceeds the maximum speed rating of the motor 36, the speed of the motor 36 is reversely driven through the reduction gear train, which may cause damage, such as separating the motor coils of the brushed DC motor. In addition, the slamming may therefore generate a large spike in the EMF in the motor 36, causing damage to the electronic components connected to the motor 36.

[0054] The control techniques described herein will detect such a slam event that causes the closing member 12, 3000 to exceed a predetermined maximum speed threshold, and in response, the controller 50 will control the actuator 22 to resist the movement of the closing member 12, 3000 toward the open position, such as by employing dynamic braking or rheostatic braking control, or DC injection braking control of the motor 36 as examples. In order for the actuator 22 not to exceed its operating limits or ratings, the controller 50 described herein can be configured to control the actuator 22 so that the closing member 12, 3000 can be allowed to move to a hard stop position or before a hard stop position (e.g., an auxiliary latch position) at a certain speed (e.g., a non-zero speed) that has been reduced to a certain extent by the actuator 22 without operating the actuator 22 to such a speed. Figure 7As shown, due to the detection of a slamming event, such as due to the closing member 12, 3000 exceeding Vmax or a predetermined speed threshold, in response, the actuator 22 is controlled to resist the movement of the closing member 12, 3000 before allowing the door 12 to generate potential energy and increase speed. Because the actuator 22 is configured to resist door movement, rather than a mechanical brake or clutch or other type of mechanical coupling, the rapid reduction in the speed of the closing member 12, 3000 due to the slamming initiated by the user allows the actuator to control and reduce the speed of the closing member 12, 3000 to within the safe operating limits of the actuator 22 without causing excessive strain on the actuator 22 (such as Figure 6 and Figure 7 ). Therefore, the slamming effect on the door 12 and components such as the latch 83 and the hinges 16, 18 can be mitigated, and damage to the actuator 22 can be avoided.

[0055] Therefore, the controller 50 of the powered closing member actuation system 20 is configured to use the closing member feedback sensor 64 to monitor at least one of the position and speed of the closing member 12, 3000. When the feedback sensor 64 is a current sensor, the speed of the closing member can also be monitored by the current flowing through the motor. The controller 50 is also configured to generate a command to reduce the speed of the closing member 12, 3000 based on at least one of the position and speed of the closing member 12, 3000 when the closing member moves toward one of the open position and the closed position. The controller 50 is further configured to receive the command through the actuator 22 to change the actuator output force acting on the closing member 12, 300 to move the closing member 12, 3000 to control the movement of the closing member 12, 3000. The controller 50 is configured to control the movement of the closing member 12, 3000 through the actuator 22 based on the position and velocity of the closing member 12, 3000 determined using the closing member feedback sensor 64, which can be, for example, an accelerometer 87 in communication with the controller 50, to resist movement of the closing member toward one of the open position and the closed position without exceeding the operating rating of the actuator, which may damage the actuator. To increase the sensitivity of the slam event detection to allow the controller to react quickly and begin controlling the actuator to provide resistance to the door movement caused by the slam, the accelerometer 87 can be disposed, for example, opposite the door hinge and can be disposed as part of the latch. The control of the slam discussed herein depends on the direction of the slam (e.g., whether the closing member 12, 3000 is slammed toward the open or closed position) and the position or angle (for a swinging door) of the closing member 12, 3000 at which the slam is detected.

[0056] Thus, the speed or velocity of the closure member 12, 3000 may be an angular velocity. The first predetermined closure member angle F or X° ( Figure 5 ) is shown as an important condition for slamming in the opening direction (ie, movement of the closure member towards the open position), and the second predetermined closure member angle Q or Y° ( Figure 5 ) is shown as an important condition for slamming in the closing direction (ie, movement of the closing member towards the closed position).

[0057] In another possible configuration, the controller 50 is also configured to brake the motor, for example by short-circuiting the motor, as illustratively described in US20190017311A1, the entire contents of which are incorporated herein by reference. In another option, the controller can reverse the motor operation.

[0058] In another possible configuration, the controller 50 is further configured to, in response to abuse applied by a user moving the closing plate, stop the operation of the motor, such as by opening the motor circuit and allowing the motor to rotate freely, as illustratively described in US20190017311A1, the entire contents of which are incorporated herein by reference. Thus, the force of the actuator on the closing plate is reduced, and thus the net force acting on the actuator / door (the sum of the actuator output force and the sum of the abuse force) is minimized to the abuse force acting only on the actuator.

[0059] As discussed, the controller 50 may operate in at least one of the automatic mode and the power-assisted mode. In addition, the controller 50 may also operate in the anti-slamming mode. In more detail, the controller 50 is configured to control the actuator 22 to move the closing member 12, 3000 in one of the automatic mode and the power-assisted mode. Then, the controller 50 determines whether the speed of the closing member 12, 3000 is greater than a predetermined maximum speed threshold. Then, the controller 50 is configured to continue to control the actuator 22 to move the closing member 12, 3000 in one of the automatic mode and the power-assisted mode in response to the speed of the closing member 12, 3000 being not greater than the predetermined maximum speed threshold. In addition, the controller 50 is configured to exit one of the automatic mode and the power-assisted mode and enter the anti-slamming mode in response to the speed of the closing member 12, 3000 being greater than the predetermined maximum speed threshold.

[0060] As described above, the controller 50 is coupled to the tie actuator or motor 99 of the latch 83 that moves the closing member (e.g., the door 12 or liftgate 3000) from the latch secondary position to the latch primary position. Thus, the controller 50 is also configured to detect the direction of movement of the closing member 12, 3000. The controller 50 is configured to determine whether the angle of the closing member 12, 3000 is less than the first predetermined closing member angle F in response to detecting that the closing member 12, 3000 is moving toward the open position.

[0061] like Figure 8 As best shown in , if the closing member 12, 3000 is moved toward the open position, the controller 50 is generally configured to change the deceleration rate of the closing member 12, 3000 as the closing member moves toward the open position based on the angle of the closing member 12, 3000 in the anti-slamming mode. The controller 50 is also configured to ensure that the angular velocity Vswing of the closing member 12, 3000 is zero at a first predetermined closing member angle F before the opening hard stop. A minimum deceleration 310 and a maximum deceleration 312 are shown, as well as an example maximum deceleration 314. The deceleration rate of the angular velocity Vswing will depend on the angle at which the slam is detected, and ensure that the door angular velocity = 0° / s at a predetermined distance before the hard stop. Therefore, the closer the slam is detected to the hard stop, the faster the door will decelerate.

[0062] More specifically, the controller 50 is configured to control the actuator 22 to reduce the speed Vswing of the closing member 12, 3000 to allow the opening hard stop in response to determining that the angle of the closing member 12, 3000 is not less than the first predetermined closing member angle F. The controller 50 controls the actuator 22 to reduce the speed of the closing member 12, 3000 to zero at or before the open position in response to determining that the angle of the closing member 12, 3000 is less than the first predetermined closing member angle F. Then, the controller 50 determines whether manual control is detected, and determines whether the closing member 12, 3000 is in the open position in response to determining that the manual control is not detected. The controller 50 is configured to return to detecting the moving direction of the closing member 12, 3000 in response to determining that the closing member 12, 3000 is not in the open position. The controller 50 exits the anti-slamming mode in response to determining that the closing member 12, 3000 is in the open position. In addition, the controller 50 controls the actuator 22 in the power-assisted mode in response to determining that the manual control is detected and exits the anti-slamming mode.

[0063] like Fig. 9As best shown in , if the closing member 12, 3000 moves toward the closed position, the controller 50 is configured to verify that the angle of the closing member 12, 3000 is greater than the second predetermined closing member angle Q when the closing member 12, 3000 moves toward the closed position in the anti-slamming mode. The controller 50 is also configured to slow the closing member 12, 3000 to a predetermined reference speed Vswing according to the angle of the closing member 12, 3000 in response to verifying that the angle of the closing member 12, 3000 is greater than the second predetermined closing member angle Q. The controller 50 is further configured to maintain the predetermined reference speed Vswing until the closing member 12, 3000 moves to the latch auxiliary position. The controller 50 slows the closing member 12, 3000 to a predetermined cinch speed Vcinch position in response to verifying that the angle of the closing member 12, 3000 is not greater than the second predetermined closing member angle Q. The controller 50 is configured to allow the closing member 12, 3000 to move to the latch primary position at the predetermined cinch speed Vcinch. Minimum and maximum decelerations 316 and 318 are shown, as well as an example deceleration 320 after the Y position (the door will drive directly to the fully closed position).

[0064] Therefore, if a slam is detected in the closing direction, the controller 50 will allow the door to fully close. The controller 50 will verify the door angle at the moment the slam is detected. If a slam is detected at any door position greater than angle Y, the controller will slow the door to Vswing and maintain the Vswing speed until the door enters the latch's tie-down range (angle Y is defined as fully closed + TBD degrees). If a slam event is initiated at a starting door position angle less than Y, the controller 50 will slow the door, however, the door will close directly to the fully closed position. The deceleration rate of Vswing will depend on the angle at which the slam is detected and ensure that the door angular velocity = Vswing° / s at a predetermined distance before the latch auxiliary position. Therefore, the closer the slam is detected to the latch, the faster the door will decelerate.

[0065] In more detail, the controller 50 determines whether the angle of the closing member is greater than the second predetermined closing member angle Q in response to detecting that the closing member moves toward the closed position. The controller 50 is configured to control the actuator 22 to reduce the speed of the closing member 12, 3000 in response to determining that the angle of the closing member 12, 3000 is not greater than the second predetermined closing member angle Q to allow the closing member 12, 3000 to enter the latch main position. The controller 50 controls the actuator 22 to reduce the speed of the closing member 12, 3000 in response to determining that the angle of the closing member 12, 3000 is greater than the second predetermined closing member angle Q to allow the closing member 12, 3000 to enter the latch auxiliary position. The controller 50 is configured to determine whether manual control is detected. The controller 50 controls the actuator 22 in the power assist mode and exits the anti-slamming mode in response to determining that the manual control is detected. In addition, the controller 50 determines whether the closing member 12, 3000 is in the latch auxiliary position in response to determining that the manual control is not detected. The controller 50 is also configured to control the cinch actuator 99 to move the closing member 12, 3000 to the latch primary position in response to determining that the closing member 12, 3000 is in the latch auxiliary position. The controller 50 is also configured to generate an alarm signal (e.g., provide an audible or tactile feedback to the user) during the control of the cinch actuator 99 and return to detect the movement direction of the closing member 12, 3000. The controller 50 returns to control the actuator 22 to reduce the speed of the closing member 12, 3000 to allow the closing member 12, 3000 to enter the latch auxiliary position in response to determining that the closing member 12, 3000 is not in the latch auxiliary position.

[0066] like Fig.10 As best shown in , the controller 50 implements hysteresis by dynamically updating comparison limits for important switching points in the algorithm. More specifically, the controller 50 is configured to allow the closing member 12, 3000 to continue to move in the automatic mode as long as the angular velocity of the closing member 12, 3000 is: (i) at a predetermined reference speed Vswing; or (ii) within the automatic mode upper gap UG between the predetermined reference speed Vswing and the automatic upper angular velocity UL; or (iii) within the automatic mode upper gap LG between the predetermined reference speed Vswing and the automatic lower angular velocity LL. The controller 50 enters the power assist mode in response to the angular velocity of the closing member 12, 3000 being less than the automatic lower angular velocity LL or greater than the automatic upper angular velocity UL. The controller 50 is configured to switch to the anti-slamming mode once the angular velocity of the closing member 12, 3000 is a high speed upper threshold HSB greater than a predetermined maximum speed threshold SL. Furthermore, the controller 50 is configured to switch back to the power assist mode once the angular velocity of the closing member 12, 3000 slows to a high speed lower threshold HSA less than a predetermined maximum speed threshold SL. This operation helps to avoid algorithm jumps and forced switching in the case of small noise and speed measurement tolerances.

[0067] Fig.11A and Fig. 11B 2 shows the operation of the controller 50 in both the power assist mode and the anti-slamming mode. Fig. 11B As shown, an anti-slamming gap (ASG) range 321 associated with the anti-slamming mode and a manual power assist range 322 associated with the power assist mode are shown, and the controller 50 can switch between these two modes based on the speed of the closing member 12, 3000. In other words, when performing anti-slamming, if the speed returns to a normal reference value, the controller 50 should be able to switch back to the power assist mode. This is Fig. 11B The speed is shown by arrows to illustrate the switching capability between modes and should not be confused with the speed gap during acceleration / deceleration.

[0068] Fig.12 The relationship between the speed of the closing member and the mode in which the controller 50 operates is shown. The arrow labeled 323 indicates that the user has accelerated the door outside the Vswing range, and the arrow labeled 324 indicates that the user has decelerated the door outside the Vswing range. The range of power assist: anti-slamming mode is shown as 326, the range of power assist mode is shown as 328, the range of automatic mode is shown as 330, and the automatic speed range is shown as 332. Fig. 12AA method 401 is shown, for example, performed by the controller 50, for switching between an automatic mode and a power-assisted mode based on a detected deviation from a reference speed profile exceeding a speed threshold, for example, from an upper (UL) speed threshold and a lower (LL) speed threshold, as a result of a user manually moving the door 12. A non-contact detection system may be used in conjunction with the method 401 for confirming whether the door 12 was moved due to a user approaching the door 12. Such a non-contact detection system is discussed in U.S. Patent Application No. 2018 / 0238099, which is incorporated herein by reference. The method 401 may include the steps of providing a reference speed profile 403, such as retrieving a stored door motion / speed profile from a memory such as memory 92, according to which the door 12 moves, then subsequently comparing or determining the difference between the reference speed profile and the actual detected speed 407 of the door 12 at step 405 to determine any deviation or error in the door motion from the reference speed profile, then subsequently determining in step 409 whether the deviation is greater than a threshold speed level, either above the reference speed predetermined threshold at the actual door angle or below the reference speed predetermined threshold at the actual door angle. If the controller 50 does not determine at step 409 that the deviation exceeds the predetermined threshold, the method proceeds to step 411 where the controller 50 continues to control the door 12 in the automatic mode and returns to step 403. If the controller 50 does determine at step 409 that the deviation exceeds the predetermined threshold, the method proceeds to step 413 where the controller 50 switches to the power assist mode. If the controller 50 then determines at step 415 upon receiving an automatic mode command, such as a door close command using the automatic mode, the controller 50 will determine whether the speed of the door is zero, or in other words whether the door is stationary. If the door is stationary, the controller 50 may continue to control the door in the automatic mode at step 411. If the controller 50 does not determine that the door is stationary when the automatic mode command is received, the controller 50 may continue to control the door in the power assist mode at step 413. Verifying that the door is stationary before controlling the door in the automatic mode ensures that the power assist mode is not overridden, such as by an automatic mode command from a switch inside the vehicle, by a remote FOB, etc., as examples, to ensure that a user moving the door using the power assist mode maintains control of the door in the power assist mode without being overridden by another operating mode of the system 20. Thus, the power assist mode, whereby the user controls and accesses the door, takes precedence over other control sources.

[0069] like Fig.13 and Fig.14, a method for controlling movement of a closure member 12, 3000 of a vehicle 10 between an open position and a closed position relative to a vehicle body 14 based on at least one of a position and a velocity of the closure member 12, 3000 is also provided. The method includes: a step 400 of starting a door command generator function; and a step 401 of moving the closure member 12, 3000 relative to the vehicle body 14 (e.g., toward an open position) using an actuator 22 of a powered closure member actuation system 20 coupled to the closure member 12, 3000 and the vehicle body 14. As discussed, the controller 50 is operable in at least one of an automatic mode, a power-assisted mode, and an anti-slamming mode. Thus, the method also includes the step of controlling the actuator 22 to move the closure member 12, 3000 in one of the automatic mode and the power-assisted mode. The method continues with step 402 of determining at least one of a position and a velocity of the closure member 12, 3000 using a closure member feedback sensor 64 of the powered closure member actuation system 20. The next step of the method is to monitor 404 at least one of the position and velocity of the closure member 12 , 3000 using the controller 50 of the powered closure member actuation system 20 coupled to the closure member feedback sensor 64 and the actuator 22 .

[0070] Next, it is determined 406 whether the speed of the closing member 12, 3000 is greater than a predetermined maximum speed threshold. The method also includes step 408 of continuing to control the actuator 22 in one of the automatic mode and the power-assisted mode to move the closing member 12, 3000 in response to the speed of the closing member 12, 3000 not being greater than the predetermined maximum speed threshold. The next step of the method is to exit 410 one of the automatic mode and the power-assisted mode and 412 enter the anti-slamming mode in response to the speed of the closing member 12, 3000 being greater than the predetermined maximum speed threshold.

[0071] Typically, the method further includes the step of generating a command to reduce the speed of the closing member 12, 3000 based on at least one of the position and speed of the closing member 12, 3000 using the controller 50 when the closing member 12, 3000 moves toward one of the open position and the closed position. The method continues by receiving the command by the actuator 22 to change the actuator output force acting on the closing member 12, 3000 to move the closing member 12, 3000 to control the movement of the closing member 12, 3000.

[0072] Reference Fig.14, the method further comprises a step 414 of detecting the direction of movement of the closing member 12, 3000. Therefore, if the closing member 12, 3000 moves toward the open position, the method continues with step 416: in response to detecting that the closing member 12, 3000 moves toward the open position, determining whether the angle of the closing member 12, 3000 is less than the first predetermined closing member angle F. The next step of the method is 418: in response to determining that the angle of the closing member 12, 3000 is not less than the first predetermined closing member angle F, controlling the actuator 22 to reduce the speed of the closing member 12, 3000 to allow the opening hard stop. The method then comprises a step 420: in response to determining that the angle of the closing member 12, 3000 is less than the first predetermined closing member angle F, controlling the actuator 22 to reduce the speed of the closing member 12, 3000 to zero at or before the open position. The method proceeds with the following steps: step 422 determines whether manual control is detected; and step 424 determines whether the closing member 12, 3000 is in the open position in response to determining that manual control is not detected. The next step of the method is 426: in response to determining that the closing member 12, 3000 is not in the open position, return to detecting the movement direction of the closing member 12, 3000. The method proceeds with the following steps: step 428 in response to determining that the closing member 12, 3000 is in the open position, exiting the anti-slamming mode; and step 430 in response to determining that manual control is detected, controlling the actuator 22 in the power assist mode and exiting the anti-slamming mode.

[0073] If the closing member 12, 3000 moves toward the closed position, the method includes step 432: in response to detecting that the closing member 12, 3000 moves toward the closed position, determining whether the angle of the closing member is greater than a second predetermined closing member angle Q. The method continues with 434: in response to determining that the angle of the closing member 12, 3000 is not greater than the second predetermined closing member angle Q, controlling the actuator 22 to reduce the speed of the closing member 12, 3000 to allow the closing member 12, 3000 to enter the latch primary position. The method also includes step 436: in response to determining that the angle of the closing member 12, 3000 is greater than the second predetermined closing member angle Q, controlling the actuator 22 to reduce the speed of the closing member 12, 3000 to allow the closing member 12, 3000 to enter the latch auxiliary position. The method additionally includes the steps of: 438 determining whether manual control is detected; and in response to determining that manual control is detected, controlling the actuator 22 in the power assist mode 439 and exiting the anti-slamming mode 440. The next step of the method is 442: In response to determining that no manual control is detected, determining whether the closing member 12, 3000 is in the auxiliary position. The method continues with step 444: In response to determining that the closing member 12, 3000 is in the latch auxiliary position, controlling the tie-pull actuator 99 to move the closing member 12, 3000 to the latch primary position. Next, 446 generates an alarm signal during control of the tie-pull actuator 99, and 448 returns to detecting the movement direction of the closing member 12, 3000. The method proceeds to 450: In response to determining that the closing member 12, 3000 is not in the latch auxiliary position, returning to control the actuator 22 to reduce the speed of the closing member 12, 3000 to allow the closing member 12, 3000 to enter the latch auxiliary position.

[0074] As previously discussed, the controller 50 implements hysteresis by dynamically updating the comparison limits for important switching points in the algorithm. Therefore, the method further includes the following steps: allowing the closing member 12, 3000 to continue to move in the automatic mode as long as the angular velocity of the closing member 12, 3000 is: (i) at a predetermined reference speed Vswing; or (ii) within the automatic mode upper gap UG between the predetermined reference speed Vswing and the automatic upper angular velocity UL; or (iii) within the automatic mode upper gap LG between the predetermined reference speed Vswing and the automatic lower angular velocity LL. The method continues by entering the power assist mode in response to the angular velocity of the closing member 12, 3000 being less than the automatic lower angular velocity LL or greater than the automatic upper angular velocity UL. The method further includes the following steps: switching to the anti-slamming mode once the angular velocity of the closing member 12, 3000 is a high speed upper threshold HSB greater than a predetermined maximum speed threshold SL. The method further includes the following steps: switching back to the power assist mode once the angular velocity of the closing member 12, 3000 slows down to a high speed lower threshold HSA less than the predetermined maximum speed threshold SL.

[0075] Now refer to Fig.15, the following flow chart is shown, which shows a method of operation of a powered closing member actuation system 20 for controlling a door during an unplanned stop when the door is moved by the powered closing member actuation system 20 configured in automatic mode. At step 1710, the unplanned stop routine begins, wherein the controller 50 must determine the cause of the interruption of travel and control the actuator 22 or another braking mechanism (if provided) or both to stop the movement of the door. Next, the method can proceed from step 1710 to step 1728, wherein the controller 50 waits to receive an automatic door mode command to resume door movement before the interruption of travel occurred at step 1726. Once the automatic mode command to resume door movement in automatic mode is received, the method can proceed to step 1746 described below. At step 1710, the controller 50 can determine that the cause of the interruption of travel is from an external source - for example, detected by the controller 50 sensing an incremental current from the detected actuator signal control line, which is caused by an external force acting on the door 12 within a predetermined period of time. If the controller 50 determines at step 1728 that the cause of the interruption of travel originates from an external source, then the controller 50 next determines at step 1732 whether the non-contact obstacle detection system detects an object, which may be a user as an object. If the controller 50 determines at step 1730 that the non-contact obstacle detection system has detected an object, the method may proceed at step 1732 to interpret the intervention as a manual input of a user command (e.g., a request to open, close, or stop the door), where the user is detected by the non-contact obstacle detection system. Next, the method proceeds to step 1734: the controller 50 switches to a power assist mode to assist the user in manually moving the door in a manner as illustratively described above. Next, the method proceeds to step 1736: the controller 50 disables the non-contact obstacle detection system because it is now assumed that the user has control of the door and is able to stop and move the door to avoid any obstacle contacting the door, and therefore no interruption of the door movement, such as braking or stopping the door, occurs when an obstacle is detected in the power assist mode. If the controller 50 determines at step 1732 that the non-contact obstacle detection system does not detect an object, the method may proceed at step 1738 to interpret the intervention as a non-operator input (e.g., a non-user force may be exerted on the door, such as by a gust of wind or a mechanical disturbance). Next, the method proceeds to step 1740 where the controller 50 controls the actuator 22 to stop the door movement. Next, the method proceeds to step 1742 where the controller 50 determines whether an automatic door mode command or a power-assisted door mode command has been received.Thus, a powered closing member actuation system 20 having a controller 50 is provided, the controller 50 communicating with an obstacle detection system (e.g., a contact-based obstacle detection system or a contactless-based obstacle detection system), a door motion sensing system (e.g., such as an absolute position sensor for detecting door motion, or a Hall sensor for detecting motor shaft position, or a ripple counting system for counting ripples in a motor current indicating, for example, rotation of a motor, or other circuit systems and sensing configurations), and an actuator 22, wherein the controller 50 is configured to control the actuator 20 to stop the door based on the absence of an obstacle detected using the obstacle detection system and the detection of door movement using the door motion sensing system. If the controller 50 determines at step 1742 that the controller receives an automatic mode command, the method proceeds to step 1746: the controller 50 controls the actuator 22 in the automatic mode to continue moving the door to the planned door opening position. If the controller 50 determines at step 1742 that the controller 50 receives a power assist mode command, the method proceeds to step 1748: the controller 50 executes a power assist mode routine to control the movement of the door 12.

[0076] Now refer to Fig.16, a method 1760 for controlling the door 12 (or liftgate 3000) from a small angle stop position greater than the auxiliary position in the automatic mode, also referred to as a small angle position closing command routine, is shown. The method begins with the following operations: At step 1762, the controller 50 determines whether a command to close the door has been received, such as whether the door 12 has previously stopped at a small door opening angle position and whether the controller 50 has received a door recovery command in the automatic mode. Next, the method performs the following operations: At step 1764, when the controller 50 receives the door closing command, the actuator 22 is controlled in the automatic mode, and for example, the actuator 22 is controlled to accelerate the door to a speed for moving the door 12 to the auxiliary latch position. The controller 50 can control the actuator 22 to stop the door 12 at the auxiliary latch position at zero speed, or can control the actuator 22 to move the door to the auxiliary latch position at approximately zero speed. The controller 50 can control the actuator 22 to move the door 12 to the auxiliary latch position at a speed matching the tie-down speed as described above. Next, the method proceeds to step 1766, where the controller 50 will determine or detect whether the door 12 has moved to the auxiliary latch position. If the controller 50 detects that the door 12 has moved to the auxiliary latch position at step 1776, the method will proceed to step 1768: the controller 50 disables the actuator 22. Alternatively, the controller 50 can monitor the door position as the door approaches the auxiliary closed position and control the actuator 22 to slightly reduce the speed of the door 12 before the door reaches the auxiliary so that the door 12 moves to the auxiliary closed position at zero or near zero speed or matching the tie-pull speed. Alternatively, the controller 50 can control the actuator 22 to allow some approach speed of the door to ensure that the latch 83 will be latched into at least the auxiliary latch position. If the controller 50 does not detect that the door 12 has moved to the auxiliary latch position at step 1776, the method will return to step 1774. Next, the method proceeds to step 1770 to activate the cinch actuator 99 to move the door 12 from the auxiliary latch position toward the primary latch position in a manner as described in detail above. Thus, a powered closure member actuation system 20 is provided having a controller 50 in communication with a door motion sensing system (e.g., such as a Hall sensor disposed within the latch 83 for detecting a state of the latch 83 indicating a position of the door 12), a cinch mechanism for moving the door from a cinch start position, such as the auxiliary latch position, to a cinch end position, such as the primary latch position, at a cinch speed, and an actuator 22, wherein the controller 50 is configured to control the actuator 22 to move the door 12 to the cinch start position at a speed that matches (e.g., approximately or exactly matches) the cinch speed.

[0077] Now refer to Fig.17, a method for determining a travel override state of operation of a power closing member actuation system 20 operating in automatic mode to move a door is shown, the travel override state being caused, for example, by a user grabbing a door 12 or liftgate 3000 during door movement, with the intention of moving the door 12 or liftgate 3000 manually or in power-assisted mode and stopping the automatic mode operation of the door 12 or liftgate 3000, i.e., interrupting the door operation in automatic mode. The method begins with the following operations: At step 1902, the controller 50 determines or detects an unexpected change in the position or acceleration or velocity of the door. This determination can be made based on the detection of an unexpected change in the position of the door using a door position sensor, or a current spike detected in an actuator signal line, as described in more detail herein below. Next, the method performs the following operations: At step 1904, the controller 50 determines or detects whether a user is adjacent to the door 12 using a non-contact obstacle detection system to determine whether the user may cause an unexpected change in the position or acceleration or velocity of the door 12. If the controller 50 does not determine or detect that the user is next to the door 12 at step 1904, the method may proceed to the following steps: At step 1906, the controller 50 determines that the interruption or intervention in the door movement is caused by a force not applied by the user, such as a force applied by a gust of wind or a mechanical disturbance. Next, the method proceeds to step 1908: the controller 50 uses the actuator 22 to stop the door, and for example controls the actuator 22 to stop the door 12 immediately within the shortest possible distance, such as without damaging the actuator. If the controller 50 does determine or detect that the user is next to the door 12 at step 1904, the method may proceed to step 1910: the controller 50 determines or detects whether the door is accelerated in the same direction as the door movement. If the controller 50 does not determine or detect that the door is accelerated in the same direction as the door movement at step 1910, the controller 50 may control the actuator 22 to compensate for the unintended door movement, such as by increasing the resistance to the unintended door movement, at step 1912. If at step 1910 the controller 50 does determine or detect that the door is being accelerated in the same direction as the door motion, then at step 1914 the controller 50 may determine or detect whether the door is accelerating beyond the automatic door operating range or threshold. Fig.17A An example of current and position signals received by the controller 50, such as from the actuator 22 or a position sensor as described in detail above, is shown for illustrative purposes to identify a travel override by a user. In this case, movement in the opening direction is shown, but the example also applies to the closing direction. In the exemplary Fig.17A, the current may decrease due to the input of force from the operator causing a decrease in velocity in the actuator 22, while the door position (and rate of change of position) may increase. If at step 1914 the controller 50 does not determine or detect that the door is accelerating beyond the automatic door operating range or threshold, the method may proceed to step 1912. If at step 1914 the controller 50 does determine or detect that the door 12 is accelerating beyond the automatic door operating range or threshold, then at step 1918 the controller 50 may determine that a manual override has occurred. If at step 1904 the controller 50 does determine or detect that the user is at the door, then the method may proceed to step 1920 where the controller 50 determines or detects whether the door is decelerated in the same direction as the door movement. If at step 1920 the controller 50 does not determine or detect that the door is decelerated in the same direction as the door movement, then at step 1912 the controller 50 may control the actuator 22 to compensate for or increase resistance against unintended door movement. If at step 1920 the controller 50 does determine or detect that the door is being accelerated in the same direction as the door motion, then at step 1924 the controller 50 may determine or detect whether the door is decelerating beyond the automatic door operating range or threshold. If at step 1924 the controller 50 does not determine or detect that the door is accelerating beyond the automatic door operating range or threshold, then the method may proceed to step 1912. If at step 1924 the controller 50 does determine or detect that the door is decelerating beyond the automatic door operating range or threshold, then at step 1928 the controller 50 may determine whether the door direction has reversed, such as from an opening direction to a closing direction. Fig. 17B Examples of current and position signals for identifying travel reversals are shown. Fig. 17BThe current shown in can increase due to the input of force from the operator causing resistance to the movement of the opening door, while the door position may decrease. If the controller 50 does determine or detect that the door movement has a reverse direction at step 1928, the controller 50 can determine that a manual override has occurred at step 1918. If the controller 50 does not determine or detect that the door movement has a reverse direction at step 1928, the method can proceed to step 1912. The method can proceed from step 1918 to the following steps: In step 1932, the controller 50 switches from the step of controlling the door in automatic door mode to power-assisted door mode. Therefore, the powered closing member actuation system 20 can allow a user to override the automatic door mode at any time during the automatic door movement and, for example, move the door faster than controlled during the automatic power door mode. Therefore, a powered closing member actuation system 20 is provided having a controller 50 operable in a power-assisted mode and an automatic mode, the controller 50 also communicating with an obstacle detection system, a door motion sensing system, and the actuator 22, wherein the controller 50 is configured to switch from the automatic mode to the power-assisted mode when the controller 50 senses a user using the obstacle detection system and detects door motion using the door motion sensing system when the controller 50 moves the door in the automatic mode.

[0078] like Fig.18As best shown in FIG. 2 , a method 2100 of operating a powered closing member actuation system 20 to detect movement of a closing member 12, 3000 due to physical contact of a user with the closing member to allow a user to control the door 12, for example, in a manual mode or a power-assisted mode is additionally provided. The method may include steps performed by the controller 50 and begins at step 2102: determining whether the closing member 12, 3000 is moving (e.g., when in an open position), for example, by the controller 50 monitoring changes in a door position signal from a position sensor or other position sensing device or technology. The method continues with step 2104 of monitoring a non-contact obstacle detection system, followed by determining at step 2105 whether an obstacle is not detected using the non-contact obstacle detection system. The method proceeds to step 2106: controlling the actuator 22 to change the movement of the closing member 12, 3000, for example, by the controller 50, in response to the closing member moving and not detecting an obstacle. Specifically, the step of changing the movement of the closing member in response to the movement of the closing member 12, 3000 and the absence of an obstacle detected can be further defined as stopping the movement of the closing member 12, 3000 in response to the movement of the closing member 12, 3000 and the absence of an obstacle detected. For example, the movement of the closing member 12, 3000 caused by a non-user applied force or an external system force on the door 12 can be provided by controlling the actuator 22 separately and / or using a separate braking mechanism. In response to the movement of the closing member 12, 3000 and the detection of an obstacle or a user in step 2107, the method can proceed to step 2109: switching the power closing member actuation system to a power assist mode, for example, the controller 50 as described herein above will control the door movement in the power assist mode. Therefore, if a user is detected next to the door 12, the door inhibition function will not be applied or will be disabled when the user moves the door, wherein the controller 50 has determined that wind forces, etc. will not move the door unintentionally. Next, the method proceeds to step 2108: verifying the movement of the door within a predetermined time period (e.g., seconds) by the controller 50. If at step 2110 movement of the door within the predetermined time period at step 2108 is detected, the method returns to step 2104. If at step 2112 movement of the door within the predetermined time period at step 2108 is not detected, the method proceeds to step 2101 to control the actuator 22 in the door inhibition mode, and then returns to step 2102.

[0079] like Fig.19As best shown in FIG. 2 , a method 2200 of operating a powered closure member actuation system 20 to detect movement of a closure member 12, 3000 due to non-physical contact with the closure member is additionally provided. The method begins at step 2202 of determining whether the closure member 12, 3000 is in an open position. The next step of the method is 2204 of determining whether the closure member 12, 3000 is moving (e.g., when in the open position). The method continues at step 2206 of determining, using a motion sensor (e.g., such as an accelerometer / inclinometer) a change in the motion or tilt of the vehicle 10 that may cause the closure member 12, 3000 to move unintentionally, such as due to a person entering the vehicle 10 on the opposite side of the vehicle 10 thereby moving the closure member 12, 3000, or otherwise causing the closure member 12, 3000 to move. The method proceeds to step 2208: changing the movement of the closing member 12, 3000 in response to the closing member 12, 3000 moving and detecting / determining the presence of the movement of the vehicle 12, for example, by controlling the actuator 22. Specifically, the step of changing the movement of the closing member 12, 3000 in response to the closing member 12, 3000 moving and detecting / determining the presence of the movement of the vehicle 10 can be further defined as 2208: stopping the movement of the closing member 12, 3000 in response to the closing member 12, 3000 moving and detecting / determining the presence of the movement of the vehicle 10.

[0080] For example, refer back Figures 2 to 4 The powered closure member actuation system 20 may also be used to detect abuse of the closure panel 12, 3000 of the motor vehicle 10. Thus, the powered closure member actuation system 20 may be configured to monitor the motor current of the electric motor 36 (e.g., see Figure 4), and determines whether the motor current exceeds the abuse threshold, and shuts off power to the electric motor 36 in response to the motor current exceeding the abuse threshold (i.e., allowing the electric motor 36 to rotate freely). The motor current is only one example of a detectable measurement result representing the abuse motor load applied from an external source, and the abuse motor load may also be determined using other means, such as by detecting a combination of motor voltage and motor speed that represent the motor load. As discussed, the powered closure member actuation system 20 may also include an actuator 22 coupled to the closure plate 12, 3000 and the body 14 of the motor vehicle 10, the actuator 22 including the electric motor 36, the actuator 22 being configured to move the closure plate 12, 3000 relative to the body 14. The powered closure member actuation system 20 may also include a current sensing circuit 3083, which is coupled to the electric motor 36 and is configured to sense the motor current of the electric motor 36. The controller 50 is coupled to the actuator 22 and the current sensing circuit 3083. Thus, the controller 50 can be configured to monitor the motor current of the electric motor 36 and determine whether the motor current exceeds the abuse threshold. The controller 50 shuts off power to the electric motor 36 in response to the motor current exceeding the abuse threshold.

[0081] Now refer to Fig. 20 , showing other configurations of the controller 50 operating in different obstacle detection modes. Fig.21 The motor current monitored based on the action of the closing plate 12, 3000 is shown in FIG. Fig.21 The line in the upper middle part is the abuse threshold applied. After the line in the lower part reaches the abuse threshold applied, the electric motor 36 is turned off, so the line in the lower part returns to zero. Based on the following strategy or technology taking into account the temperature and tilt of the vehicle 10, the upper line can move up or down. The threshold can be related to the current peak as shown in the first chart above, but it can also rise to the peak over time, for example, the current spike can rise to 5A within 220 milliseconds without triggering the abuse condition, because the rise to 5A must occur within 200ms. These modes can operate separately or in coordination. The obstacle detection mode and the abuse detection mode can be implemented using the same logic circuit. Therefore, the power closing member drive system 20 can include an obstacle detection function, which can detect that the lift gate 3000 is about to hit an object and reverse the lift gate 3000 before encountering a large force. However, in the case of abuse force, the force increases very quickly and usually reaches a large force before the obstacle detection takes effect. Ideally, the abuse force detection is dedicated to detecting the abuse load and does not have a negative impact on normal operation, such as false reversal.

[0082] For example, when the door or closure panel 12, 3000 is opened, the controller 50 can monitor the motor current related to the obstacle impact of the closure panel 12, 3000, such as when the closure panel 12, 3000 impacts a stationary object based on the obstacle detection current curve. The controller 50 can also detect the abuse current threshold (e.g., see Fig. 20 ) monitors the motor current for an abuse load, such as a user pushing against the closure plate 12, 3000. Such an abuse threshold is positioned before a load that would cause damage to the system 20, but is more sensitive than the obstacle detection threshold. Note that the system can be configured to monitor multiple thresholds independently. For example, the system can be configured to simultaneously monitor current detected above the abuse threshold and the obstacle detection threshold.

[0083] The motor current characteristics under abuse load conditions are different from normal operation and obstacle detection conditions. By using the difference in the motor current differential (amplification) characteristics, abuse loads can be detected quickly compared to obstacle detection, which is important for reacting appropriately, such as by allowing the motor 36 to rotate freely / turning off the motor 36 to minimize the net force.

[0084] The obstacle detection logic detects a larger increase in motor current over a longer time frame (e.g., a 5A increase over 200 milliseconds), and the abuse load detection logic detects a smaller increase in motor current over a shorter time frame (e.g., a 2.5A increase over 50 milliseconds). The difference in motor current in the abuse detection logic is greater than the difference in motor current in the obstacle detection logic.

[0085] The abuse detection logic is not sensitive enough for obstacle detection, so an abuse load detection logic must be added to work in parallel with the obstacle detection. The abuse detection logic can be separated from erroneous reverse test cases such as vehicle vibration caused by rush in and released after manual support. For example, and with reference to Fig. 20 , the abuse load detection threshold and the obstacle detection threshold can be selected to be higher than the rush in current. After the abuse load is detected, turning off the electric motor 36 better reduces the force on the mounting point than reversing the motor 36.

[0086] Now refer to Figure 22 to Figure 24 , a technique for determining an abuse loading condition based on detected current is shown. Fig. 22 In one possible configuration shown, the technique may include monitoring the temperature, motor current, and tilt of the vehicle 10, determining the motor current for these conditions, and determining a minimum value for the motor current, and then determining when the actual motor current exceeds the minimum value and suspending or stopping power to the motor 36. Thus, referring back to Figure 3, the powered closing member actuation system 20 may also include a temperature sensor 3050 coupled to the controller 50 and configured to detect a temperature. The powered closing member actuation system 20 may also include a vehicle tilt sensor 86 for detecting a tilt of the motor vehicle 10. Therefore, the controller 50 is also configured to monitor the temperature using the temperature sensor 3050, and to monitor the tilt of the motor vehicle 10 using the vehicle tilt sensor 86. The controller 50 also determines the motor current at multiple temperatures and tilt readings. The controller 50 is additionally configured to determine a minimum value for the motor current, and to determine whether the motor current exceeds the minimum value for the motor current. The controller 50 shuts off power to the electric motor 36 in response to determining that the motor current exceeds the minimum value for the motor current.

[0087] exist Fig.23 In another possible configuration shown, the technique may include monitoring vehicle temperature, motor current, and inclination, determining the rate of change of motor current for these conditions, selecting the rate of change of motor current to prevent a predetermined abusive load on the system, and then determining when the actual rate of change of motor current exceeds the selected rate of change to suspend or stop power to the motor. Figure 3 , the powered closing member actuation system 20 may also include a temperature sensor 3050 coupled to the controller 50 and configured to detect a temperature. The powered closing member actuation system 20 may also include a vehicle tilt sensor 86 for detecting a tilt of the motor vehicle 10. Therefore, the controller 50 is also configured to monitor the temperature using the temperature sensor 3050, and to monitor the tilt of the motor vehicle 10 using the vehicle tilt sensor 86. The controller 50 is also configured to determine a plurality of motor current change rates of the motor current at a plurality of temperature and tilt readings. The controller 50 selects one of the plurality of motor current change rates for preventing a predetermined abuse load on the system 20. The controller 50 is additionally configured to determine whether the motor current change rate exceeds a selected one of the plurality of motor current change rates. In addition, the controller 50 shuts off power to the electric motor 36 in response to determining that the motor current change rate exceeds a selected one of the plurality of motor current change rates.

[0088] exist Fig.24 In yet another possible configuration shown, the technique may include monitoring the motor current rate of change for these conditions, selecting a motor current rate of change to prevent a predetermined abusive load on the system, and then determining when the actual motor current rate of change exceeds the selected rate of change to suspend or stop power to the motor. Figure 3, the powered closing member actuation system 20 may also include a closing member feedback sensor 64 coupled to the controller 50 and configured to determine at least one of the position and velocity of the closing plate 12, 3000. Therefore, the controller 50 is also configured to monitor at least one of the position and velocity of the closing plate 12, 3000 using the closing member feedback sensor 64. The controller 50 determines a plurality of motor current change rates of the motor current under a plurality of readings of at least one of the position and velocity of the closing plate 12, 3000. The controller 50 is also configured to select one of the plurality of motor current change rates for preventing a predetermined abuse load on the system 20. In addition, the controller 50 is configured to determine whether the motor current change rate exceeds a selected one of the plurality of motor current change rates. The controller 50 shuts off power to the electric motor 36 in response to determining that the motor current change rate exceeds a selected one of the plurality of motor current change rates.

[0089] exist Fig.25 In yet another possible configuration shown, the technique may include monitoring the motor speed (either directly using a Hall sensor in the actuator, or indirectly by monitoring the current), then determining the actual motor speed, and pausing or stopping power to the motor when the speed change is determined to be zero. Figure 3 , the powered closing member actuation system 20 may also include a closing member feedback sensor 64 coupled to the controller 50 and configured to determine the speed of the closing plate 12, 3000. The controller 50 is further configured to monitor the speed of the closing plate 12, 3000 using at least one of the closing member feedback sensor 64 and the current sensing circuit 3083. The motor current of the electric motor 36 sensed by the current sensing circuit 3083 is indicative of the speed of the closing plate 12, 3000. The controller 50 is additionally configured to determine when the speed of the closing plate 12, 3000 is approximately zero. The controller 50 is further configured to shut off power to the electric motor 36 in response to determining that the speed of the closing plate 12, 3000 is approximately zero.

[0090] exist Fig.26 In another possible configuration shown, the technology can include monitoring additional inputs such as an accelerometer or a capacitive sensor or an obstacle detection sensor to detect whether an abuse load caused by a user acting on the closing plate 12, 3000 is actually present. Strain sensors can also be provided to detect loads on the actuator or actuator mounting points. Providing these sensors can assist the controller 50 in distinguishing between abuse load conditions and obstacle detection load systems to determine which threshold (abuse threshold or obstacle detection threshold) to apply. For example, if the sensor does not detect an abuse load, the motor 36 can be controlled to reverse. For example, if the sensor detects an abuse load, the motor may not be reversed, but only powered off. Therefore, referring back to Figure 3, the powered closure member actuation system 20 may further include at least one user abuse detection sensor 3052 coupled to the controller 50 and configured to detect whether a user is currently acting on the closure panel 12, 3000. According to aspects of the present disclosure, the at least one user abuse detection sensor 3052 may be one or more of an acceleration sensor, a capacitive sensor, an obstacle detection sensor, and a strain sensor configured to detect a load on at least one of the actuator 22 and a mounting point of the actuator 22. Thus, the controller 50 is further configured to use the at least one user abuse detection sensor 3052 to distinguish between an abuse load condition and an obstacle detection load. The controller 50 is further configured to determine whether an abuse threshold or an obstacle detection threshold is applied, and to control the actuator 22 accordingly.

[0091] In another configuration, the abuse detection mode / threshold may be disabled beyond a certain door angle because, for example, beyond 20 degrees, the kinematics of the door 12 or liftgate 3000 naturally reduce the forces on the actuator 22 from, for example, lateral loads to axial loads, such as Fig. 27 , a side view of the motor vehicle 10 is shown with the liftgate 3000 in a substantially open position. Fig.28 1 shows another side view of the motor vehicle 10 with the liftgate 3000 only partially opened. Thus, the change in the moment arm of the system 20 causes the side load on the spindle or actuator 22 to be different from Fig. 27 As discussed above, the powered closure member actuation system 20 may also include a closure member feedback sensor 64 coupled to the controller 50 and configured to determine the position of the closure plate 12, 3000. Thus, the controller 50 is further configured to monitor the position of the closure plate 12, 3000 using the closure member feedback sensor 64. The controller 50 is further configured to, in response to the position of the closure plate 12, 3000 exceeding a predetermined position threshold, prohibit the following operations: determining whether the motor current of the electric motor 36 exceeds an abuse threshold and shutting off power to the electric motor in response to the motor current exceeding the abuse threshold.

[0092] Now refer to Fig.29 , steps of a method for detecting abuse of a closure plate 12, 3000 of a motor vehicle 10 are shown. The method includes step 3100: monitoring the motor current of the electric motor 36 of the actuator 22 coupled to the closure plate 12, 3000 and the body 14 of the motor vehicle 10 using a current sensing circuit 3083 coupled to the electric motor 36. The method continues to step 3102: determining whether the motor current exceeds an abuse threshold. The method also includes step 3104: shutting off power to the electric motor 36 in response to the motor current exceeding the abuse threshold.

[0093] Obviously, however, changes may be made to the content described and illustrated herein without departing from the scope defined in the appended claims. The foregoing description of the embodiments has been provided for the purpose of illustration and description. This is not intended to be exhaustive or to limit the present disclosure. The individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but are interchangeable where applicable and can be used in the selected embodiment, even if not specifically shown or described. The individual elements or features of a particular embodiment may also vary in many aspects. Such variations are not considered to be departures from the present disclosure, and all such modifications are intended to be included within the scope of the present disclosure.

[0094] The terms used herein are only used for the purpose of describing specific example embodiments, and are not intended to be restrictive. As used herein, unless the context clearly indicates otherwise, the singular forms "one", "an" and "the" may also be intended to include plural forms. The terms "include", "comprise", "contain", and "have" are inclusive, and therefore specify the existence of stated features, integers, steps, operations, elements and / or parts, but do not exclude the existence or addition of one or more other features, integers, steps, operations, elements, parts and / or their combinations. Unless the method steps, processing and operations described herein are specifically identified as the order of execution, it should not be interpreted as necessarily requiring it to be performed in the specific order discussed or shown. It should also be understood that additional steps or alternative steps may be adopted.

[0095] When an element or layer is referred to as being "on another element or layer," "engaged to," "connected to," or "coupled to" another element or layer, it may be directly on, engaged to, connected to, or coupled to another element or layer, or there may be intermediate elements or layers. In contrast, when an element is referred to as being "directly on another element or layer," or "directly engaged to," "directly connected to," or "directly coupled to" another element or layer, there may be no intermediate elements or layers. Other words used to describe the relationship between elements should be interpreted in a similar manner (e.g., "between" versus "directly between," "adjacent" versus "directly adjacent," etc.). As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0096] Although the terms first, second, third, etc. can be used to describe various elements, components, regions, layers and / or parts in this article, these elements, components, regions, layers and / or parts should not be limited by these terms. These terms can only be used to distinguish an element, component, region, layer or part from another region, layer or part. When using terms such as "first", "second" and other numerical terms in this article, unless clearly indicated by the context, it does not mean order or sequence. Therefore, without departing from the teaching of the example embodiments, the first element, the first component, the first area, the first layer or the first part discussed below can be referred to as the second element, the second component, the second area, the second layer or the second part.

[0097] For ease of description, spatially related terms such as "inside", "outside", "below", "below", "lower", "above", "upper", "top", "bottom", etc. may be used in this article to describe the relationship between one element or feature as shown in the figure and another element or feature. Spatially related terms can mean different orientations of the device in use or operation other than the orientation depicted in the drawings. For example, if the device in the drawings is turned over, the elements described as "below" or "below" other elements or features will be oriented "above" the other elements or features. Therefore, the example term "below" can include both above and below orientations. The device can be oriented in other ways (rotated 90 degrees or in other orientations), and the spatially related descriptions used in this article are interpreted accordingly.

[0098] The components of the exemplary devices, systems and methods used according to the illustrated embodiments may be implemented at least in part with digital electronic circuit systems, analog electronic circuit systems or with computer hardware, firmware, software or a combination thereof. These components may be implemented as a set of instructions executed by a processing device, such as a computer program product, such as a computer program, program code or computer instruction tangibly implemented in an information carrier or machine-readable storage device to be executed or controlled by a data processing device such as a programmable processor, a microprocessor, a computer or a plurality of computers. The term "controller" used in this application is a combination of any such computer, processor, microchip processor, integrated circuit or any other element that can carry a program for performing the functions, methods and flow charts provided herein, whether single or multiple parts. The controller may be a single such element located on a printed circuit board together with other electronic components. Alternatively, the controller may exist away from other component systems described herein. For example, but not limited to, at least one controller may be programmed in the form of a vehicle-mounted computer in a door, a latch or a vehicle at other locations in the vehicle as an example. The controller may also be present in multiple locations or include multiple components.

[0099] Instruction lists such as computer programs can be written in any form of programming language including compiled or interpreted languages, and it can be deployed in any form, including as a stand-alone program or as a module, component, subroutine, or other unit suitable for use in a computing environment. The computer program can be deployed to be executed on one computer or on multiple computers, which are located at one station or distributed across multiple stations and interconnected through a communication network. In addition, the functional programs, codes, and code segments for implementing the illustrative embodiments can be easily interpreted by skilled programmers in the field of the illustrative embodiments as being within the scope of the claims illustrated by the illustrative embodiments. The method steps associated with the illustrative embodiments can be performed by one or more programmable processors executing computer programs, codes, or instructions to perform functions (e.g., by operating on input data and / or generating output). For example, the method steps can also be performed by a dedicated logic circuit system such as an FPGA (field programmable gate array) or an ASIC (application-specific integrated circuit), and the device of the illustrative embodiment can be implemented as the dedicated logic circuit system.

[0100] The various illustrative logical blocks, modules, algorithms, steps, and circuits described in conjunction with the embodiments disclosed herein may be implemented or executed by a general purpose processor, a digital signal processor (DSP), an ASIC, an 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 general purpose processor may be a microprocessor, but in an alternative, as an example, the processor may be any conventional processor, microcontroller, or state machine. The processor may also be implemented as a combination of computing devices, such as a combination of a DSP and a microprocessor, a combination of multiple microprocessors, a combination of one or more microprocessors with a DSP core, or any other such configuration.

[0101] By way of example, processors suitable for executing computer programs include both general-purpose microprocessors and special-purpose microprocessors and any one or more processors of any kind of digital computer. Typically, the processor will receive instructions and data from a read-only memory or a random access memory or both. The basic elements of a computer are a processor for executing instructions and one or more memory devices for storing instructions and data. Typically, a computer will also include or be operably coupled to one or more large-capacity storage devices such as magnetic disks, magneto-optical disks, or optical disks for storing data to receive data from or transmit data to or both. Information carriers suitable for implementing computer program instructions and data include all forms of non-volatile memory, including semiconductor memory devices as examples, such as electrically programmable read-only memory or ROM (EPROM), electrically erasable programmable ROM (EEPROM), flash memory devices, and data storage disks (e.g., magnetic disks, internal hard disks or removable disks, magneto-optical disks, and CD-ROM and DVD-ROM disks). The processor and memory can be supplemented by or incorporated into a dedicated logic circuit system.

[0102] Those skilled in the art will appreciate that any of a variety of different techniques and technologies may be used to represent information and signals. For example, data, instructions, commands, information, signals, bits, symbols, and chips that may be mentioned throughout the above description may be represented by voltage, current, electromagnetic waves, magnetic fields or particles, optical fields or particles, or any combination thereof.

[0103] It is also understood by those skilled in the art that the various illustrative logic blocks, modules, circuits, algorithms and steps described in conjunction with the embodiments disclosed herein can be implemented as electronic hardware, computer software or a combination of the two. In order to clearly illustrate this interchangeability of hardware and software, various illustrative components, blocks, modules, circuits and steps have been generally described above in terms of their functions. Whether this function is implemented as hardware or software depends on the specific application and design constraints imposed on the entire system. The technician can implement the described functions in different ways for each specific application, but this implementation decision should not be interpreted as causing a departure from the scope of the claims illustrated by the illustrative embodiments. The software module can reside in a random access memory (RAM), flash memory, ROM, EPROM, EEPROM, register, hard disk, removable disk, CD-ROM or any other form of storage medium known in the art. An exemplary storage medium is coupled to a processor so that the processor can read information from the storage medium and write information to the storage medium. In an alternative, the storage medium can be a component of the processor. In other words, the processor and the storage medium can reside in an integrated circuit or be implemented as discrete components.

[0104] Computer-readable non-transitory media include all types of computer-readable media, including magnetic storage media, optical storage media, flash memory media, and solid-state storage media. It should be understood that the software can be installed in a central processing unit (CPU) device and sold together with it. Alternatively, the software can be obtained and loaded into the CPU device, including obtaining the software through a physical medium or distribution system, including, for example, obtaining the software from a server owned by the software creator or from a server not owned by the software creator but used by the software creator. For example, the software can be stored on a server for distribution over the Internet.

[0105] Computer-readable non-transitory media include all types of computer-readable media, including magnetic storage media, optical storage media, flash memory media, and solid-state storage media. It should be understood that the software can be installed in a central processing unit (CPU) device and sold with it. Alternatively, the software can be acquired and loaded into the CPU device, including acquiring the software through a physical medium or distribution system, including, for example, acquiring the software from a server owned by the software creator or from a server not owned by the software creator but used by the software creator. For example, the software can be stored on a server for distribution via the Internet.

Claims

1. A system (20) for detecting abuse of a closure panel (12, 3000) of a motor vehicle (10), the system (20) being configured to monitor an electric motor (36) and determine whether an abuse load is applied to the electric motor (36), and shut off power to the electric motor (36) in response to the abuse load exceeding an abuse threshold.

2. The system (20) of claim 1, wherein: The system (20) is configured to monitor a motor current of an electric motor (36) and determine whether the motor current exceeds an abuse threshold, and shut off power to the electric motor (36) in response to the motor current exceeding the abuse threshold.

3. The system (20) of claim 2, further comprising: an actuator (22), the actuator (22) including the electric motor (36), the actuator (22) coupled to the closure plate (12, 3000) and a body (14) of the motor vehicle (10), the actuator (22) being configured to move the closure plate (12, 3000) relative to the body (14); a current sensing circuit (3083) coupled to the electric motor (36) and configured to sense a motor current of the electric motor (36); A controller (50) coupled to the actuator (22) and the current sensing circuit (3083) and configured to: monitoring the motor current of the electric motor (36), determining whether the motor current exceeds the abuse threshold, and Power to the electric motor (36) is shut off in response to the motor current exceeding the abuse threshold.

4. The system (20) of claim 3, further comprising: a temperature sensor (3050), the temperature sensor (3050) being coupled to the controller (50) and configured to detect a temperature; and a vehicle tilt sensor (86) for detecting a tilt of the motor vehicle (10), and wherein the controller (50) is further configured to: monitoring temperature using the temperature sensor (3050); monitoring the tilt of the motor vehicle (10) using the vehicle tilt sensor (86); Determine motor current at multiple temperature and tilt readings; determining a minimum value of the motor current; determining whether the motor current exceeds a minimum value of the motor current; and Power to the electric motor (36) is shut off in response to determining that the motor current exceeds a minimum value of the motor current.

5. The system (20) of claim 3, further comprising: a temperature sensor (3050), the temperature sensor (3050) being coupled to the controller (50) and configured to detect a temperature; and a vehicle tilt sensor (86) for detecting a tilt of the motor vehicle (10), and wherein the controller (50) is further configured to: monitoring the temperature using the temperature sensor (3050); monitoring the tilt of the motor vehicle (10) using the vehicle tilt sensor (86); determining a plurality of motor current rates of change of the motor current at a plurality of temperature and tilt readings; selecting a motor current change rate from among the plurality of motor current change rates for preventing a predetermined abusive load on the system (20); determining whether a motor current change rate exceeds a selected one of the plurality of motor current change rates; as well as In response to determining that the motor current rate of change exceeds a selected one of the plurality of motor current rate of change, power to the electric motor (36) is shut off.

6. The system (20) of claim 3, further comprising a closure member feedback sensor (64) coupled to the controller (50) and configured to determine at least one of a position and a velocity of the closure plate (12, 3000), and wherein: The controller (50) is also configured to: using the closure member feedback sensor (64) to monitor at least one of a position and a velocity of the closure plate (12, 3000); determining a plurality of rates of change of the motor current at a plurality of readings of at least one of a position and a velocity of the closure plate (12, 3000); selecting a motor current change rate from among the plurality of motor current change rates for preventing a predetermined abusive load on the system (20); determining whether a motor current change rate exceeds a selected one of the plurality of motor current change rates; as well as In response to determining that the motor current rate of change exceeds a selected one of the plurality of motor current rate of change, power to the electric motor (36) is shut off.

7. The system (20) of claim 3, further comprising a closure member feedback sensor (64) coupled to the controller (50) and configured to determine a velocity of the closure plate (12, 3000), and wherein: The controller (50) is also configured to: monitoring the speed of the closure plate (12, 3000) using at least one of the closure member feedback sensor (64) and the current sensing circuit (3083), the motor current of the electric motor (36) sensed by the current sensing circuit (3083) being indicative of the speed of the closure plate (12, 3000); determining that the velocity of the closing plate (12, 3000) is approximately zero; and Power to the electric motor (36) is shut off in response to determining that the speed of the closure plate (12, 3000) is approximately zero.

8. The system (20) of claim 3, further comprising at least one user abuse detection sensor (3052) coupled to the controller (50) and configured to detect whether a user is currently acting on the closure panel (12, 3000), and wherein: The controller (50) is also configured to: using the at least one user abuse detection sensor (3052) to distinguish between an abuse load condition and an obstacle detection load; and A determination is made as to whether an abuse threshold or an obstacle detection threshold applies, and the actuator (22) is controlled accordingly.

9. The system (20) of claim 8, wherein: The at least one user abuse detection sensor (3052) is selected from the group consisting of: an acceleration sensor, a capacitive sensor, an obstacle detection sensor, and a strain sensor configured to detect a load on at least one of the actuator (22) and a mounting point of the actuator (22).

10. The system (20) of claim 1, further comprising a closure member feedback sensor (64) coupled to the controller (50) and configured to determine a position of the closure plate (12, 3000), and wherein: The controller (50) is also configured to: monitoring the position of the closure plate (12, 3000) using the closure member feedback sensor (64); and In response to the position of the closure plate (12, 3000) exceeding a predetermined position threshold, the following operations are prohibited: determining whether an abuse load applied to the electric motor (36) exceeds the abuse threshold and shutting off power to the electric motor in response to determining that the abuse load exceeds the abuse threshold.

11. A method of detecting abuse of a closure panel (12, 3000) of a motor vehicle (10), the method comprising the steps of: monitoring a motor current of an electric motor (36) using a current sensing circuit (3083) coupled to an electric motor (36) of an actuator (22), the actuator (22) being coupled to the closure plate (12, 3000) and a body (14) of the motor vehicle (10); determining whether the motor current exceeds an abuse threshold; as well as Power to the electric motor (36) is shut off in response to the motor current exceeding the abuse threshold.

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