Emergency door braking system

Abstract

An emergency door braking system for an autonomous vehicle includes a vehicle processor for storing vehicle data including a door lock status and a vehicle sliding door position. The emergency door braking system also includes a server communicatively coupled to the vehicle processor and configured to stop the sliding door at a predetermined vehicle sliding door position based on the door lock status.

Description

Technical Field

[0001] The present invention generally relates to an emergency door braking system for an autonomous vehicle. Background Art

[0002] The information provided in this section is for the purpose of generally presenting the background of the present disclosure. To the extent described in this section, the work of the presently named inventors, as well as aspects of the description that may not qualify as prior art at the time of filing, are neither explicitly nor implicitly admitted to be prior art with respect to the present disclosure.

[0003] An autonomous vehicle, also known as an autonomous vehicle, is a vehicle that is capable of traveling without human input. The autonomous vehicle is responsible for sensing the environment, monitoring vital systems, and controlling the vehicle including navigation. Some autonomous vehicles forgo traditional driver and rear passenger seats in favor of a single passenger compartment. Additionally, to facilitate passenger access to the passenger compartment, some autonomous vehicles employ one or more sliding doors.

[0004] Like most autonomous features, sliding doors are typically controlled by a vehicle server. However, if a power failure occurs in an autonomous vehicle, autonomous vehicles typically include an emergency opening lever for passengers to use when opening the sliding door. However, the location of the sliding door and the emergency opening lever may create a pinch point where a vehicle occupant's hand or arm may become trapped. Therefore, there is a need for an emergency door braking system that provides a safe exit for vehicle occupants during a power failure event. Summary of the invention

[0005] In some examples, an emergency door brake system for an autonomous vehicle includes a vehicle processor for storing vehicle data, the vehicle data including a door lock state and a vehicle sliding door position. The emergency door brake system also includes a server, which is communicatively coupled to the vehicle processor and configured to stop a sliding door at a predetermined vehicle sliding door position based on the door lock state. In some examples, the predetermined vehicle sliding door position is about 50% between a door open position and a door closed position. In some examples, the predetermined vehicle sliding door position is less than 200 Hall counts from the door closed position. In some examples, the predetermined vehicle sliding door position is greater than 100 Hall counts from the door open position. In some examples, the server is configured to stop the sliding door by releasing the emergency brake function of the autonomous vehicle. In some examples, the autonomous vehicle includes the emergency door brake system. In some examples, the autonomous vehicle also includes a plurality of sliding doors. The plurality of sliding doors may include a first sliding door and a second sliding door, the first sliding door and the second sliding door being configured to move in opposite directions and engage each other in the door closed position.

[0006] In some examples, an emergency door brake system for an autonomous vehicle includes a vehicle processor for storing vehicle data, the vehicle data including a door lock state and a vehicle sliding door position. The emergency door brake system also includes a server, which is communicatively coupled to the vehicle processor and configured to pause the sliding door at a predetermined vehicle sliding door position for about 5 seconds or less based on the door lock state. In some examples, the predetermined vehicle sliding door position is about 50% between the door open position and the door closed position. In some examples, the predetermined vehicle sliding door position is less than 200 Hall counts from the door closed position. In some examples, the predetermined vehicle sliding door position is greater than 100 Hall counts from the door open position. In some examples, the autonomous vehicle includes the emergency door brake system. In some examples, the autonomous vehicle also includes a plurality of sliding doors. The plurality of sliding doors may include a first sliding door and a second sliding door, the first sliding door and the second sliding door being configured to move in opposite directions and engage each other in the door closed position.

[0007] In some examples, an emergency door brake system for an autonomous vehicle includes a vehicle processor for storing vehicle data, the vehicle data including a door lock state and a vehicle sliding door position, wherein the vehicle sliding door position is a change in position of a vehicle sliding door. The emergency door brake system also includes a server that is communicatively coupled to the vehicle processor and configured to determine whether an emergency situation exists based on one or more of the door lock state and the vehicle sliding door position. In addition, the server is configured to apply a door brake to slow or stop movement of a sliding door if an emergency situation is determined to exist based on one or more of the door lock state and the vehicle sliding door position.

[0008] In addition, the emergency door brake system also includes a server including processor executable instructions stored on at least one non-transitory tangible computer readable medium. The server is communicatively coupled to the vehicle processor and is configured to execute instructions stored on at least one non-transitory tangible computer readable medium to apply a door brake to slow down the movement of the sliding door based on the door lock state and the vehicle sliding door position including a change in the position of the vehicle sliding door. In some examples, the vehicle data also includes one or more of the vehicle inclination or the door speed. The server can also be configured to slow down the movement of the sliding door based on one or more of the vehicle inclination or the door speed. In addition, in some examples, the autonomous vehicle includes the emergency door brake system. In some examples, the autonomous vehicle also includes a plurality of sliding doors. The plurality of sliding doors can include a first sliding door and a second sliding door, the first sliding door and the second sliding door being configured to move in opposite directions and engage each other in a door closed position. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] The drawings described herein are for illustrative purposes only of selected configurations and are not intended to limit the scope of the present disclosure.

[0010] Figure 1 is a perspective view of a vehicle having a vehicle processor in communication with a server according to the present invention;

[0011] Figure 2 is an interior view of a vehicle having an emergency door braking system according to the present invention;

[0012] Figure 3 is a perspective view of the emergency door release lever;

[0013] Figure 4 Is the vehicle passenger started Figure 3 Schematic diagram of the emergency door release lever;

[0014] Figure 5A is an example flow chart of an emergency door braking system according to the present disclosure; and

[0015] Figure 5B is another example flow chart of an emergency door braking system according to the present disclosure.

[0016] Corresponding reference characters indicate corresponding parts throughout the several views. DETAILED DESCRIPTION

[0017] Example configurations will now be described more fully with reference to the accompanying drawings. Example configurations are provided so that the present disclosure will be thorough and will fully convey the scope of the present disclosure to those of ordinary skill in the art. Specific details, such as examples of specific components, devices, and methods, are set forth to provide a thorough understanding of the configurations of the present disclosure. It will be apparent to those of ordinary skill in the art that specific details need not be employed, that example configurations may be implemented in many different forms, and that the specific details and exemplary configurations should not be construed as limiting the scope of the present disclosure.

[0018] The terms used herein are only for describing specific exemplary configurations, not for limiting. As used herein, the singular articles "a", "an" and "the" may also be intended to include plural forms, unless the context clearly indicates otherwise. The terms "comprise", "include", "contain" and "have" are inclusive, thus specifying the presence of features, steps, operations, elements and / or parts, but do not exclude the presence or addition of one or more other features, steps, operations, elements, parts and / or groups thereof. The method steps, processes and operations described herein should not be interpreted as necessarily requiring them to be performed in the specific order discussed or shown, unless specifically identified as an execution order. Additional or alternative steps may be adopted.

[0019] When an element or layer is referred to as being "on another element or layer," "engaged to," "connected to," "attached to," or "coupled to" another element or layer, it may be directly on, engaged, connected, attached to, or coupled to another element or layer, or there may be intermediate elements or layers. Conversely, when an element is referred to as being "directly on another element or layer," "directly engaged to," "directly connected to," "directly attached 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.

[0020] The terms first, second, third, etc. can be used here to describe various elements, components, regions, layers and / or parts. These elements, components, regions, layers and / or parts should not be limited by these terms. These terms are only used to distinguish each element, component, region, layer or part. Terms such as "first", "second" and other numerical terms do not imply order or sequence unless the context clearly indicates. Therefore, the first element, component, region, layer or part discussed below can be referred to as the second element, component, region, layer or part, without departing from the teaching of the example configuration.

[0021] In this application, including the definitions below, the term module may be replaced by the term circuit. The term "module" may refer to or be part of an application specific integrated circuit (ASIC), or include an application specific integrated circuit (ASIC); a digital, analog, or mixed analog / digital discrete circuit; a digital, analog, or mixed analog / digital integrated circuit; a combinational logic circuit; a field programmable gate array (FPGA); a processor (shared, dedicated, or group) that executes code; a memory (shared, dedicated, or group) that stores code executed by the processor; other suitable hardware components that provide the functionality; or a combination of some or all of the above, such as in a system on a chip.

[0022] The term code used above may include software, firmware and / or microcode, and may refer to a program, a routine, a function, a class and / or an object. The term shared processor includes a single processor that executes some or all of the code from multiple modules. The term group processor includes a processor that executes some or all of the code from one or more modules in combination with an additional processor. The term shared memory includes a single memory that stores some or all of the code from multiple modules. The term group memory includes a memory that stores some or all of the code from one or more modules in combination with an additional memory. The term memory may be a subset of the term computer-readable medium. The term computer-readable medium does not include transient electrical signals and electromagnetic signals propagated through the medium and can therefore be considered to be tangible non-transitory memory. Non-limiting examples of non-transitory memory include tangible computer-readable media, including non-volatile memory, magnetic memory, and optical memory.

[0023] The apparatus and methods described in this application may be implemented in part or in whole by one or more computer programs executed by one or more processors. The computer program includes processor executable instructions stored on at least one non-transitory tangible computer readable medium. The computer program may also include and / or rely on stored data.

[0024] Software applications (i.e., software resources) may refer to computer software that enables a computing device to perform tasks. In some examples, software applications may be referred to as "applications," "apps," or "programs." Example applications include, but are not limited to, system diagnostic applications, system management applications, system maintenance applications, word processing applications, spreadsheet applications, messaging applications, media streaming applications, social networking applications, and gaming applications.

[0025] Non-transitory memory can be a physical device used to temporarily or permanently store programs (e.g., instruction sequences) or data (e.g., program state information) for use by a computing device. Non-transitory memory can be volatile and / or non-volatile addressable semiconductor memory. Examples of non-volatile memory include, but are not limited to, flash memory and read-only memory (ROM) / programmable read-only memory (PROM) / erasable programmable read-only memory (EPROM) / electrically erasable programmable read-only memory (EEPROM) (e.g., commonly used for firmware, such as bootloaders). Examples of volatile memory include, but are not limited to, random access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), phase change memory (PCM), and disk or tape.

[0026] These computer programs (also referred to as programs, software, software applications, or code) include machine instructions for a programmable processor and may be implemented in high-level procedural and / or object-oriented programming languages ​​and / or assembly / machine languages. As used herein, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, non-transitory computer-readable medium, apparatus, and / or device (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0027] Various implementations of the systems and techniques described herein can be realized in digital electronic and / or optical circuits, integrated circuits, specially designed ASICs (application specific integrated circuits), computer hardware, firmware, software, and / or combinations thereof. These various implementations may include implementations in one or more computer programs executable and / or interpretable on a programmable system comprising at least one programmable processor, which may be special purpose or general purpose, coupled to receive data and instructions from a storage system, and to send data and instructions to the storage system.

[0028] The processes and logic flows described in this specification can be performed by one or more programmable processors, also known as data processing hardware, executing one or more computer programs to perform functions by operating on input data and generating outputs. These processes and logic flows can also be performed by dedicated logic circuits, such as FPGAs (field programmable gate arrays) or ASICs (application-specific integrated circuits). For example, processors suitable for executing computer programs include general-purpose 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 storage devices for storing instructions and data. Typically, a computer will also include or be operably connected to one or more large-capacity storage devices for storing data, such as magnetic disks, magneto-optical disks, or optical disks, to receive data from the large-capacity storage device or to transmit data to it, or both. However, a computer does not need to have such a device. Computer-readable media suitable for storing computer program instructions and data include all forms of non-volatile memory, media and storage devices, including, for example, semiconductor memory devices, such as EPROM, EEPROM and flash memory devices; magnetic disks, such as internal hard disks or removable disks; magneto-optical disks; and CD ROM and DVD-ROM disks. The processor and memory may be supplemented by or incorporated in special purpose logic circuitry.

[0029] To provide interaction with a user, one or more aspects of the present disclosure may be implemented on a computer having a display device for displaying information to the user, such as a CRT (cathode ray tube), LCD (liquid crystal display) monitor, or touch screen, and an optional keyboard and pointing device, such as a mouse or trackball, through which the user can provide input to the computer. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback, such as visual feedback, auditory feedback, or tactile feedback; and input from the user may be received in any form, including sound, voice, or tactile input. In addition, the computer may interact with the user by sending documents to and receiving documents from a device used by the user; for example, by sending a web page to a web browser on a user's client device in response to a request received from the web browser.

[0030] refer to Figure 1-5B, an emergency door brake system 100 for a vehicle 10 includes a vehicle processor 200. The emergency door brake system 100 may also include a server 300 communicatively coupled to the vehicle processor 200, as will be described in more detail below. In some examples, the vehicle 10 is a fully autonomous or self-driving vehicle such that the vehicle 10 does not require vehicle passenger input to travel. However, it is also contemplated that the vehicle 10 may be semi-autonomous if desired. Further, in some examples, the vehicle 10 may be an electric vehicle 10. However, it is also contemplated that the vehicle 10 may combine electric vehicle and internal combustion engine (ICE) components and capabilities. Further, if desired, the vehicle 10 may include only an internal combustion engine or other power source. Additionally or alternatively, the vehicle 10 may include fuel cell components and capabilities.

[0031] In some examples, the vehicle 10 includes one or more doors 12. In some examples, one or more doors 12 are sliding doors. A sliding door is a type of door 12 that is mounted on or suspended from a track, and the door generally slides horizontally on the track. In some examples, the doors 12 may include a first door 14 and a second door 16. As shown, the first door 14 and the second door 16 may be disposed opposite to each other. In addition, the first door 14 and the second door 16 may be configured to move in opposite directions to each other. Figure 1 and 2 In the example shown, when both the first door 14 and the second door 16 are in the door closed position, the first door 14 and the second door 16 engage with each other. In addition, when one or both of the first door 14 and the second door 16 are in the door open position, the first door 14 and the second door 16 are disposed away from each other. Although two sliding doors 14, 16 are disclosed, other configurations are contemplated, including but not limited to a single sliding door or a series of three or more sliding doors. In some examples, one or more of the first door 14 and the second door 16 include a latch mechanism (not shown) that is movable between a latched state and an unlocked state and is configured to couple the first door 14 and the second door 16 in the door closed position. The latch mechanism may be operated by one or more of the vehicle processor 200 and the server 300, and / or may be configured to be manually operated between a latched state and an unlocked state.

[0032] The door 12 may be a power door or a power-assisted door, such that the door 12 may automatically move between a door open position and a door closed position when activated by a user and / or the server 300. In some examples, the door 12 is powered using an electromotive force (EMF) motor, which may be controlled by one or more of the vehicle processor 200 and the server 300. Additionally, in some examples, the first door 14 and the second door 16 are secured to each other in the door closed position using an EMF motor as a door brake, which is continuously active during vehicle motion to prevent the door 12 from accidentally opening during travel. The EMF motor may include one or more coils configured to move within a magnetic field.

[0033] Power doors typically use power from the vehicle to move the latch mechanism between a latched state and an unlocked state, and between a door open position and a door closed position. However, in the event of a power failure in the vehicle 10, the vehicle 10 may also include a manual emergency latch 18 that is configured to be activated by a vehicle occupant to allow the vehicle door 12 to move from the door closed position to the door open position, thereby allowing the vehicle occupant to exit the vehicle 10. When the manual latch 18 is moved from the inactive position to the activated position, the state of the latch mechanism changes from the latched state to the unlocked state. The unlocked state allows the vehicle door 12 to move from the closed position to the open position, so that the vehicle occupant can exit the vehicle 10 in an emergency, such as during a power failure event.

[0034] exist Figure 2 and Figure 3 In the example shown, the manual latch 18 is disposed within the vehicle door 12 and is accessible by a vehicle occupant by moving a panel 20 to open the manual latch 18. Figure 3 In the example shown, the panel 20 is a split panel. In addition, in some examples, the panel 20 includes a portion that rotates away from the vehicle door 12 to allow access to the manual latch 18.

[0035] Reference again Figure 1-5BIn the example shown, the vehicle processor 200 is configured to store vehicle data 202, including a door lock state 204, a vehicle sliding door position 206, a vehicle inclination 208, and / or a vehicle door speed 210. In some examples, the door lock state 204 generally relates to data related to whether an emergency situation exists. For example, the emergency situation may include one or more of the door 12 moving without a command from the server 300 or the latch mechanism moving to an unlocked state without a command from the server 300. In this way, the vehicle processor 200 can use one or more of a vehicle camera, a vehicle sensor, or other methods to collect information related to the door lock state 204. In some examples, the data includes data from a sensor or camera configured to collect information related to whether the latch mechanism of the vehicle door 12 has changed state and / or whether the vehicle door 12 has moved beyond a predetermined threshold without a command from the server 300.

[0036] In addition, in some examples, the door lock status 204 may also include precursor information related to whether an emergency situation exists. In some examples, the precursor information includes whether an emergency power situation has occurred, such as a vehicle power failure. If a vehicle power failure occurs, the vehicle occupants will need to use the manual latch 18 to open the door 12 because the power door function will not be available. In this way, the vehicle processor 200 can collect data related to the emergency power situation as a precursor to the emergency situation.

[0037] Still refer to Figure 1-5B In the example shown, the vehicle data 202 also includes a vehicle sliding door position 206. The vehicle sliding door position 206 generally relates to the position of the vehicle door 12 between the door open position and the door closed position. In some examples, the vehicle sliding door position 206 is measured as a percentage between the door open position and the door closed position. In other examples, the vehicle sliding door position 206 is sensed by a Hall sensor so that the vehicle sliding door position 206 is measured as the number of Hall counts starting from one of the door open position or the door closed position. However, various other data sensing devices have been considered. In addition, in some examples, the vehicle sliding door position 206 is measured or sensed as a change in the vehicle sliding door position relative to one or more of the door closed position or the door open position. In addition, if desired, such a change in the vehicle sliding door position can be measured within a predetermined amount of time.

[0038] In some examples, vehicle data 202 also includes vehicle inclination 208. Vehicle inclination 208 generally relates to the angle or slope that vehicle 10 is currently located on. For example, if vehicle 10 is located on a dirt slope or other incline, vehicle processor 200 may use a sensing or measuring device to gather information related to the inclination angle.

[0039] Additionally, the vehicle data 202 includes a door speed 210. The door speed 210 generally relates to the speed at which the vehicle door 12 moves between the door open position and the door closed position. The door speed 210 may depend on many factors, including, but not limited to, the tilt of the vehicle 10 during movement of the door 12, the forces applied by vehicle occupants on the door 12, and weather or other conditions outside the vehicle 10. Thus, to collect data related to the door speed 210, the vehicle processor 200 may use data collected from vehicle sensors or vehicle cameras. Other sensing or data collection components may also be employed.

[0040] Further references Figure 1-5B , the server 300 is configured as a network and / or cloud-based system in communication with the vehicle processor 200. In addition, in some examples, it is contemplated that the vehicle processor 200 may transmit any or all of the vehicle data 202 to the server 300 for further processing and / or evaluation. It is also contemplated that the vehicle processor 200 and / or the server 300 may be continuously and / or periodically updated so that the vehicle data 202 is updated in real time.

[0041] In some examples, the server 300 is configured to determine whether an emergency situation exists. Determining whether an emergency situation exists can be based on the door position 206. For example, the vehicle processor 200 can sense or collect data related to the current door position 206 and pass this information to the server 300, where the server determines whether the current door position is the same as the position last commanded by the server 300. More specifically, the vehicle processor 200 can sense the movement of the door 12 into the door closed position and pass this information to the server 300. The server 300 then checks whether the current door position matches the last known position commanded by the server 300. If the current door position does not match the last known position commanded by the server 300, the server 300 can determine that an emergency situation exists (i.e., the door 12 has been manually opened). In some examples, the server 300 can include small Hall changes over time, which can be considered a stationary door.

[0042] In addition to the foregoing, the server 300 can be configured to determine whether an emergency situation exists based on the state of the latch mechanism of the vehicle door 12. In some examples, the movement of the manual latch 18 mechanically or electronically changes the latch mechanism from a latched state to an unlocked state. In this way, the vehicle processor 200 and / or the server 300 are configured to monitor the latch state of the vehicle door 12 to determine whether the state of the latch mechanism has changed. If the state of the latch mechanism has changed, the server 300 determines whether the change in state was commanded by the server 300. If the server 300 has not commanded the state of the latch mechanism, but has detected a change in the latch state, the server 300 can determine that an emergency situation exists.

[0043] If an emergency situation exists, the server 300 can disable the door brake to allow the vehicle occupant to move the door 12 to the door open position to allow the vehicle occupant to exit the vehicle 10. However, in some examples, disabling the door brake and allowing the door 12 to move to the door open position may present a risk of injury to the vehicle occupant. More specifically, the position of the door 12, together with the position of the manual latch 18, may create a pinch point (see FIG. Figure 3 ), when the vehicle door 12 is moved to the door open position, the hand or arm of the vehicle occupant may be caught in the pinch point.

[0044] To prevent injury to vehicle occupants, in some examples, the server 300 is configured to stop and / or slow the vehicle door 12 at a predetermined vehicle sliding door position based on the door lock state 204. As described above, the door lock state 204 may be related to whether an emergency situation exists. In some examples, the server 300 is configured to stop and / or slow the vehicle door 12 at a predetermined vehicle sliding door position when it is determined that the vehicle door 12 has moved a predetermined amount from the closed position without a command from the server 300. Additionally, in some examples, the server 300 is configured to stop and / or slow the vehicle door 12 at a predetermined vehicle sliding door position when it is determined that the state of the latch mechanism has changed from a latched state to an unlocked state without a command from the server 300.

[0045] In some examples, the predetermined vehicle sliding door position is between about 30%-70% between the door open position and the door closed position. In some examples, the predetermined vehicle sliding door position is between about 40%-60% between the door open position and the door closed position. In some examples, the predetermined vehicle sliding door position is about 50% between the door open position and the door closed position. In some examples, the predetermined vehicle sliding door position is less than about 300 Hall counts from the door closed position. In some examples, the predetermined vehicle sliding door position is less than about 200 Hall counts from the door closed position. In some examples, the predetermined vehicle sliding door position is greater than 100 Hall counts from the door open position. However, other predetermined door positions have also been contemplated.

[0046] Additionally, in some examples, the server 300 is configured to stop and / or slow the vehicle door 12 by applying a door brake of the autonomous vehicle 10. For example, if an emergency condition has been met, such as the latch mechanism changes from a latched state to an unlocked state without a command from the server 300, the server 300 disables a typical door braking algorithm that secures the vehicle door 12 during vehicle operation, if not already disabled. Once the typical door braking algorithm is disabled, the server can command the EMF motor to activate the door brake at a predetermined vehicle sliding door position so that the vehicle door 12 will stop and / or slow at the predetermined vehicle sliding door position.

[0047] In some examples, the server 300 is configured to stop and / or slow the vehicle door 12 at a predetermined vehicle sliding door position for a predetermined amount of time. In some examples, the predetermined amount of time is ten (10) seconds or less. In some examples, the predetermined amount of time is five (5) seconds or less. In some examples, the predetermined amount of time is three (3) seconds or less. In some examples, once the vehicle door 12 has stopped for the predetermined amount of time, the vehicle door 12 is allowed to continue moving to the open position.

[0048] The server 300 may be configured to stop the door 12 at a predetermined position based at least on the vehicle inclination 208. For example, if the server 300 determines that an emergency situation exists, the server 300 may determine whether the vehicle 10 is on an incline, which may affect the speed of the door 12 during manual opening. If the server 300 determines that the vehicle 10 is on an incline greater than a predetermined incline, the server 300 may apply a door brake to stop and / or slow the door 12.

[0049] In addition, in some examples, the server 300 can be configured to employ passive braking of the door 12. As described above, the door brake can be an EMF motor. In one configuration, when the user moves the door 12 toward the open position, the reverse or inverse EMF charges the EMF motor so that after the door 12 moves a certain amount, the EMF motor can activate the door brake using the reverse EMF charge and stop or slow the door 12. In some examples, between the door closed position and the door open position, this process of charging the EMF motor, activating the door brake once charged, and then charging the EMF motor can occur one or more times, thereby slowing down the movement of the door 12 between the door closed position and the door open position. In some examples, passive braking can be activated after the server 300 has actively stopped or slowed the door 12 at a predetermined position to continue the slowed movement of the door 12 to the open position, thereby preventing the door from slamming open. In addition, in some examples, passive braking can be used as a substitute for the server 300 actively stopping and / or slowing the door 12 in certain situations, such as a total power failure of the vehicle 10. Additionally, in some examples, passive braking may be applied in certain situations, such as if the door 12 moves at a predetermined speed for a predetermined amount of time. For example, if the door 12 moves more than 160 Hall counts in 250 milliseconds, passive braking may be applied to safely control the door 12.

[0050] exist Figure 5A and 5B An example flow chart of the operation of the emergency door brake system 100 is set forth in FIG. Figure 5AAs shown, the vehicle 10 is started and the server 300 begins monitoring for emergency use. In the next step, at step 502, the server 300 determines whether the position of the door 12 is known. If the position of the door 12 is unknown, normal operation continues. However, if the position of the door 12 is known, then at step 504, the server 300 determines whether the door 12 is stationary after the last power cycle is completed. In other words, the server 300 determines whether the last commanded door opening or door closing movement has been completed. The server 300 may include a certain margin for slight movement of the door 12 due to uneven roads or braking functions. Then, the server 300 determines at steps 506 and 508 whether the door 12 is in a predetermined position that is less than about 200 Hall counts from the door closed position and moves about 100 Hall counts toward the door open position. If the door 12 has not reached the predetermined vehicle sliding door position, normal operation continues. If the door 12 has reached the predetermined position, the server 300 determines at step 510 whether there is any system failure ( Figure 5B ).

[0051] If there is a system failure, the server 300 determines at step 511 whether there is any door failure. If there is a door failure, the server 300 continues normal door brake operation. However, if no system or door failure is detected, then at step 512, the server 300 determines that an emergency state exists. This determination is based on whether the latch 18 has been activated and whether the server 300 is activated to stop the vehicle door 12 at a predetermined vehicle sliding door position. In addition, the door brake that prevents the vehicle door 12 from moving from the closed position is disabled to allow manual opening of the vehicle door 12. In the example shown, when the emergency state is activated at step 512, at step 516, the server 300 determines whether the vehicle door 12 is more than 50% toward the door open position. If the vehicle door 12 is not more than 50% toward the door open position, the normal manual emergency state continues. However, if the vehicle door 12 is more than 50% toward the door open position, then at step 518, the server 300 applies the door brake to stop the vehicle door 12. In some examples, at step 520, the vehicle door 12 stops for approximately two (2) seconds to allow the vehicle occupant to remove their hands from the vehicle door 12 to avoid pinching or injuring the vehicle occupant's hands. Once two (2) seconds have passed, at step 522, active braking is disabled and normal emergency operation continues.

[0052] Additionally or alternatively, if the door 12 moves at a speed above a predetermined speed, passive braking can be used to safely control the movement of the door 12. More specifically, in some examples, during an emergency, if the door 12 moves at a speed exceeding about 160 Halls / 250 milliseconds, the door brake is activated to slow the movement of the door 12 before the door 12 reaches a predetermined position. As described above, the passive braking can be activated using the back EMF of the EMF motor.

[0053] In some examples, to determine whether an emergency state has been activated, in step 540 ( Figure 5A ), the server 300 may monitor the manual latch 18 to first determine if the vehicle door 12 is in a fully latched state. Next, at step 542, the server 300 monitors the manual latch 18 to determine if the manual latch 18 has changed from the fully latched state to the unlocked state without a command from the server 300. If the manual latch 18 has changed from the fully latched state to the unlocked state without a command from the server 300, then the emergency state is activated at step 512. In the example shown, when the emergency state is activated, the server 300 determines if the vehicle door 12 is more than 50% toward the door open position. If the vehicle door 12 is not more than 50% toward the door open position, the normal manual emergency state continues. However, if the vehicle door 12 is more than 50% toward the door open position, the server 300 applies active braking to stop the vehicle door 12. In some examples, the vehicle door 12 stops for approximately two (2) seconds to allow the vehicle occupants to remove their hands from the vehicle door 12 to avoid pinching or injuring the vehicle occupants' hands. Once two (2) seconds have elapsed, active braking is disabled and normal emergency operation continues.

[0054] Additionally or alternatively, once the emergency state has been activated, at step 560, the server 300 can be configured to use the vehicle inclination 208 information to determine whether the vehicle 10 is above a five (5) degree grade. If the vehicle 10 is above a five (5) degree grade, active braking is activated at step 518 when the door 12 is moved from the closed position. In some examples, the door 12 stops for approximately two (2) seconds to allow the vehicle occupant to remove their hands from the door 12 to avoid pinching or injuring the vehicle occupant's hands. Once the two (2) seconds have passed, active braking is disabled and normal emergency operations continue, including passive braking operations.

[0055] In some vehicles 10, the position of the door 12, together with the state of the manual latch 18, may create a pinch point ( Figure 3 ), where the hands or arms of vehicle occupants may be trapped. The emergency door brake system 100 described herein takes this situation into account and provides a safe exit for vehicle occupants even during a power failure event.

[0056] Many embodiments have been described. However, it should be understood that various modifications can be made without departing from the spirit and scope of the present disclosure. Therefore, other embodiments are also within the scope of the following claims.

[0057] The foregoing description has been provided for the purpose of illustration and description. It is not intended to be exhaustive or to limit the present disclosure. Individual elements or features of a particular configuration are generally not limited to that particular configuration, but where applicable, they are interchangeable and can be used in a selected configuration even if not specifically shown or described. This can also be varied in a variety of ways. Such variations should not be considered a departure from the present disclosure, and all such modifications are intended to be included within the scope of the present disclosure.

Claims

1. An emergency door brake system for an autonomous vehicle, the emergency door brake system comprising: a vehicle processor for storing vehicle data including door lock status and a position of a vehicle sliding door; as well as A server is communicatively coupled to the vehicle processor and is configured to stop the sliding door at a predetermined vehicle sliding door position based on the door lock status.

2. The emergency door brake system according to claim 1, wherein: The predetermined vehicle sliding door position is approximately 50% between the door open position and the door closed position.

3. The emergency door brake system according to claim 1, wherein: The predetermined vehicle sliding door position is less than 200 Hall counts from a door closed position.

4. The emergency door brake system according to claim 1, wherein: The predetermined vehicle sliding door position is greater than 100 Hall counts from a door open position.

5. The emergency door brake system according to claim 1, wherein: The server is configured to stop the sliding door by disabling an emergency locking function of the autonomous vehicle.

6. The emergency door brake system according to claim 1, wherein: The server is further configured to determine whether an emergency situation exists based on the door lock status.

7. The emergency door brake system according to claim 1, wherein: The server is configured to pause the sliding vehicle door at the predetermined vehicle sliding door position for approximately five seconds or less based on one or more of the door lock status and the vehicle sliding door position.

8. An autonomous vehicle comprising the system according to claim 1.

9. The autonomous vehicle of claim 8, wherein: The autonomous vehicle also includes a plurality of sliding doors.

10. The autonomous vehicle of claim 9, wherein: The plurality of sliding doors include a first sliding door and a second sliding door configured to move in opposite directions and engage with each other in a door closed position.

Images