Electrically operated gate touch closure

Abstract

A motorized door system for a vehicle includes: a system controller adapted to detect when an operator begins to close a door held in an open position; a motor in communication with the system controller and adapted to move the door from an open position to a closed position; when it is detected that the operator has started to close the door, the system controller is further adapted to maintain a motorized closing speed of the door from the open position to the pinch point; slowing the closing speed of the door when the door reaches the pinch point; and allowing the door to freely move to the closed position.

Description

Technical Field

[0001] This invention generally relates to an electrically closing door for a vehicle. Specifically, once the operator begins to close the door, a motor moves the door from the open position to the closed position at a speed reflecting the operator's intention. Background Technology

[0002] Current electric doors only provide electric movement from the open position to the closed position at a single predetermined speed. Therefore, while current electric doors achieve their intended purpose, a new and improved system and method are needed to provide electric closing of the door, where the electric door reflects the operator's intention regarding the speed and force of closing the door, and interrupts the electric closing as the door approaches the closed position to support a soft closing of the electric door. Summary of the Invention

[0003] According to several aspects of this disclosure, a method for controlling the closing of an electric door in a vehicle includes holding the door in an open position; detecting, using a controller, that an operator begins to close the door; maintaining, using the controller, the electric closing speed of the door from the open position to a pinch point; slowing down the closing speed of the door when it reaches the pinch point; and allowing the door to move freely to the closed position.

[0004] According to another aspect, keeping the vehicle door in the open position also includes using a passive holding mechanism to passively hold the door in the open position with a predetermined holding force; using the controller to detect when the operator begins to close the door also includes using the controller to monitor the door's acceleration by communicating with an accelerometer; using the controller to monitor the door's position by communicating with a Hall sensor; and using the controller to determine that closing the door has begun based on feedback received from the accelerometer and Hall sensor that the predetermined holding force has been overcome and the door has moved from the open position.

[0005] According to another aspect, using a controller to maintain the electric closing speed of the door from the open position to the clamp also includes using the controller to monitor the door's acceleration by communicating with an accelerometer; using the controller to monitor the door's position by communicating with a Hall sensor; calculating the closing speed at which the operator moves the door from the open position to the closed position based on feedback from the accelerometer and the Hall sensor; using the controller to actuate a motor suitable for moving the door from the open position to the closed position; and using the motor to move the door from the open position to the closed position at the calculated closing speed.

[0006] According to another aspect, using the controller to maintain the electric closing speed of the door from the open position to the clamp point also includes continuously updating the calculated closing speed throughout the entire process of the door moving from the open position to the closed position; and using the controller to stop the electric movement of the door by means of a motor when the controller detects that the door has encountered an obstacle between the open position and the closed position through feedback from the accelerometer.

[0007] According to another aspect, slowing down the closing speed of the door when it reaches the pinch point also includes using a controller to determine when the door reaches the pinch point based on feedback from a Hall sensor, and at least one of the following: using the controller to reverse the motor to brake the movement of the door; using the controller to actuate a braking mechanism adapted to stop the movement of the door to brake the movement of the door.

[0008] According to another aspect, allowing the door to move freely to the closed position also includes using the controller to detect when the door reaches the closed position by communicating with a Hall sensor; and using the deactivation of the brakes when the door reaches the closed position to allow the door to move freely to the closed position.

[0009] According to another aspect, keeping the vehicle door in the open position also includes actively keeping the door in the open position with a predetermined holding force using a braking mechanism adapted to prevent door movement; detecting that the operator has begun to close the door using a controller also includes monitoring the force applied by the operator to move the door from the open position to the closed position by the controller through communication with a torque sensor; determining that the closing of the door has begun using the controller based on feedback received from the torque sensor that the predetermined holding force has been overcome; and deactivating the braking mechanism.

[0010] According to another aspect, using a controller to maintain the electric closing speed of the door from the open position to the clamp also includes using the controller to monitor the door's acceleration by communicating with an accelerometer; using the controller to monitor the door's position by communicating with a Hall sensor; calculating the closing speed at which the operator moves the door from the open position to the closed position based on feedback from the accelerometer and the Hall sensor; using the controller to actuate a motor suitable for moving the door from the open position to the closed position; and using the motor to move the door from the open position to the closed position at the calculated closing speed.

[0011] According to another aspect, using the controller to maintain the electric closing speed of the door from the open position to the clamp point also includes continuously updating the calculated closing speed throughout the entire process of the door moving from the open position to the closed position; and using the controller to stop the electric movement of the door by means of a motor when the controller detects that the door has encountered an obstacle between the open position and the closed position through feedback from the accelerometer.

[0012] According to another aspect, slowing down the closing speed of the door when it reaches the pinch point also includes using the controller to determine when the door reaches the pinch point based on feedback from the Hall sensor, and at least one of the following: using the controller to reverse the motor to brake the movement of the door; and using the controller to actuate the braking mechanism to brake the movement of the door.

[0013] According to another aspect, allowing the door to move freely to the closed position also includes using the controller to detect when the force of closing the door is lower than a predetermined braking threshold by communicating with a load sensor; and stopping the braking of the door and allowing the door to move freely to the closed position when the force of closing the door is lower than the predetermined braking threshold.

[0014] According to several aspects of this disclosure, an electric door system for a vehicle includes: a controller adapted to detect when an operator begins to close a door held in an open position; a motor communicating with the system controller and adapted to move the door from the open position to a closed position; when the operator is detected to have begun to close the door, the controller is also adapted to maintain an electric closing speed of the door from the open position to a pinch point, slow down the closing speed of the door when the door reaches the pinch point, and allow the door to move freely to the closed position.

[0015] According to another aspect, a passive holding mechanism is used to passively hold the vehicle door in the open position with a predetermined holding force; when the operator is detected to begin closing the door, the controller is also adapted to use an accelerometer to monitor the door's acceleration, a Hall sensor to monitor the door's position, and, based on feedback from the accelerometer and Hall sensor that the predetermined holding force has been overcome and the door has moved from the open position, determine that closing the door has begun.

[0016] According to another aspect, while maintaining the electric closing speed of the door from the open position to the clamp point, the controller is also adapted to calculate the closing speed at which the operator moves the door from the open position to the closed position based on feedback from the accelerometer and Hall sensor, actuate the motor to move the door from the open position to the closed position, use the motor to move the door from the open position to the closed position at the calculated closing speed, continuously update the calculated closing speed throughout the process of the door moving from the open position to the clamp point, and use the motor to stop the electric movement of the door when the controller detects that the door encounters an obstacle between the open position and the closed position through feedback from the accelerometer.

[0017] According to another aspect, when the closing speed of the door is slowed down when the door reaches the pinch point, the controller is also adapted to determine when the door reaches the pinch point based on feedback from the Hall sensor, and at least one of the following: braking the movement of the door by reversing the motor and braking the movement of the door by actuating the braking mechanism.

[0018] According to another aspect, when the door is allowed to move freely to the closed position, the controller is also adapted to detect when the door reaches the closed position by communicating with a Hall sensor, and when the door reaches the closed position, to deactivate the door brake and allow the door to move freely to the closed position.

[0019] According to another aspect, a braking mechanism adapted to prevent door movement is used to actively hold the door in the open position with a predetermined holding force; when the operator begins to close the door, the controller is also adapted to monitor the force applied by the operator to move the door from the open position to the closed position by communicating with a torque sensor, and based on feedback from the torque sensor that the predetermined holding force has been overcome, determine that the closing of the door has begun, and deactivate the braking mechanism.

[0020] According to another aspect, while maintaining the electric closing speed of the door from the open position to the clamp point, the controller is also adapted to monitor the door's acceleration via an accelerometer, monitor the door's position via a Hall sensor, calculate the closing speed at which the operator moves the door from the open position to the closed position based on feedback from the accelerometer and Hall sensor, actuate the motor to move the door from the open position to the closed position, use the motor to move the door from the open position to the closed position at the calculated closing speed, continuously update the calculated closing speed throughout the process of the door moving from the open position to the closed position, and stop the electric movement of the door via the motor when the controller detects that the door encounters an obstacle between the open and closed positions via feedback from the accelerometer.

[0021] According to another aspect, when the closing speed of the door is slowed down when the door reaches the pinch point, the controller is also adapted to determine when the door reaches the pinch point based on feedback from the Hall sensor, and at least one of the following: braking the door movement by reversing the motor and braking the door movement by actuating a brake adapted to stop the door movement, and when the door is allowed to move freely to the closed position, the controller is also adapted to detect when the force of closing the door is lower than a predetermined braking threshold by communicating with a load sensor, and when the force of closing the door is lower than the predetermined braking threshold, stop braking the door and allow the door to move freely to the closed position.

[0022] Further areas of application will become apparent from the description provided herein. It should be understood that these descriptions and specific examples are for illustrative purposes only and are not intended to limit the scope of this disclosure. Attached Figure Description

[0023] The accompanying drawings described herein are for illustrative purposes only and are not intended to limit the scope of this disclosure in any way.

[0024] Figure 1 This is a schematic diagram of a vehicle according to exemplary embodiments of the present disclosure;

[0025] Figure 2 This is a schematic diagram of an electric door system according to an exemplary embodiment of the present disclosure;

[0026] Figure 3 It has an electric door system Figure 1 A schematic top view of the vehicle, in which the doors are shown in various positions between the open and closed positions;

[0027] Figure 4A yes Figure 3 An enlarged view of a portion of the image, showing the door in the closed position;

[0028] Figure 4B Is with Figure 4A A similar enlarged image, in which the door is in the closed position;

[0029] Figure 4C It is similar to Figure 4A and Figure 4B An enlarged view, in which the door is located at the pinch point; and

[0030] Figure 5 This is a flowchart illustrating a method of using an electric door system according to an exemplary embodiment.

[0031] The accompanying drawings are not necessarily drawn to scale, and some features may be enlarged or minimized, for example, to show details of specific components. In some cases, well-known components, systems, materials, or methods have not been described in detail to avoid obscuring this disclosure. Therefore, the specific structural and functional details disclosed herein should not be construed as limiting, but only as the basis for the claims and as a representative basis for teaching those skilled in the art to apply this disclosure in different ways. Detailed Implementation

[0032] The following description is merely exemplary in nature and is not intended to limit this disclosure, its application, or its uses. Furthermore, it is not intended to be bound by any express or implied theory presented in the foregoing technical fields, background art, summary of the invention, or the following detailed description. It should be understood that throughout the drawings, corresponding reference numerals denote similar or corresponding parts and features. As used herein, the term "module" means any hardware, software, firmware, electronic control components, processing logic, and / or processor device, individually or in any combination, including but not limited to: application-specific integrated circuits (ASICs), electronic circuits, processors (shared, dedicated, or grouped), and memory executing one or more software or firmware programs, combinational logic circuits, and / or other suitable components providing the described functionality. Although the drawings shown herein depict examples with certain element arrangements, additional intermediate elements, devices, features, or components may be present in actual embodiments. It should also be understood that the drawings are merely illustrative and may not be drawn to scale.

[0033] As used herein, the term "vehicle" is not limited to automobiles. While this article primarily describes the technology in the context of automobiles, the technology is not limited to automobiles. These concepts can be applied to a variety of applications, such as aircraft, ships, other vehicles, and consumer electronics components.

[0034] Exemplary embodiments are provided to make this disclosure exhaustive and to fully convey the scope to those skilled in the art. Numerous specific details, such as examples of specific compositions, components, apparatuses, and methods, are set forth herein to provide a thorough understanding of embodiments of this disclosure. It will be apparent to those skilled in the art that specific details are not required, exemplary embodiments may be embodied in many different forms, and none should be construed as limiting the scope of this disclosure. In some exemplary embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail.

[0035] The terminology used herein is for the purpose of describing particular exemplary embodiments only and is not intended to be limiting. As used herein, the singular forms “a,” “an,” and “the” are also intended to include the plural forms unless the context clearly indicates otherwise. The terms “comprising,” “including,” and “having” are inclusive and thus specify the presence of stated features, elements, compositions, steps, integrals, operations, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof. While the open-ended term “comprising” should be understood as a non-limiting term used to describe and claim the various embodiments presented herein, in some aspects, the term may alternatively be understood as more restrictive and limiting terms, such as “consisting of” and “essentially composed of.” Therefore, for any given embodiment recounting compositions, materials, components, elements, features, integrals, operations, and / or process steps, this disclosure also specifically includes embodiments consisting of or essentially consisting of the such enumerated compositions, materials, components, elements, features, integrals, operations, and / or process steps. In the case of “consisting of…”, alternative embodiments exclude any additional compositions, materials, parts, elements, features, integrals, operations, and / or process steps. In the case of “essentially composed of…”, any additional compositions, materials, parts, elements, features, integrals, operations, and / or process steps that substantially affect the essential and novel characteristics are excluded from such embodiments. However, any compositions, materials, parts, elements, features, integrals, operations, and / or process steps that do not substantially affect the essential and novel characteristics may be included in the embodiments.

[0036] Any methods, steps, procedures, and operations described herein should not be construed as requiring them to be performed in the specific order discussed or shown, unless the order of performance is specifically identified. It should also be understood that, unless otherwise stated, additional or alternative steps may be employed.

[0037] When a component, element, or layer is referred to as being “on,” “joined to,” “connected to,” or “coupled to” another component or layer, it may be directly on, joined to, connected to, or coupled to the other component, element, or layer, and other intermediate components or layers may be present. Conversely, when an element is referred to as being “directly on,” “directly joined to,” “directly connected to,” or “directly coupled to” another component or layer, no intermediate components or layers may be present. Other terms used to describe relationships between elements should be interpreted in a similar manner (e.g., “between” vs. “directly between,” “adjacent” vs. “directly adjacent,” etc.). As used herein, the term “and / or” includes any and all combinations of one or more of the related listed items.

[0038] Although the terms first, second, third, etc., may be used herein to describe various steps, elements, components, regions, layers, and / or portions, these steps, elements, components, regions, layers, and / or portions should not be limited to these terms unless otherwise stated. These terms may be used only to distinguish one step, element, component, region, layer, or portion from another. Terms such as “first,” “second,” and other numerical terms, when used herein, do not imply sequence or order unless the context clearly indicates otherwise. Therefore, the first step, element, component, region, layer, or portion discussed below may be referred to as the second step, element, component, region, layer, or portion without departing from the teachings of the exemplary embodiments.

[0039] Spatial or temporal relative terms, such as “before,” “after,” “inside,” “outside,” “below,” “under,” “lower,” “above,” “upper,” etc., may be used here for ease of description to describe the relationship between one element or feature and another, as shown in the figure. In addition to the orientations depicted in the figure, spatial or temporal related terms may be intended to cover different orientations of the equipment or system during use or operation.

[0040] Throughout this disclosure, numerical values ​​represent approximate measurements or limitations on ranges to include minor deviations from given values ​​and embodiments having approximately the mentioned values, as well as embodiments having precisely the mentioned values. Except for the working examples provided at the end of the detailed description, all numerical values ​​of parameters (e.g., quantities or conditions) in this specification (including the appended claims) should be understood to be modified in all cases by the term “about,” regardless of whether “about” actually appears before the numerical value. “About” indicates that the specified numerical value allows for some slight imprecision (accuracy achieved by some method; approximately or fairly close to the value; almost). If the imprecision provided by “about” is not understood in this ordinary sense in the art, then “about” as used herein at least indicates variations that may arise from common methods of measuring and using such parameters. For example, “about” with respect to percentages includes a variation of plus / minus 5%, “about” with respect to temperature includes a variation of plus / minus 5 degrees, and “about” with respect to distance includes a variation of plus / minus 10%. Additionally, the disclosure of ranges includes disclosing all values ​​throughout the range and further subdivisions of the range, including endpoints and subranges given for the range. In addition, the disclosure of a range includes disclosing all values ​​within the entire range and further subdivisions of the range, including endpoints and subranges given for the range.

[0041] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. According to the exemplary embodiments, Figure 1 A vehicle 10 with an associated electric door system 50 is shown, which provides electric closing of the doors 52 of the vehicle 10. Generally, system 50 operates in conjunction with other systems within the vehicle 10. The vehicle 10 generally includes a chassis 12, a body 14, front wheels 16, and rear wheels 18. The body 14 is arranged on the chassis 12 and substantially surrounds the components of the vehicle 10. The body 14 and chassis 12 may together form a frame. The front wheels 16 and rear wheels 18 are each rotatably connected to the chassis 12 near a corresponding corner of the body 14.

[0042] In various embodiments, vehicle 10 is an autonomous vehicle and system 11 is incorporated into autonomous vehicle 10. Autonomous vehicle 10 is, for example, a vehicle 10 that is automatically controlled to transport passengers from one location to another. Vehicle 10 is depicted as a passenger car in the illustrated embodiment, but it should be understood that any other vehicle may be used, including motorcycles, trucks, sport utility vehicles (SUVs), recreational vehicles (RVs), etc. In an exemplary embodiment, vehicle 10 is equipped with a so-called Level 4 or Level 5 automation system. Level 4 system means “high automation,” referring to the driving mode-specific performance of the autonomous driving system in all aspects of a dynamic driving task, even if the human driver does not properly respond to intervention requests. Level 5 system means “full automation,” referring to the full-time performance of the autonomous driving system in all road and environmental conditions that a human driver can manage in all aspects of a dynamic driving task. Novel aspects of this disclosure also apply to non-autonomous vehicles.

[0043] As shown in the figure, vehicle 10 typically includes a propulsion system 20, a drivetrain 22, a steering system 24, a braking system 26, a sensor system 28, an actuator system 30, at least one data storage device 32, a vehicle controller 34, and a wireless communication module 36. In embodiments where vehicle 10 is an electric vehicle, the drivetrain 22 may be absent. In various embodiments, the propulsion system 20 may include an internal combustion engine, an electric motor such as a traction motor, and / or a fuel cell propulsion system. The drivetrain 22 is configured to transmit power from the propulsion system 20 to the front wheels 16 and rear wheels 18 of the vehicle according to a selectable speed ratio. According to various embodiments, the drivetrain 22 may include a stepped automatic transmission, a continuously variable transmission (CVT), or other suitable transmission. The braking system 26 is configured to provide braking torque to the front wheels 16 and rear wheels 18 of the vehicle. In various embodiments, the braking system 26 may include friction brakes, brake-by-wire brakes, regenerative braking systems (e.g., electric motors), and / or other suitable braking systems. The steering system 24 influences the position of the front wheels 16 and rear wheels 18. Although depicted as including a steering wheel for illustrative purposes, in some embodiments contemplated within the scope of this disclosure, such as for fully autonomous vehicles, the steering system 24 may not include a steering wheel.

[0044] Sensor system 28 includes one or more sensing devices 40a-40n that sense observable conditions of the external and / or internal environment of the autonomous vehicle 10. Sensing devices 40a-40n may include, but are not limited to, radar, lidar, global positioning system, optical cameras, thermal cameras, ultrasonic sensors, and / or other sensors. Cameras may include two or more digital cameras spaced apart from each other at a selected distance, wherein the two or more digital cameras are used to acquire stereo images of the surrounding environment to obtain a three-dimensional image or map. Multiple sensing devices 40a-40n are used to determine information about the environment surrounding the vehicle 10. In an exemplary embodiment, multiple sensing devices 40a-40n include a motor speed sensor, a motor torque sensor, an electric drive motor voltage and / or current sensor, an accelerator pedal position sensor, a coolant temperature sensor, a cooling fan speed sensor, and a transmission oil temperature sensor. In another exemplary embodiment, multiple sensing devices 40a-40n also include sensors for determining information about the environment surrounding the vehicle 10, such as an ambient air temperature sensor, an atmospheric pressure sensor, and / or a photographic and / or video camera positioned to observe the environment in front of the vehicle 10. In another exemplary embodiment, at least one of the plurality of sensing devices 40a-40n is capable of measuring distances in the environment surrounding the vehicle 10. The actuator system 30 includes one or more actuator devices 42a-42n that control one or more features of the vehicle 10, such as, but not limited to, the propulsion system 20, the transmission system 22, the steering system 24, and the braking system 26.

[0045] The vehicle controller 34 includes at least one processor 44 and a computer-readable storage device or medium 46. The at least one data processor 44 can be any custom or commercially available processor, central processing unit (CPU), graphics processing unit (GPU), auxiliary processor among a plurality of processors associated with the vehicle controller 34, semiconductor-based microprocessor (in the form of a microchip or chipset), macroprocessor, any combination thereof, or any means generally used for executing instructions. The computer-readable storage device or medium 46 can include volatile and non-volatile storage devices such as read-only memory (ROM), random access memory (RAM), and keep-alive memory (KAM). KAM is persistent or non-volatile memory that can be used to store various operational variables when at least one data processor 44 is powered off. The computer-readable storage device or medium 46 can be implemented using any of a variety of known storage devices, such as PROM (programmable read-only memory), EPROM (electrical PROM), EEPROM (electrically erasable PROM), flash memory, or any other electrical, magnetic, optical, or combined storage device capable of storing data, some of which represent executable instructions used by the controller 34 when controlling the vehicle 10.

[0046] These instructions may include one or more separate programs, each comprising an ordered list of executable instructions for implementing logical functions. When executed by at least one processor 44, the instructions receive and process signals from the sensor system 28, execute logic, calculations, methods, and / or algorithms for automatically controlling components of the vehicle 10, and generate control signals to the actuator system 30, thereby automatically controlling components of the vehicle 10 based on logic, calculations, methods, and / or algorithms. Although Figure 1 Only one controller 34 is shown, but embodiments of vehicle 10 may include any number of controllers 34 that communicate via any suitable communication medium or combination of communication media and cooperate to process sensor signals, execute logic, calculations, methods and / or algorithms, and generate control signals for automatically controlling the functions of autonomous vehicle 10.

[0047] In various embodiments, one or more instructions from the vehicle controller 34 are embodied in the trajectory planning system and, when executed by at least one data processor 44, generate a trajectory output that addresses the kinematic and dynamic constraints of the environment. For example, the instructions receive process sensor and map data as input. These instructions execute graph-based methods and customized cost functions to handle different road scenarios, including urban and highway scenarios.

[0048] The wireless communication module 36 is configured to wirelessly transmit information to other remote entities 48, such as, but not limited to, other vehicles (“V2V” communication), infrastructure (“V2I” communication), remote systems, remote servers, cloud computers, and / or personal devices. In an exemplary embodiment, the communication system 36 is a wireless communication system configured to communicate using the IEEE 802.11 standard or via a wireless local area network (WLAN) or by using cellular data communication. However, additional or alternative communication methods, such as Dedicated Short Range Communication (DSRC) channels, are also considered within the scope of this disclosure. A DSRC channel refers to a unidirectional or bidirectional short- to medium-range wireless communication channel designed specifically for automotive use, along with a set of corresponding protocols and standards.

[0049] The vehicle controller 34 is a non-general-purpose electronic control device having a pre-programmed digital computer or processor, memory or non-transitory computer-readable medium, and transceivers [or input / output ports] for storing data such as control logic, software applications, instructions, computer code, data, lookup tables, etc. Computer-readable medium includes any type of media that can be accessed by a computer, such as read-only memory (ROM), random access memory (RAM), hard disk drive, compact disc (CD), digital video disc (DVD), or any other type of memory. "Non-transitory" computer-readable medium excludes wired, wireless, optical, or other communication links that transmit transient electrical or other signals. Non-transitory computer-readable medium includes media that can permanently store data and media that can store data and subsequently be rewritten, such as rewritable optical discs or erasable storage devices. Computer code includes any type of program code, including source code, object code, and executable code.

[0050] refer to Figure 2 The diagram illustrates an exemplary embodiment of an electric door system 50. The electric door system 50 includes a system controller 36 that communicates with the following components: an accelerometer 54 positioned within the door 52 of the vehicle 10 and adapted to provide the system controller 36 with information relating to the acceleration of the door 52; a Hall sensor 56 adapted to provide the system controller 36 with information relating to the position of the door 52; and a torque sensor 58 adapted to provide the system controller 36 with information relating to the force applied to or exerted by the door 52. Additionally, the electric door system 50 includes a motor 60 that communicates with the system controller 36 and is adapted to receive instructions from the system controller 36 and provide electric closing of the door 52 according to the instructions received from the system controller 36; and a braking mechanism 62 adapted to prevent movement of the door 52. The system controller 36 may be a vehicle controller 34, or the system controller 36 may be a separate controller communicating with the vehicle controller 34.

[0051] In an exemplary embodiment, the system controller 36 is adapted to detect when the operator initiates a predetermined holding force to close the door 52, which is held in the open position by the predetermined holding force. (See reference...) Figure 3 Door 52 can pivotally move between an open position as shown in Figure 64 and a closed position as shown in Figure 66. When door 52 is in the open position, door 52 is passively or actively held in the open position such that door 52 will remain in the open position until the operator / passenger of vehicle 10 begins to close door 52. When door 52 moves from the open position to the closed position as shown by arrow 68, system controller 36 detects the start of closing of door 52.

[0052] In an exemplary embodiment, the door 52 of the vehicle 10 is passively held in an open position by a passive holding mechanism 70 with a predetermined holding force. The passive holding mechanism 70 is designed to automatically hold the door 52 in the open position with a predetermined holding force when the door 52 moves to the open position, and to automatically allow the door 52 to move toward the closed position once a force exceeding the predetermined holding force has been applied to the door 52. The passive holding mechanism 70 may include any suitable means or design that provides resistance to the movement of the door 52 from the open position toward the closed position. For example, the passive holding mechanism 70 may be a pawl engaging a feature of the door 52 such that sufficient force must be applied to the door 52 to disengage the feature from the pawl, or the passive holding mechanism 70 may be a frictional engagement between a fixed feature of the vehicle 10 and a moving feature of the door 52 such that sufficient force must be applied to the door 52 to overcome the frictional resistance to the movement of the door 52 from the open position toward the closed position. It should be understood that any suitable design or method can be used to hold the door 52 in the open position such that a controllable predetermined force must be applied to the door 52 to initiate movement of the door 52 from the open position without departing from the novel features of this disclosure.

[0053] When door 52 is passively held in the open position by passive holding mechanism 70, system controller 36 detects the start of closing of door 52 by monitoring the acceleration of door 52 with accelerometer 54 and the position of door 52 with Hall sensor 56. Based on feedback from accelerometer 54 and Hall sensor 56, system controller 36 determines that closing of door 52 has begun, i.e., the predetermined holding force has been overcome and door 52 has moved from the open position to the closed position.

[0054] In another exemplary embodiment, the door 52 of the vehicle 10 is actively held in the open position by a braking mechanism 62 with a predetermined holding force, the braking mechanism 62 being adapted to prevent movement of the door 52. Actively holding the door 52 in the open position includes actuating the braking mechanism 62 once the door 52 has moved to the open position, and maintaining the actuation of the braking mechanism 62 until the force applied to the door 52 exceeds the predetermined holding force.

[0055] When door 52 is actively held in the open position by braking mechanism 62, system controller 36 detects the start of closing of door 52 by monitoring the force applied to door 52 with torque sensor 58, and when the operator attempts to move door 52 from the open position to the closed position with a force exceeding the predetermined holding force, system controller 36 deactivates braking mechanism 62, thereby releasing door 52 and allowing door 52 to move from the open position to the closed position.

[0056] Once the system controller 36 detects that the door 52 has begun to close, it overcomes the predetermined holding force of the passive holding mechanism 70 by having the operator apply sufficient force, or by having the operator apply a force exceeding the predetermined holding force, and when the braking mechanism 58 is deactivated, the system controller 36 maintains the electric closing speed of the door 52 from the open position to the pinch point 72.

[0057] In an exemplary embodiment, while maintaining the electrically closed speed of door 52 from the open position to pinch point 72, system controller 36 calculates the closing speed based on feedback from accelerometer 54 and Hall sensor 56. Therefore, system controller 36 receives information related to the speed at which the operator moves door 52 when door 52 begins to close, and calculates the speed at which the operator intends to move door 52 from the open position to the closed position. Using acceleration data from accelerometer 54, system controller 36 calculates / approximates the closing speed based on acceleration / inertia. In an exemplary embodiment, along with acceleration data from accelerometer 54 and position data from Hall sensor 56, system controller 36 uses data collected by torque sensor 58 to determine that closing of door 52 has begun and calculates the closing speed. Torque sensor 58 provides more accurate data and provides data faster than accelerometer 54 and Hall sensor 56, thereby reducing latency and improving the response time and overall performance of system 50. System controller 36 then actuates motor 60 to move door 52 from the open position to the closed position at the calculated closing speed. In this way, the system controller 36 determines the expected speed at which the operator will begin to move the door 52, and uses the motor 60 to provide electric movement of the door 52 at the calculated closing speed, reflecting the operator's intention.

[0058] Throughout the movement of door 52 from the open position to the clamping point, system controller 36 continuously receives data from accelerometer 54 and Hall sensor 56 to identify whether the operator is applying force to accelerate or decelerate the movement of door 52. If system controller 36 detects that the operator is pulling the door harder to try to close it faster, or is pushing it back to try to slow down door 52, system controller 36 recalculates and updates the closing speed so that motor 60 continues to move door 52 at a speed that reflects the operator's intention.

[0059] Throughout the movement of door 52 from the open position to the clamping point, system controller 36 continuously receives data from accelerometer 54 and Hall sensor 56 to identify whether the movement of door 52 toward the closed position suddenly stops, for example, when door 52 encounters an object in its path. When system controller 36 determines, based on feedback from accelerometer 54, that door 52 has encountered an obstacle, system controller 36 deactivates motor 60 and aborts the electric closing of door 52. At this point, system controller 36 can wait a predetermined time window before resetting, during which, upon detecting the start of closing (approximately after the obstacle has been removed), system controller 36 will recalculate the closing speed and drive the electric closing of door 52.

[0060] Point 72 is the position just before the door reaches the closed position, such as... Figure 1 As shown in 72. When door 52 reaches pinch point 72, system controller 36 is adapted to slow down the closing speed of door 72 and allow door 52 to move freely to the closed position at a reduced speed, thereby preventing hard closing or "bang" pushing door 52 to the closed position.

[0061] In an exemplary embodiment, when the closing speed of the door 52 is slowed down when the door reaches the pinch point 72, the system controller 36 is also adapted to receive data from the Hall sensor 56 to determine that the door 52 has reached the pinch point 72 and to slow down the movement of the door 52 toward the closed position. The system controller 36 slows down the movement of the door 52 by at least one of the following methods: 1) braking the movement of the door 52 by reversing the motor (short-circuiting to ground), generating a reverse drive effect that slows down the movement of the door 52 toward the closed position; 2) braking the movement of the door 52 by actuating the braking mechanism 62.

[0062] refer to Figure 4A , Figure 4B and Figure 4C . Figure 4A This is a schematic diagram of door 52 in the closed position, wherein door 52 is engaged with latch feature 74 of door stop 76 of vehicle 10. Figure 4B This is a schematic diagram of door 52 in the closed position before door 52 is about to engage latch feature 74, as shown in 78. Figure 4C This is a schematic diagram of door 52 at clamp point 72. As door 52 moves toward the closed position at a calculated closing speed (reflecting the operator's intention), from clamp point ( Figure 4C At the start, the system controller 36 brakes the movement of the door 52 to slow the door's movement toward the closed position to provide a soft closure.

[0063] In an exemplary embodiment, when the door 52 is allowed to move freely to the closed position, the system controller 36 is also adapted to detect when the door 52 has reached the closed position (78) via communication with the Hall sensor 56. Figure 4B), wherein, upon reaching the closed position, the system controller 36 deactivates the brake on door 52 and allows door 52 to move freely to the closed position (66, Figure 4A ), of which door 52 engages with latch mechanism 74.

[0064] In another exemplary embodiment, when the door 52 is allowed to move freely to the closed position, the system controller 36 is also adapted to detect, via communication with the torque sensor 58, when the force of closing the door 52 drops below a predetermined braking threshold. When the door 52, moving at a closing speed, reaches the pinch point 72, momentum will push the door 52 toward the closed position. When the system controller 36 attempts to brake the movement of the door 52, a reaction force is applied by reverse drive of the motor 60 or by braking with the braking mechanism 62, so that the door 52 will begin to slow down. As the door 52 slows down, the momentum force of the door 52 will decrease, and a smaller force will be required to further slow the door 52. When the force of the door 52 moving toward the closed position decreases below the predetermined braking threshold measured by the torque sensor 58, indicating that the movement of the door 52 has slowed down, the system controller 36 stops braking the door 52 and allows the door 52 to move freely to the closed position (66, Figure 4A The door 52 engages the latch mechanism 74 to secure the door 52 in the closed position.

[0065] refer to Figure 5 The method 100 for controlling the closing of the electric door 52 in the vehicle 10 includes starting at frame 102, holding the door 52 of the vehicle 10 in the open position, moving to frame 104, detecting the operator's initiation of closing the door 52 using the system controller 36, moving to frame 106, maintaining the electric closing speed of the door 52 from the open position to the pinch point 72 using the controller 36, moving to frame 108, slowing down the closing speed when the door 52 reaches the pinch point 72, and moving to frame 110, allowing the door 52 to move freely to the closed position.

[0066] In an exemplary embodiment, holding the door 52 of the vehicle 10 in the open position at block 102 further includes moving to block 112 to passively hold the door 52 in the open position with a predetermined holding force using a passive holding mechanism 70. At block 104, detecting that the operator has begun to close the door 52 using a system controller 36 further includes moving to block 114 to monitor the acceleration of the door 52 using a system controller 36 in communication with an accelerometer 54, moving to block 116 to monitor the position of the door 52 using a system controller 36 in communication with a Hall sensor 56, and moving to block 118 to determine that closing of the door 52 has begun based on feedback received by the controller from the accelerometer 54 and the Hall sensor 56 that the predetermined holding force has been overcome and that the door 52 has moved from the open position.

[0067] In another exemplary embodiment, at block 102, holding the door 52 of the vehicle 10 in the open position further includes moving to block 120 to actively hold the door 52 in the open position with a predetermined holding force using a braking mechanism 62 adapted to prevent the door 52 from moving, and at block 104, detecting that the operator has begun to close the door 52 using the system controller 36 further includes moving to block 122 to monitor the force applied by the operator to move the door 52 from the open position to the closed position using the system controller 36 in communication with the torque sensor 58, moving to block 124 to determine that closing of the door 52 has begun using the system controller 36 based on feedback received by the system controller 36 from the torque sensor 58 that the predetermined holding force has been overcome, and moving to block 126 to deactivate the braking mechanism 62.

[0068] In an exemplary embodiment, at block 106, maintaining the electric closing speed of door 52 from the open position to pinch point 72 using system controller 36 further includes moving to block 128 to monitor the acceleration of door 52 by communicating with accelerometer 54 using system controller 36; moving to block 130 to monitor the position of door 52 by communicating with Hall sensor 56 using system controller 36; moving to block 132 to calculate the closing speed at which the operator moves door 52 from the open position to the closed position based on feedback from accelerometer 54 and Hall sensor 56; moving to block 134 to actuate motor 60 adapted to move door 52 from the open position to the closed position using system controller 36; and moving to block 136 to move door 52 from the open position to the closed position using motor 60 at the calculated closing speed.

[0069] In another exemplary embodiment, at block 106, maintaining the electric closing speed of door 52 from the open position to pinch point 72 by system controller 36 further includes moving to block 138 to continuously update the calculated closing speed throughout the process of door 52 moving from the open position to the closed position, and moving to block 140 to stop the electric movement of door 52 by motor 60 when system controller 36 detects that door 52 has encountered an obstacle between the open and closed positions via feedback from accelerometer 54.

[0070] In an exemplary embodiment, at block 108, slowing down the closing speed of door 52 when it reaches pinch point 72 further includes moving to block 142 and using system controller 36 to determine when door 52 has reached pinch point 72 based on feedback from Hall sensor 56, wherein if system controller 36 determines at block 142 that door 52 has not yet reached pinch point 72, method 100 returns to block 128, and if system controller 36 determines at block 142 that door 52 has reached pinch point 72, system controller 36 initiates at least one of the following: moving to block 144 and using system controller 36 to reverse motor 60 to brake the movement of door 52, and moving to block 146 and using system controller 36 to actuate braking mechanism 62 adapted to stop the movement of door 52 to brake the movement of door 52.

[0071] In another exemplary embodiment, at block 110, allowing the door 52 to move freely to the closed position further includes moving to block 148 and using system controller 36 to detect when the door 52 has reached the closed position 78 via communication with Hall sensor 56, wherein if system controller 36 determines that the door 52 has not yet reached the closed position 78, method 100 returns to blocks 144 and 146, wherein the movement of the door 52 continues to be braked, and if system controller 36 determines that the door 52 has reached the closed position 78, moving to block 150, method 100 includes deactivating the brakes, and moving to block 152 to allow the door 52 to move freely to the closed position 66.

[0072] Alternatively, in another exemplary embodiment, at block 110, allowing the door 52 to move freely to the closed position further includes moving to block 154, utilizing the system controller 36 to detect, via communication with torque sensor 58, when the force of closing the door 52 drops below a predetermined braking threshold, and if the force of closing the door 52 does not drop below the predetermined braking threshold, method 100 returns to blocks 144 and 146, wherein braking of the door 52 continues, and if the force of closing the door 52 has dropped below the predetermined braking threshold, method 100 includes moving to block 156 to stop braking of the door 52, and moving to block 158 to allow the door 52 to move freely to the closed position 66.

[0073] The systems and methods disclosed herein offer several advantages. These include providing electrically operated closing of a door, wherein the electric door reflects the operator's intention regarding the speed and force of closing the door, and interrupting the electrically operated closing as the door approaches the closed position to support a soft closing of the electric door.

[0074] The descriptions in this disclosure are merely exemplary in nature, and variations thereof that do not depart from the spirit and scope of this disclosure are intended to fall within its scope. Such variations should not be considered as departing from the spirit and scope of this disclosure.

Claims

1. A method for controlling the closing of an electric door in a vehicle, comprising: Keep the vehicle doors in the open position; The controller detects when the operator begins to close the door. The controller is used to maintain the electric closing speed of the door from the open position to the pinch point; When the door reaches the pinch point, slow down the closing speed of the door; and The door is allowed to move freely to the closed position.

2. The method according to claim 1, wherein, The method of keeping the vehicle door in the open position also includes using a passive holding mechanism to passively hold the door in the open position with a predetermined holding force; as well as The method of using a controller to detect when an operator begins to close the door also includes: The controller monitors the acceleration of the door by communicating with an accelerometer. The controller monitors the position of the door by communicating with a Hall sensor; and The controller determines that closing of the door has begun based on feedback received from the accelerometer and Hall sensor that the predetermined holding force has been overcome and the door has moved from the open position.

3. The method according to claim 2, wherein, The method of using a controller to maintain the electric closing speed of the door from the open position to the pinch point further includes: The controller monitors the acceleration of the door by communicating with the accelerometer; The controller monitors the position of the door by communicating with the Hall sensor; Based on feedback from the accelerometer and Hall sensor, the closing speed at which the operator moves the door from the open position to the closed position is calculated; The controller actuates a motor adapted to move the door from the open position to the closed position; and The motor is used to move the door from the open position to the closed position at a calculated closing speed.

4. The method according to claim 3, wherein, The method of using a controller to maintain the electric closing speed of the door from the open position to the pinch point further includes: Throughout the entire process of the door moving from the open position to the closed position, the calculated closing speed is continuously updated; and When the controller detects, via feedback from the accelerometer, that the door has encountered an obstacle between the open and closed positions, it uses the motor to stop the electric movement of the door.

5. The method according to claim 4, wherein, Slowing down the closing speed of the door when it reaches the pinch point also includes: The controller uses feedback from the Hall sensor to determine when the door reaches the pinch point; and At least one of the following: The controller is used to reverse the motor to brake the movement of the door; and The controller is used to actuate a braking mechanism adapted to prevent the door from moving, thereby braking the door's movement.

6. The method according to claim 5, wherein, Allowing the door to move freely to the closed position also includes: The controller uses communication with the Hall sensor to detect when the door reaches the closed position; and When the door reaches the closed position, the brake is deactivated and the door is allowed to move freely to the closed position.

7. The method according to claim 1, wherein, The method of holding the door of the vehicle in the open position also includes actively holding the door in the open position with a predetermined holding force using a braking mechanism adapted to prevent the door from moving; as well as The method of using a controller to detect when an operator begins to close the door also includes: The controller monitors the force applied by the operator to move the door from the open position to the closed position by communicating with a torque sensor. The controller determines that closing of the door has begun based on feedback received from the torque sensor that the predetermined holding force has been overcome; and The braking mechanism is deactivated.

8. The method according to claim 7, wherein, The method of using a controller to maintain the electric closing speed of the door from the open position to the pinch point further includes: The controller monitors the acceleration of the door by communicating with an accelerometer. The controller monitors the position of the door by communicating with a Hall sensor. Based on feedback from the accelerometer and Hall sensor, the closing speed at which the operator moves the door from the open position to the closed position is calculated; The controller actuates a motor adapted to move the door from the open position to the closed position; and The motor is used to move the door from the open position to the closed position at a calculated closing speed.

9. The method according to claim 8, wherein, The method of using the controller to maintain the electric closing speed of the door from the open position to the pinch point further includes: Throughout the entire process of the door moving from the open position to the closed position, the calculated closing speed is continuously updated; and When the controller detects, via feedback from the accelerometer, that the door has encountered an obstacle between the open and closed positions, it uses the motor to stop the electric movement of the door.

10. The method according to claim 9, wherein, Slowing down the closing speed of the door when it reaches the pinch point also includes: The controller uses feedback from the Hall sensor to determine when the door reaches the pinch point; and At least one of the following: The controller is used to reverse the motor to brake the movement of the door; and The controller is used to actuate the braking mechanism to brake the movement of the door.

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