Method for operating electrically operated door drive of motor vehicle

Abstract

The invention relates to a method (32) for operating an electrically operated door drive (14) of a motor vehicle (2) having a door (10) driven by an electric motor (16). The door (10) is held in the holding position (48) when an object (22) is detected in the adjustment region (38) by means of the collision protection sensor (18) during the adjustment of the door (10). The holding position (48) is selected in such a way that the door (10) has a predetermined distance (50) from the object (22), which is selected as a function of a measure (44) that determines the accuracy of the position (42) of the object (22). The invention also relates to an electrically operated door drive (14) of a motor vehicle (2).

Description

[0001] This invention relates to a method for operating an electric door actuator for a motor vehicle, comprising a door driven by an electric motor and a collision protection sensor. The invention also relates to an electric door actuator for a motor vehicle.

[0002] Motor vehicles, such as passenger cars, typically have multiple doors that cover openings in the vehicle body. The doors are usually movably supported on the vehicle body by bearings, allowing the openings to be opened or closed by adjusting the doors. Therefore, if the door is a side door, access to the vehicle's interior space and / or loading of objects into that space is possible.

[0003] To enhance comfort, doors are typically driven by an electric motor in an electric door actuator, which also includes the door itself. When the motor operates, the door moves along an adjustment path predetermined by bearings, through which it is supported against the vehicle body. In this configuration, the user of the electric door actuator may not have a complete view of the adjustment path around which the door is positioned, and may activate the actuator even if an object is within the adjustment area. In this case, the adjustment area is the region traversed by the door as it adjusts along the entire adjustment path, defined by the door's outer contour. The shape of this adjustment area is, at least implicitly, stored in the electric door actuator's memory during manufacturing.

[0004] Therefore, to avoid collisions between the door and objects, which could potentially damage the object and / or the door, electric door actuators typically include collision protection sensors that monitor the adjustment area. For example, if an object is within the adjustment area, power to the motor is prevented, thus preventing the door from adjusting. Often, an additional audible signal is also emitted to inform the user that adjustment is currently impossible due to the object. In another improvement, the door adjusts until the distance to the object reaches a predetermined minimum. If this is the case, the motor stops, thus preventing a collision. To avoid collisions even under adverse conditions, the minimum distance specified by the vehicle manufacturer or the electric door actuator manufacturer is usually relatively large. If the door has already been opened by the motor, the opening in the vehicle body is at least partially released, allowing entry and exit from the vehicle, even with reduced comfort.

[0005] The object of the present invention is to provide a particularly suitable method for operating an electric door actuator for a motor vehicle, and a particularly suitable electric door actuator for a motor vehicle, wherein comfort and / or safety are advantageously increased.

[0006] According to the invention, with respect to the method, this objective is achieved by the features of claim 1, and with respect to the electric door actuator, by the features of claim 9. Advantageous improvements and designs are the subject of the respective dependent claims.

[0007] This method is used to operate the electric door actuator of a motor vehicle. The motor vehicle is particularly land-connected and preferably designed as a multi-lane vehicle. In this case, the motor vehicle can be positioned substantially freely, especially on the road. For this purpose, the motor vehicle conveniently has corresponding wheels. In short, preferably, the motor vehicle can be positioned substantially independently of other conditions on land. In other words, the motor vehicle is preferably not track-guided. Preferably, the motor vehicle is a passenger car or commercial vehicle, such as a truck or bus.

[0008] The electric door actuator includes a door driven by an electric motor, preferably along an adjustment path. In the assembled state, the door is suitably and movably supported on the vehicle body by bearings. For example, the bearings are designed as hinges, and the door is supported to be pivotable relative to the vehicle body. Alternatively, the longitudinal sliding support of the door is achieved at least partially by means of bearings, making the door a sliding door. Preferably, the door is a side door.

[0009] Specifically, the shape of the door's adjustment area is predetermined by the bearing. During adjustment, the door moves along the entire adjustment path through the adjustment area. In other words, the adjustment area specifically corresponds to the spatial region in which the door can reside, at least under given conditions. In this case, the end of the adjustment area is preferably predetermined by the vehicle body, which, for example, forms a stop for the door. When the door is located at this end of the adjustment area, the door conveniently rests against the vehicle body, and any openings in the vehicle body are closed by the door. The openings are released by moving the door along the adjustment path to the other end of the adjustment area.

[0010] Another component of the electric door actuator, such as a variable-length component, particularly a spindle, is conveniently and mechanically arranged between the motor and the door. Alternatively or in combination, a cable reel is arranged therebetween. Preferably, the door is conveniently actuated, preferably by means of any spindle, by means of a gear driven first by the motor, such as a worm gear.

[0011] Specifically, the motor is fastened to the vehicle body in its assembled state, which facilitates assembly. The motor is suitable for this purpose, particularly for supplying and setting it. Alternatively, the motor is fastened to the door. The motor is, for example, a brushed commutator motor, or particularly preferably a brushless DC motor (BLDC). Suitably, the electric door actuator includes a control device or other control unit by means of which current is supplied and / or regulated to power the motor, causing the motor to operate according to a specific preset. The motor advantageously includes sensors for detecting the adjustment position and adjustment speed, such as a speed sensor, by means of which the rotational speed of the motor during operation can be detected. Due to the mechanical coupling between the motor and the door, the speed of door movement can be determined. Furthermore, this makes it possible to determine the door position. Preferably, the door position is also determined during operation by the speed sensor.

[0012] The door preferably has a door body. In particular, the door body is at least partially rigid and suitably supported on the vehicle body by possible bearings. An electric motor preferably operates on the door body. Specifically, the shape of the door body is immutable, and the door body includes, for example, a door module and / or a portion of the vehicle's housing. For example, the door's window glass is held to the door body and preferably adjustablely supported there.

[0013] The electric door actuator also includes a collision protection sensor. The collision protection sensor is used to prevent the door from colliding with objects / obstacles during door adjustment. For this purpose, a collision protection sensor is suitable, and in particular, is provided and configured. For example, the collision protection sensor is used to monitor the adjustment area. For instance, the entire adjustment area is monitored by means of the collision protection sensor, such that the monitoring range of the collision protection sensor includes the adjustment area. Alternatively, the monitoring area of ​​the collision protection sensor is reduced or at least partially and differently aligned, such that only a portion of the adjustment area can be monitored by means of the collision protection sensor. However, in this case, the distance between the monitoring area of ​​the collision protection sensor and the door is relatively small, specifically only a maximum distance of 20cm, 15cm, or 10cm.

[0014] Specifically, the collision protection sensor can detect objects located within the controlled area. For example, the object is a physical object or living organism, such as an animal or a person. Specifically, object detection is non-contact, and the collision protection sensor includes, for example, a radar sensor. Optionally, the collision protection sensor includes an optical sensor, such as a camera, an ultrasonic sensor, or a capacitive sensor. Alternatively or in combination, the collision protection sensor includes a lidar sensor. For example, the collision protection sensor is formed by one of these sensors, or has multiple such sensors, for example, structurally identical or different from each other. Particularly preferably, the collision protection sensor also includes an evaluation unit by means of which the measurement data generated by the respective sensors is evaluated, thereby detecting the object. In this case, particularly in each case, the measurement data (also referred to as sensor data or signal data) provided are fused. In summary, the collision protection sensor is used to monitor a controlled area. In this case, objects can be detected at least temporarily and / or in a portion of the controlled area in a non-contact manner by means of the collision protection sensor, and the collision protection sensor is suitable for this purpose, particularly in its provision and setup.

[0015] In this context, the monitoring area of ​​the collision protection sensor specifically corresponds to the area where the sensor can detect an object (if the object is present). In other words, the monitoring area is specifically the detection area of ​​the collision protection sensor. If the object is outside the detection / monitoring area, it cannot be detected by the collision protection sensor. In this case, the monitoring area is defined / predetermined, for example, based on the operating mode of the collision protection sensor, the design of the assembly type, and / or the environment. The monitoring area is conveniently offset outwards relative to the door.

[0016] This method provides that when an object is detected in the adjustment area by means of a collision protection sensor during door adjustment, the door remains in a holding position. In this case, the door advantageously moves in the adjustment direction, such as the opening direction. Alternatively, the adjustment direction is the closing direction. In particular, the method is used for two possible adjustment directions of the door. In this case, the holding position does not correspond to the end of the adjustment path, but rather lies in between. In other words, the door adjustment ends early, such that the door is in a holding position located between the ends of the adjustment path.

[0017] In summary, this method specifically begins by detecting a received request to adjust the door, also known as an adjustment request. For example, the adjustment request can be generated via user input, such as by the user actuating an operating element like a door handle. Alternatively or in combination, for example, the corresponding adjustment request can be generated by the vehicle's onboard computer. In this case, the direction of door adjustment is also specifically specified, at least implicitly, via the adjustment request.

[0018] Upon detecting an adjustment request, the motor is specifically energized, causing the door to move, i.e., be adjusted, particularly in the direction of adjustment. Preferably, the door is adjusted automatically, so that the user does not need to apply additional manual force to the door. Alternatively, the motor may only support manual adjustment of the door by the user.

[0019] When the door is held in the holding position, the motor stops, so that no force is applied to the door. Alternatively, the motor is further energized, but in a manner that prevents it from rotating. In other words, the motor is fixed so that it will not be adjusted even if another force is applied to the door. In this case, the door remains in the holding position, particularly when an object is in front of the door in the adjustment direction, i.e., when the door is moving or is about to move toward the object. For example, when an object is behind the door in the adjustment direction, the door will not remain in the holding position. If the object is not detected, particularly because the object is not present, the door will not remain in the holding position, but will be conveniently adjusted according to the adjustment request, and specifically, the door will be moved to the end of the adjustment path, or at least to the position specified by the adjustment request.

[0020] For example, an object is detected before the motor is powered on, or at least during door adjustment. Preferably, at least before the door is adjusted or the motor is powered on, the collision protection sensor is activated, and the presence of the object is monitored in the monitored area. Furthermore, if an object is detected, its position is determined. This is achieved, for example, relative to a component of the electric door actuator, such as the door or another stationary component, particularly when the door is adjusted. For example, to determine the position, only the distance from the door to the door or another component, or particularly the angle from the door to another component of the electric door actuator, is determined.

[0021] In addition to determining the location, the resulting measurement inaccuracies are also determined. In other words, accuracy is detected / determined when determining the location, and specifically a metric is derived from it. At least, this metric is preferably functionally related to the accuracy of the location determination and specifically specifies the uncertainty by which the determined location is described as consistent with the actual location. In this case, the metric of accuracy depends particularly on the current situation, such that the metric changes, for example, when the method is repeated / subsequently performed. If multiple objects are detected by the collision protection sensor, then in this case, each object is further used in the method below. However, it is particularly preferred that only the nearest object is subsequently used.

[0022] The door's holding position is selected in such a way that the door maintains a predetermined distance from the object, meaning the door is not directly against the object. When the door is in the holding position, there is a predetermined distance between the door and a specific location on the object. The door's position, and specifically whether it is in the holding position, is determined, particularly by means of any rotational speed sensor.

[0023] In this case, the predetermined distance is specifically between 0.1 cm and 20 cm. In other words, specifically when the motor stops, the door and the object are at a predetermined distance, i.e., 20 cm. In this case, the predetermined distance is also selected based on at least the metric of the accuracy of determining the object's position. In this case, a smaller predetermined distance is chosen for relatively high accuracy, while an increased predetermined distance is used for metrics corresponding to relatively imprecise position determination. For example, there are only discrete features of the predetermined distance, such as 2, 3, or more. In particular, this number is less than 10. Alternatively, for example, the predetermined distance changes continuously with the metric, such that the functional relationship between the predetermined distance and the metric is, in particular, continuously differentiable.

[0024] Therefore, if the position of the object is uncertain, the predetermined distance is advantageously greater than 5cm, 7.5cm, or 10cm. At least, due to the increased predetermined distance, it is ensured that the door will not collide with the object, thus increasing certainty. On the other hand, if the position of the object can be determined with relatively high precision, the predetermined distance is reduced, for example, to less than 10cm, 7.5cm, 5cm, or 1cm. Therefore, even if the object is present, the door can be adjusted to a relatively distant position. Therefore, if the door has already moved in the opening direction, a relatively large area of ​​the vehicle body opening is released, thus facilitating entry or exit. Therefore, comfort is improved. Furthermore, this does not require additional components, so manufacturing costs are not increased. Alternatively or in combination, for example, if the position of the object is uncertain, the predetermined distance is increased by more than 1cm, 5cm, or 10cm compared to a predetermined distance if the position can be determined with relatively high precision or absolute certainty. For example, if the position of the object can be determined with relatively high precision, the predetermined distance is reduced or increased by less than 10cm, 5cm, or 1cm compared to a predetermined distance if the position can be determined with absolute certainty.

[0025] For example, a metric is determined based on the signal quality of the measurement data generated by the collision protection sensor. In this case, the signal-to-noise ratio (SNR) is specifically determined, and the metric is determined based on it. In this case, high inaccuracy corresponds to a low ratio. Therefore, if there is interference that disrupts the operating mode of the collision protection sensor, such as an external (electromagnetic) field, the SNR decreases, and thus the signal quality also decreases. The signal quality may also decrease if there are several or a relatively large number of objects and / or if these objects are moving relatively quickly. If the signal quality decreases, this is taken into account, and an increased predetermined distance is used. This only occurs when the signal quality is poor; otherwise, i.e., when the accuracy is relatively high, a relatively small predetermined distance can be selected.

[0026] Alternatively or in combination, the measurement is determined based on environmental conditions. In this case, environmental conditions are determined, for example, by a sensor suitable for this purpose, such as a component of an electric door actuator, or at least connected to it in terms of signal. Alternatively, environmental conditions are determined, for example, by the collision protection sensor itself.

[0027] For example, under certain environmental conditions, the operating mode of a collision protection sensor is limited, resulting in a reduction in the number of objects that cannot be detected and / or the monitored area. In other words, for example, the maximum distance from which an object can be detected to the collision protection sensor decreases. For example, in this case, the signal quality remains relatively high, and only the maximum range of the collision protection sensor decreases. For example, if the corrosion protection sensor is an optical sensor, the maximum range decreases when brightness decreases, while the signal quality remains unchanged. However, the signal quality may also decrease due to environmental conditions. For example, if the collision protection sensor is an optical sensor, radar sensor, or capacitive sensor, accuracy decreases, for example, in the case of precipitation, which is reflected in the subsequent deterioration of the metric. For example, the signal-to-noise ratio also decreases in the case of precipitation, and therefore the signal quality also decreases. Since the metric is determined according to the environmental conditions, the metric is also processed dynamically, allowing a relatively small predetermined distance to be selected in principle, while an increased predetermined distance is used if environmental conditions exist that make object detection difficult.

[0028] As an alternative or combination, a metric is determined based on the specific position of the object within the monitoring area of ​​the collision protection sensor. In this case, the metric is particularly enhanced, i.e., relatively high accuracy exists when the position is spaced apart from the edge of the monitoring area and is particularly located in its central portion. Specifically, the position is at least 5 cm, 8 cm, or 10 cm from the edge of the monitoring area. On the other hand, if the object is located near the edge of the monitoring area but is still detected by the collision protection sensor, the metric is reduced, and the accuracy is assumed to be lower. For example, the edge is monitored by only a portion of the collision protection sensor, thus reducing accuracy. As an alternative or combination, within a portion of the monitoring area, due to the geometry of the collision protection sensor, the angle used in triangulation / trilateration is relatively small, using a metric that increases inaccuracy when determining the position. Due to this method, an expanded monitoring area can be allocated to collision protection, where, for example, due to the geometry of the electric door actuator, the monitoring area can be partially monitored only by a portion of the collision protection sensor. Therefore, safety is improved. Furthermore, the requirements for the collision protection sensor are reduced, thereby reducing manufacturing costs. In this case, comfort is not reduced, and certainty is increased.

[0029] For example, when the door approaches the holding position, the motor initially continues to operate unchanged until the door reaches the holding position. Then the motor suddenly stops. Therefore, the door moves relatively quickly. However, preferably, the door's adjustment speed has already been reduced according to a predetermined profile when the door approaches the holding position. This reduces the mechanical load on the electric door actuator. In particular, in this case, the speed decreases substantially continuously, thus also achieving a visually appealing appearance. If the motor only serves a supporting function, then when the door approaches the holding position, the reaction force provided to the door, depending on the profile adjusted for this purpose, is preferably increased by the motor. In this case, the supporting force of the motor is reduced, especially to increase the reaction force. Alternatively, for example, by applying a force to the door in the opposite direction of adjustment by the motor, a person manually adjusting the door would require greater effort, i.e., if the door were adjusted without motor assistance.

[0030] For example, the profile is fixed. However, it is particularly preferred that the profile is selected based on a metric. For example, by means of the profile, the degree of reduction in adjustment speed or increase in force is selected based on the metric. For example, the adjustment speed is immediately reduced or the force is increased after an object is detected. Alternatively, this only occurs when there is a further distance between the door and the holding position, where, for example, the height of reduction / increase is constant or also depends on the metric. In this case, the further distance is, for example, constant, or preferably depends on the metric. In this case, the further distance is selected to be increased, especially for small metrics, i.e., relatively high inaccuracies, so that the approach to the holding position is slowed down. If the motor only acts as a support, especially when the metrics are relatively poor, the reaction force will increase early. Thus, at a relatively early stage, the inaccuracy in the position determination is at least implicitly communicated to the user of the electric door actuator, so that the user can optionally react to it. If the inaccuracy here is relatively large, for example, after an object is detected, the adjustment speed is set to a minimum, and a so-called crawling stroke is specifically performed. In this situation, it is advantageous to select the adjustment speed such that damage to the door / object is avoided or at least mitigated if (undesirable) mechanical contact with the object occurs before reaching the holding position. Alternatively, the reaction force is relatively large, so that in the case of manual adjustment, it also occurs at a reduced speed relative to the object.

[0031] Specifically, when an object is present, its direction of movement is determined. In this case, a predetermined distance is selected based on the object's direction of movement and / or its velocity. If the object has no direction of movement, i.e., it is not moving, it is convenient not to make further adjustments and the predetermined distance is selected solely based on measurement. If the object is moving away, a smaller predetermined distance is specifically chosen. Conversely, when the object is approaching, an increased predetermined distance is chosen. The object's velocity is also conveniently determined. If the object approaches at a relatively high velocity, the predetermined distance is further increased to avoid a collision.

[0032] The direction / velocity of an object's motion is determined, for example, by a collision protection sensor designed for this purpose. If this is not the case, the object's position can be conveniently determined multiple times in chronological order using a collision protection sensor, thereby deriving the object's velocity / direction of motion. Alternatively, a separate sensor can be used to determine the direction / velocity of motion.

[0033] Furthermore, for example, the speed or reaction force is adjusted based on the direction of the object's movement and / or its velocity. Therefore, in particular, any profile also depends on the direction / velocity of the object's movement. If the object approaches relatively quickly, it is advantageous to use a profile that adjusts to reduce speed or increase reaction force. On the other hand, if the object moves relatively quickly, a profile that adjusts to reduce speed and / or reaction force is particularly useful.

[0034] For example, the holding position is determined only once, especially after an object is detected and its position and measurement are determined. However, it is particularly preferred that the holding position is adjusted during the adjustment of the door. In other words, the holding position is determined several times as long as the door is still adjusting, i.e., before reaching the holding position. For example, the redetering of the holding position, i.e., the adjustment, is only performed over relatively long time intervals, such as every second or every 2 seconds. However, it is particularly preferred that the determination of the holding position is performed substantially continuously, preferably at least between every 10 ms and every 100 ms, and more preferably every 40 ms. In particular, this operation is performed once the position and measurement can be redetermined by the collision protection sensor, and the holding position is adjusted accordingly. As a result, the holding position may change as the door moves, especially if the measurement is improved due to the increased accuracy of the detection position as the door approaches the object. Thus, the door can be moved relatively close to the object, although it is possible to initially detect the object with only relatively low accuracy. Thus, comfort and certainty are increased without increasing manufacturing costs. The holding position is conveniently adjusted as long as the door is adjusted.

[0035] The electric door actuator, in its assembled state, is a component of a motor vehicle and is specifically provided and configured for this purpose. The motor vehicle is, for example, a land-based vehicle, and is, for example, a truck, bus, or preferably a passenger car. The electric door actuator includes an electric motor and a door driven by the electric motor. Specifically, in this case, the door is driven along an adjustment path predetermined by bearings supporting the door. The electric door actuator also includes a collision protection sensor. In this case, the collision protection sensor is adapted, particularly provided and configured, to monitor at least a portion or the entire adjustment area of ​​the door, i.e., the space extending along the entire adjustment path and traversed by the door, such that the adjustment area is specifically defined by the outer contour of the door. The collision protection sensor is, for example, fastened to or spaced apart from the door. Specifically, in its assembled state, the collision protection sensor is held on the vehicle body side and conveniently fastened to the vehicle body.

[0036] The electric door actuator operates according to a method in which the door remains in a holding position when an object is detected in the adjustment area by means of a collision protection sensor during door adjustment. In this case, the holding position is selected such that the door maintains a predetermined distance from the object, which is chosen based on a metric of the accuracy of determining the object's position.

[0037] Specifically, the electric door actuator has a control device provided and configured to execute the method. The control device includes, for example, a special-purpose circuit (ASIC), or particularly preferably, a computer suitably configured to be programmable. Specifically, the control device includes a storage medium storing a computer program product, also known as a computer program, which, when executed, causes the computer to execute the method. Advantageously, the electric door actuator, or at least the motor vehicle, has multiple operating elements by means of which adjustment requests can be generated. The operating elements are conveniently connected to the control device via signaling technology, particularly via a bus system. The door is, for example, a side door, which, in its assembled state, is particularly pivotally supported on the vehicle body. The invention also relates to a motor vehicle having a corresponding electric door actuator.

[0038] The present invention also relates to a computer program product. This computer program product includes a plurality of instructions that, when executed by a computer, cause the computer to perform a method for operating an electric door actuator for a motor vehicle, the electric door actuator including a door driven by an electric motor and a collision protection sensor, particularly for monitoring the adjustment area of ​​the door. In this method, if an object is detected in the adjustment area by means of the collision protection sensor during door adjustment, the door remains in a holding position. In this case, the holding position is selected such that the door is at a predetermined distance from the object, the distance being selected based on a metric of the accuracy of determining the object's position. The computer is conveniently a component of, for example, a control device or electronic device for the electric door actuator, and is formed by means of such a component. The computer preferably includes or is formed therefrom a microprocessor. For example, the computer program product is a file or data carrier containing an executable program that, when installed on a computer, automatically executes the method.

[0039] The present invention also relates to a storage medium for storing computer program products. Such a storage medium is, for example, a CD-ROM, DVD, or Blu-ray disc. Alternatively, the storage medium is a USB stick or other memory, which is, for example, rewritable or write-once. Such memory is, for example, flash memory, RAM, or ROM.

[0040] The present invention also relates to a control device. This control device is provided and configured to perform a method for operating an electric door actuator for a motor vehicle, the electric door actuator comprising a door driven by an electric motor and a collision protection sensor, particularly for monitoring the adjustment area of ​​the door. In this method, if an object is detected in the adjustment area by means of the collision protection sensor during door adjustment, the door remains in a holding position. In this case, the holding position is selected such that the door is at a predetermined distance from the object, the distance being selected based on a metric of the accuracy of determining the object's position.

[0041] The control device includes, for example, a dedicated circuit (ASIC) and / or a microprocessor, by means of which the method is at least partially executed. In particular, the control device includes a computer program product stored in memory, and when the program is executed by a computer, such as a microprocessor, the computer causes it to execute the method. Preferably, the control device in its assembled state is a component of an electric door actuator and is suitable for this purpose, particularly in providing and setting it up. For example, the control device is a door control device. For example, any electric window lifters integrated into the door are also controlled by the control device. The electric window lifter preferably includes another motor by means of which the window glass is driven.

[0042] The improvements and advantages explained by this method can also be similarly transferred to electric door actuators / motor vehicles / computer program products / storage media / control devices and each other, and vice versa.

[0043] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings. Wherein:

[0044] Figure 1 A side view of a motor vehicle with electric door actuators is shown schematically.

[0045] Figure 2 A method for operating an electric door actuator is shown, and

[0046] Figure 3-5 Plan views of motor vehicles in different situations when the method is performed are shown.

[0047] In all figures, the corresponding parts use the same reference numerals.

[0048] Figure 1 A simplified schematic representation of a motor vehicle 2 in the form of a passenger car is shown. The motor vehicle 2 includes several wheels 4 through which it contacts the road. The wheels 4 are connected via a chassis to a body 6 of the motor vehicle 2, which has an opening 8 through which a user can access the interior of the motor vehicle 2, which is surrounded by the body 6. The opening 8 is covered by or can be covered by a door 10, which is pivotally supported on the body 6 by a bearing 12. The opening 8 is covered or released by pivoting the door 10 relative to the body 6.

[0049] Door 10 is a side door of the motor vehicle 2, and door 10 has a rigid design and a door body fastened to bearing 12. Door 10 is a component of electric door actuator 14, which includes, for example, an electric motor 16 fixed to the side of the vehicle body. For example, a gearbox and a main shaft are mechanically arranged between the electric motor 16 and door 10. At least during the operation of the electric motor 16, door 10 pivots relative to the vehicle body 6. In summary, door 10 is driven by electric motor 16.

[0050] The electric door actuator 14 also includes a collision protection sensor 18, which, in the example shown, is fastened to the door 10. In a variant not shown in detail, the collision protection sensor 18 is rigidly held to the body 6. The collision protection sensor 18 has one or more (individual) sensors configured as optical sensors, i.e., cameras, ultrasonic sensors, and / or radar sensors. The collision protection sensor 18 also includes an evaluation unit (not shown in more detail) by means of which the measurement data generated by the (single) sensor is at least partially evaluated. The collision protection sensor 18 has a monitoring area 20. If an object 22 is located within the monitoring area 20, it is detected by the collision protection sensor 18. On the other hand, if the object 22 is outside the monitoring area 20, it is not possible to detect it by the collision protection sensor 18.

[0051] The electric door actuator 16 also has a control device 24, which is, for example, fixed to the side of the vehicle body or fastened to the door 10. In this case, the control device 24 forms a door control device, and thus the motor 16 of the electric door actuator 14 is regulated by means of this door control device, for which the energization of the motor 16 is set. In addition, the collision protection sensor 18 is also operated by the control device 24. The control device 24 has a computer 26 in the form of a programmable microprocessor and a storage medium in the form of a memory 28. Stored in the memory 28 is a computer program product 30, which includes a plurality of commands that, when the computer 26 executes the program, cause the execution of... Figure 2 The method 32 shown is for operating the electric door actuator 14. In other words, the electric door actuator 14 operates according to method 32, and the control device 24 is provided and configured to execute method 32.

[0052] In method 32, in the first operating step 34, a request for regulating door 10 is received via a bus system (not shown in more detail), which is connected to control device 24 via signaling technology. In this case, the direction of regulation is specified by a request, also known as a regulation request, i.e., specifically whether door 10 should be opened or closed.

[0053] In the subsequent second operational step 36, the monitored area 20 is monitored by the collision protection sensor 18, and it is checked whether the object 22 (if present) is located within it. Figure 3 In the adjustment area 38 of the door 10 shown. Figure 3 A bird's-eye view of the vehicle 2 is shown. The adjustment area 38 corresponds to the space that the door 10 will pass through in the adjustment direction according to the adjustment request of the door 10 when it pivots along the adjustment path predetermined by the bearing 12, if this is not prevented. Due to the arrangement of the collision protection sensor 18, the monitoring area 20 and the adjustment area 38 only partially overlap.

[0054] In the subsequent third step 40, the position 42 of object 22 is determined, and a metric 44 for the precision of determining the position 42 of object 22 is also determined. In this case, the metric 44 represents how precise the position 42 is determined, and increases as it is determined or considered precise. In other words, the less uncertainty exists in the determination process, the larger the metric 44.

[0055] To determine metric 44, the signal quality of the measurement data generated by the collision protection sensor 18 is examined. If only a low signal-to-noise ratio exists, metric 44 decreases. Furthermore, the collision protection sensor 18 is used, for example, to determine environmental conditions, such that the environmental conditions are determined based on the measurement data. Alternatively or in combination, environmental conditions are queried via a bus system (not shown in more detail). In this case, the determination of environmental conditions is performed by the corresponding sensors of the vehicle 2 and is, for example, transmitted to an onboard computer, through which these conditions are subsequently provided. If environmental conditions exist that reduce the accuracy of position determination, metric 44 decreases. For example, if the collision protection sensor 18 only has a radar sensor and / or a capacitive sensor, such environmental conditions are relatively strong precipitation. Furthermore, in the case of such precipitation, the signal quality of the measurement data decreases. Conversely, if the collision protection sensor 18 only has an optical sensor, metric 44 decreases, especially in darkness.

[0056] Furthermore, the measurement 44 is adjusted based on the position 42 of the object 22 within the monitoring area 20. If the position 42 is located at the edge of the monitoring area 20, such as... Figure 3 As shown, the metric 44 decreases, especially because there, object 22 can only be detected by a portion of the collision protection sensor 18, i.e., not by all sensor units. In summary, the metric is therefore determined based on the signal quality of the measurement data, environmental conditions, and position 42.

[0057] Furthermore, in the third working step 40, it is checked whether object 42 is moving. If so, the direction and speed of object 42's movement are determined.

[0058] Then, the fourth working step 46 is performed. In this step, a holding position 48 is determined. To this end, a predetermined distance 50 is first selected, based on which the holding position 48 is obtained. In this case, when the door 10 is in the holding position 48, it has a predetermined distance 50 from the object 22. In this case, the predetermined distance 50 is selected according to a metric 44. Furthermore, the predetermined distance 50 is selected based on the direction of motion of the object 42 and optionally, on the velocity of the object 42.

[0059] exist Figure 3 In the scenario shown, object 22 does not move, but precipitation exists as an environmental condition, thus reducing the signal quality of the measurement data. Furthermore, position 42 is located at the edge of the monitoring area 20, making the determination of position 42 relatively uncertain. Therefore, the measurement 44 is reduced. As a result, a relatively large predetermined distance 50 is used. Therefore, position 48 is kept relatively far from object 22.

[0060] Furthermore, profile 52 is selected based on measurements. In this case, the adjustment speed of door 10 is specified by profile 52, and if it can or will be adjusted solely by motor 16, door 10 is adjusted to holding position 48 via adjustment area 38. On the other hand, if motor 16 is only used to assist manual adjustment of door 10, profile 52 specifies the reaction force or force applied to door 10 by motor 16, which depends on the position of door 10 as much as the adjustment speed. The reaction force can be provided, for example, solely through friction between hinge 12 and another component of electric door actuator 14. To further increase the reaction force, motor 16 can also be energized in such a way that a force opposite to the adjustment direction is applied to door 10. In summary, the adjustment speed or reaction force based on the position of door 10 is thus stored by profile 52, and motor 16 is energized according to this speed or reaction force. In this case, profile 42 is selected based on measurement 44.

[0061] If metric 44 has a minimum value, the adjustment speed corresponds to the minimum speed, i.e., the crawling stroke. Otherwise, it increases, but decreases according to the ramp function as it approaches hold position 48. When approaching hold position 48, the reaction force increases through the ramp function.

[0062] If the door 10 has not yet reached the predetermined distance 50 from the object 22, i.e., the door 10 is not yet in the holding position 48, then in the subsequent fifth working step 54, the motor 16 is energized according to the profile 52. As a result, the door 10 moves in the direction of the object 22.

[0063] Then, the third step 40 is performed again, and the position 42 and measurement 44 are determined again. In this case, as... Figure 4 As shown, metric 44 may change due to the movement of door 10. Because door 10 moves toward object 22, in the example shown, it is no longer simply located at the edge of the monitoring area 20. Furthermore, the signal-to-noise ratio of the measurement data is improved due to the reduced distance. Therefore, metric 44 is improved despite the environmental conditions remaining constant.

[0064] In the subsequent fourth operating step 46, the profile 52 and the predetermined distance 50 are determined again, and thus the holding position 48 is also determined. Due to the improved measurement 44, the predetermined distance 50 is reduced, and the holding position 48 shifts toward the object 22. If the door 10 is still not in the holding position 48, the fifth operating step 54 is performed again, and the motor 16 operates according to the adjusted profile 52. This process is repeated until the door is in the holding position 48, wherein the time interval between the three consecutive steps is equal to 40 ms. Operating step 40 is equal to 40 ms. Therefore, during the adjustment of the door 10, the holding position 48 is adjusted.

[0065] Conversely, if it is determined in the fourth operation step 46 that the door 10 is in the holding position 48, then the sixth operation step 56 is executed. In this case, the door 10 remains in the holding position 48, and specifically, the energization of the motor 16 is terminated at least when the door 10 is adjusted solely by means of the motor 16. On the other hand, if the latter only serves a supporting function, the reaction force exerted by the motor 16 conveniently increases to its maximum value, making manual adjustment of the door 10 essentially impossible. Thus, movement of the door 10 against the object 22 is prevented, and process 32 ends.

[0066] In summary, during process 32, if an object 22 is detected in the adjustment area 38 by means of the collision protection sensor 18 during the adjustment of the door 10, the door 10 is thus held in the holding position 48. In this case, the holding position 48 is selected such that when the door 10 is in the holding position 48, the door 10 has a predetermined distance 50 from the object 22. In this case, the predetermined distance 22 is selected based on a metric 44 that measures the accuracy of determining the position 42 of the object 22. If no object 22 is detected in the second working step 36 or during the adjustment of the door 10, the door 10 is adjusted through the entire adjustment area 38, and only after this is the motor 6 stopped.

[0067] If object 22 moves, the predetermined distance 50 will be adjusted accordingly. Figure 5 In the case shown, when door 10 is in the position of... Figure 4 At the same position, object 22 has moved towards vehicle 2. As a result, object 22 further enters the monitoring area 20, thereby further increasing the measurement 44. However, since object 42 has moved a predetermined distance 50 towards vehicle 2, it is different from the measurement 44. Figure 3 and Figure 4 Compared to the situation shown, position 48 is further offset toward the vehicle 2. On the other hand, in the case of the opposite direction of movement of object 22, the predetermined distance 50 is selected to be reduced.

[0068] This invention is not limited to the embodiments described above. Rather, those skilled in the art can derive other variations of the invention without departing from its subject matter. Furthermore, in particular, all the individual features described in connection with the embodiments can be combined with each other in other ways without departing from the subject matter of the invention.

[0069] List of reference numerals

[0070] 2 motor vehicles

[0071] 4 wheels

[0072] 6-body

[0073] 8 openings

[0074] 10 doors

[0075] 12 bearings

[0076] 14 Electric Door Actuators

[0077] 16 electric motors

[0078] 18 collision protection sensors

[0079] 20 monitoring areas

[0080] 22 objects

[0081] 24 control equipment

[0082] 26 Computers

[0083] 28 memory

[0084] 30 Computer Program Products

[0085] 32 Process

[0086] 34 First Working Step

[0087] 36 Second working step

[0088] 38 adjustment zone

[0089] 40 Third working step

[0090] 42 positions

[0091] 44 measures

[0092] 46 Fourth Working Step

[0093] 48. Maintain position

[0094] 50 pre-determined distance

[0095] 52 profile

[0096] 54 Fifth Working Step

[0097] 56. Sixth working step

Claims

1. A method (32) for operating an electric door drive (14) of a motor vehicle (2) with a door (10) driven by an electric motor (16), wherein the door (10) is held in a holding position (48) when an object (22) is detected in a regulation region (38) by means of a crash protection sensor (18) during adjustment of the door (10), wherein, The holding position (48) is selected in such a way that the door (10) has a predetermined distance (50) to the object (22), which is selected in dependence on a measure (44) of the accuracy of the determination of the position (42) of the object (22).

2. The method (32) according to claim 1, characterized in that The measure (44) is determined in dependence on a signal quality of the measurement data generated by the collision protection sensor (18).

3. The method (32) according to claim 1 or 2, characterized in that The measure (44) is determined in dependence on an environmental condition.

4. The method (32) according to any one of claims 1 to 3, characterized in that The measure (44) is determined in dependence on the position (42) within a monitoring area (20) of the collision protection sensor (18).

5. The method (32) according to any one of claims 1 to 4, characterized in that When the door (10) approaches the holding position (48) in accordance with a predetermined profile (52), the adjustment speed of the door (10) is reduced or the counterforce provided to the door (10) by means of the electric motor (16) is increased.

6. The method (32) according to claim 5, characterized in that The profile (52) is selected in dependence on the measure (44).

7. The method (32) according to any one of claims 1 to 6, characterized in that A direction of movement of the object (22) is determined, in dependence on which the predetermined distance (50) is selected.

8. The method (32) according to any one of claims 1 to 7, characterized in that The holding position (48) is adjusted during the adjustment of the door (10).

9. An electric door drive (14) of a motor vehicle (2), comprising a door (10) driven by an electric motor (16), and operating according to the method (32) of any one of claims 1 to 8.

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