Door position sensor and system for a vehicle

Abstract

System for determining a door state, comprising: a hinge (18) comprising a first part (54) coupled to a door (14) and a second part (56) coupled to a vehicle frame (16) and rotatably coupled to the first part; a door position sensor (24) outputting a signal relating to a position of the first part relative to the second part; a controller (70) receiving the signal and determining whether the signal corresponds to a door-closed state or a door-open state;wherein the controller (70) communicates with the door position sensor (24) and with at least one superimposed sensor (26) designed to identify a potential obstacle that can be contacted by the door (14), wherein the door position sensor (24) is designed to identify an angular position of the door (14), and the superimposed sensor (26) is designed to detect objects or obstacles in the superimposed zone (32) in a plurality of detection regions (34); wherein, in order to monitor the location of an object or obstacle relative to a radial extension (42) of the door (14) relative to the hinge assembly (18), the controller (70) of the movement of the door (14) has different sensitivities of each of the detection regions (34).

Description

TECHNICAL AREA OF INVENTION The invention relates to a system for determining a door state, a vehicle and a method for detecting a state of a vehicle door. BACKGROUND OF THE INVENTION In an effort to improve vehicle operation and comfort, many manufacturers have introduced a range of convenience and operational features into vehicles. However, many vehicle components and systems still exhibit significant similarities to conventional vehicle designs dating back to the last century. This disclosure provides for various systems and devices to provide improved operation of at least one vehicle door. The systems discussed here may include doors that either assist a user when entering the vehicle and / or may be designed to open and close without requiring a vehicle user to physically reposition the door. Such systems, as described herein, can provide improved vehicle operation. DE 10 2012 018 093 A1 discloses a motor vehicle door with a magnetic device and a speed / position sensor, by means of which the door is controlled via a control unit to brake, hold, or close / open. DE 10 2005 061 610 A1 discloses a vehicle door control system in which various door positions are detected via a potentiometer sensor and different closing, braking, or closing operations are automatically executed depending on this. BRIEF SUMMARY OF THE INVENTION According to one aspect of the present invention, a system for determining a door state includes a hinge comprising a first part coupled to a door and a second part coupled to a vehicle frame and rotatably coupled to the first part. The system further includes a sensor that outputs a signal relating to a position of the first part relative to the second part, and a controller that receives the signal and determines whether the signal corresponds to a door-closed state or a door-open state.The controller communicates with the door position sensor and with at least one superimposed sensor designed to identify a potential obstacle that can be contacted by the door, wherein the door position sensor is designed to identify an angular position of the door, and the superimposed sensor is designed to detect objects or obstacles in the superimposed zone in a variety of detection regions, wherein, in order to monitor the location of an object or obstacle relative to a radial extension of the door relative to the hinge assembly, the controller of the movement of the door has different sensitivities from each of the detection regions. According to a further aspect of the present invention, a vehicle includes a door opening, a door, and a hinge coupled between the door and the opening, allowing angular movement of the door relative to the opening. The vehicle further includes a sensor that outputs a signal relating to an angular relationship between the door and the opening, and a controller that receives the signal and determines whether the signal corresponds to a door-closed state or a door-open state.The controller communicates with the door position sensor and with at least one superimposed sensor designed to identify a potential obstacle that can be contacted by the door, wherein the door position sensor is designed to identify an angular position of the door, and the superimposed sensor is designed to detect objects or obstacles in the superimposed zone in a variety of detection regions, wherein, in order to monitor the location of an object or obstacle relative to a radial extension of the door relative to the hinge assembly, the controller of the movement of the door has different sensitivities from each of the detection regions. According to a further aspect of the present invention, a method for detecting the state of a vehicle door includes receiving a signal from a sensor containing information relating to a detected position of the vehicle door relative to an associated door opening. The method further includes determining whether the door is in a closed or open state based on a comparison of the detected position of the vehicle door with a known range of positions for the closed and open states.The controller communicates with the door position sensor and with at least one overlay sensor designed to identify a potential obstacle that the door may contact. The door position sensor identifies the angular position of the door, and the overlay sensor detects objects or obstacles in the overlay zone across a variety of detection regions. The method further includes monitoring the location of an object or obstacle relative to a radial extent of the door relative to the hinge assembly, with the door movement controller exhibiting different sensitivities for each of the detection regions. These and other aspects, tasks and features of the present invention will become understandable and apparent to those skilled in the art upon closer examination of the following description, claims and attached drawings. BRIEF DESCRIPTION OF THE DRAWINGS In the drawings: Fig. 1 is a view of a vehicle comprising a door assistance system designed to detect an object or obstacle in an inner swing path of the door; Fig. 2 is a schematic top view of a vehicle comprising a door assistance system demonstrating an overlap zone of a vehicle door; Fig. 3 is a schematic top view of a vehicle comprising a door assistance system demonstrating an overlap zone of a vehicle door; Fig. 4 is a top view of a vehicle comprising a door assistance system designed to detect an object or obstacle in an outer swing path of the door; Fig. 5 is a flowchart of a method for controlling a door assistance system; Fig. 6 is a view of a vehicle demonstrating a door control device for operating a door assistance system; Fig. 7 is a flowchart of a method for operating the door control device of Fig. 6; Fig.Figure 8 shows a flowchart containing additional process steps that can be implemented in conjunction with the method of Figure 7. Figure 9 shows a representation of a sensor array of a door control device for operating the door assistance system; Figure 10 shows a side environmental view of a vehicle comprising a door assistance system designed to maintain an angular position of the door; and Figure 11 shows a block diagram of a door assistance system designed to control a positioning operation of the door, according to the disclosure. DETAILED DESCRIPTION OF PREFERRED EXECUTION FORMS As required, detailed embodiments of the present disclosure are disclosed herein. It is understood, however, that the disclosed embodiments are purely exemplary of the disclosure, which may be implemented in various and alternative forms. The figures do not necessarily follow a detailed design, and some schematic representations may be exaggerated or minimized to show a functional overview. The specific structural and functional details disclosed herein should therefore not be interpreted as limiting, but merely as a representative basis for teaching a person skilled in the art how the present disclosure may be used in various ways. The term "and / or" used here, when employed in a list of two or more elements, means that each of the listed elements can be used alone or in any possible combination of two or more of the listed elements. For example, if a composition is described as containing components A, B, and / or C, the composition can contain A alone; B alone; C alone; A and B in combination; A and C in combination; B and C in combination; or A, B, and C in combination. With reference to Fig. 1, a view of a vehicle 10 includes a door opening 20, a door 14 which is mounted adjoining the opening 20 and is movable relative to the opening 20 between a closed position and a range of open positions. The vehicle 10 also includes a control unit that determines whether an instantaneous door position is the closed position or is within the range of open positions, and prevents vehicle movement, engine ignition, or both, in response to the door 14 being detected as being positioned within the range of open positions. The control unit is further discussed in various parts of the disclosure and is identified in Figs. 2, 3, 4, and 11 as the control unit 70. An actuator 22 communicates with a controller (not shown in Fig. 2) designed to detect the angular position ϕ of the door 14. In one embodiment, the actuator 22 can be a servo-assisted device located downstream of the door 14 and operationally and structurally coupled to the door 14 to assist in moving the door 14 between the open and closed positions, as further described below. The servo-assisted device 22 is coupled to the door 14 for movement with it and is operationally coupled to the hinge assembly 18 for driving the movement of the door 14.The servo-assisted device 22 can include a motor, which may be an electric motor, a servo winch, a sliding mechanism, or another actuator mechanism, and which has sufficient power to supply the torque required to move the door 14 between the open and closed positions and various detent positions. Thus, the motor is designed to act on the door 14 in a pivoting or rotating manner at or near the hinge assembly 18. The control system can include a motor control unit with a feedback control system designed to accurately position the door 14 around the hinge assembly 18 along a smooth and controlled motion path. The control system can also communicate with a door position sensor 24 and with at least one superimposed sensor 26.The door position sensor 24 can be configured to identify an angular position of the door 14, and the superimposed sensor 26 can be configured to identify a potential obstacle that the door 14 may contact. Further details regarding the control are discussed with reference to Fig. 2, Fig. 3, and Fig. 11 of the disclosure. The actuator 22 is designed to move the door 14 from an open position, as shown in Fig. 1, to a closed position and to control the angular position ϕ of the door 14 between these positions. The actuator 22 can be any type of actuator capable of moving the door 14 around the hinge assembly 18, including, but not limited to, electric motors, servo motors, electric solenoids, pneumatic cylinders, hydraulic cylinders, etc. The actuator 22 can be connected to the door 14 via gears (e.g., pinions, racks, bevel gears, worm gears, etc.), levers, rollers, or other mechanical connecting elements. The actuator 22 can also act as a brake by applying a force or torque to prevent the door 14 from moving between the open and closed positions. The actuator 22 can include a friction brake to prevent the door 14 from being moved around the hinge assembly 18. The position sensor 24 can correspond to a variety of rotation or position sensing devices. In some embodiments, the position sensor 24 can correspond to an angular position sensor designed to communicate the angular position ϕ of the door to the controller. The angular position ϕ can be used by the controller to control the movement of the actuator 22. The door position sensor 24 can correspond to an absolute and / or a relative position sensor. Such sensors can include, among others, quadrature encoders, potentiometers, accelerometers, etc. The position sensor 24 can also correspond to an optical and / or magnetic rotation sensor. Other sensing devices can also be used for the position sensor 24 without deviating from the essence of the disclosure. In some embodiments, the position sensor 24 can be used to determine whether the door 14 of the vehicle 10 is ajar or in the closed position. As discussed above, the position sensor 24 can correspond to an angular position sensor designed to communicate the angular position ϕ of the door to the controller. In the potentiometer example above, the position sensor 24 can output a signal to the controller 70 that varies proportionally with the angular position ϕ of the door 14. In one example, the signal amplitude can increase from a lower limit at an angular position ϕ corresponding to a closed position of the door 14 (e.g., approximately 0°) to an upper limit at an angular position ϕ corresponding to a fully open position of the door 14.The controller 70 can therefore compare the signal received from the position sensor 24 at any given time with a known signal amplitude range and a corresponding angular position in order to determine the specific instantaneous angular position of the door 14. Furthermore, the total range of angular positions ϕ of the door 14 can be classified according to an open (or ajar) range and a closed range. The closed range may be relatively small compared to the open range, but may be larger than a single value of the angular position to accommodate slight variations in the fit of the door 14 within the opening 20. These variations may include changes in the compressibility of seals 48, 50, or the like, or slight changes in other materials over time, due to temperature fluctuations, the presence of small objects, or contaminants that exert a slight outward pressure on the door 14 without affecting its ability to close completely (such as by latching or the like). For example, the closed position may correspond to an angular position ϕ between 0° and 1°, between 0° and 0.5°, or less, or between -0.5° and 0.5°, with other ranges being possible.Similarly, the open or ajar range can correspond to the remaining angular positions ϕ of the door 14, which in an example may be between 1° and 80° or the like, depending on the marked upper limit of the closed position and the total range of movement of the door 14. In this way, the controller 70 can take the signal output by the position sensor 24 as input and determine not only the angular position ϕ of the door 14 (which can be used in a feedback loop controlling the actuator 22 to achieve a desired door positioning), but also whether the door 14 is open or closed. Determining the state of the door 14 between the open and closed positions can be used outside the control scheme of the actuator 22. For example, the controller can be operated by determining whether the door 14 is aligned in the closed position controlled by the actuator 22, thus identifying a door-closed status of the door 14 before the vehicle 10 is operated. The position sensor 24 can be used in addition to various switches and sensors to communicate to the controller that the door 14 is secured and aligned in the closed position.The position sensor 24 can communicate that the door 14 is in a position corresponding to its locked position or is otherwise closely aligned with the body 16. In one example, a conventional closing switch or a door proximity sensor can also be included as a safeguard or redundancy for such use of the position sensor 24. Furthermore, the use of such a conventional closing switch, or in one example a switch or other indicator within the locking mechanism 58, can be used to implement a setting or zeroing process by which the controller 70, when determined by the position sensor 24, is within the range of angular positions ϕ corresponding to the closed position of the door 14 (or within a predetermined tolerance thereof, e.g.,If the door is approximately 1% to approximately 5% closed and the sensor within the locking mechanism 58 confirms that the door is fully closed and locked in such a closed position, the controller 70 can set the current angular position ϕ of the door 14 to the fully closed, or zero, position, as indicated by the position sensor 24. This functionality allows the controller 70 to compensate for play between the various parts of the hinge assembly 18, the actuator 22, the position sensor 24, and associated parts of the door 14, which may occur over time due to temperature fluctuations and the like. The implementation of a zeroing scheme can also allow the use of a brushless DC motor for the actuator 22, the control of which by the controller 70 can be used to determine the angular position ϕ of the door 14 as a form of integrated position sensor 24. In this respect, the controller 70 can communicate with the control circuits of the brushless DC motor to track the number of its revolutions during an opening and closing operation of the door 14. However, since inaccuracies in such tracking accumulate with increasing motor revolutions, which occurs several times during a single opening and closing operation, the zeroing functionality can allow such a system to maintain an acceptable level of accuracy. The position sensor 24 can also be used to provide feedback to the controller 70 to assist in positioning the door 14 and detecting obstacles. Specifically, when the actuator 22 is instructed to move the door 14 to either the open position or the closed position (or a specific angular position ϕ in between), the controller 70 can use the position sensor 24 to determine whether the door 14 is actually moving, for example, by comparing the displayed angular position ϕ at successive intervals. If the door 14 remains in a specific angular position ϕ for a predetermined duration (in one example, approximately 0.5 seconds, or in another example, up to 1 second or 2 seconds) while the controller 70 attempts to close the door 14, the controller 70 can conclude that the door 14 is obstructed and take the necessary corrective action.In further examples discussed below, the position sensor 24 can be used to identify the status or orientation of the door 14 before the vehicle 10 is started. In another example, the controller 70 can output the specific state of the door 14, for example via communication bus 164 to a vehicle control module 162 (Fig. 11), so that the vehicle control module 162 can use the state information, for example, when presenting a door-open warning to a user of the vehicle 10. For example, such a warning can be presented graphically or by an indicator light on a human-machine interface (HMI) 128 inside the vehicle interior 46, or by presenting an audible signal, which may occur when a user attempts to start the vehicle 10 with a door 14 in an open state. The position sensor 24 can be integrated into the structure of the actuator 22 itself or can otherwise be associated with both the door 14 and the opening 20. For example, the actuator 22 can include a first part 54 coupled to the door 14 and a second part 56 coupled to the vehicle body 16 or the frame-defining opening 20, such that these parts are movable relative to each other in a manner corresponding to the movement of the door 14. The position sensor 24 can, for example, include corresponding parts in the form of a potentiometer, each coupled to such parts 54 and 56, so that the movement of the part coupled to the door 14 relative to the second part 56, which is coupled to the vehicle opening 20, can be measured, thus measuring the position between the door 14 and the opening 20.Similarly, the sensor 24 can have a part that is directly coupled to the door 14 and another part that is directly coupled to the opening 20. Furthermore, the position sensor 24 can be in the form of an optical sensor, mounted either on the door 14 or the opening 20, capable of monitoring a feature of the opposite structure (opening 20 or door 14), a marker, or a plurality of markers, to output a suitable signal to the controller 70 for determining the angular position ϕ. For example, an optical sensor used as the position sensor 24 can be positioned such that the actuator 22 is within its field of view, so that the signal output can directly correspond to a state of the actuator 22 or to the relative position of its first part 54 relative to the opening 20. The superimposed sensor 26 can be implemented by a variety of devices and, in some implementations, can be used in combination with the actuator 22 and the position sensor 24 to detect and control the movement of the door 14. The superimposed sensor 26 can correspond to one or more capacitive, magnetic, inductive, optical / photoelectric, laser, acoustic / sound, radar-based, Doppler-based, thermal, and / or radiation-based proximity sensors. In some embodiments, the superimposed sensor 26 can correspond to an array of infrared (IR) proximity sensors designed to emit a beam of IR light and calculate a distance to an object in a superimposed zone 32 based on characteristics of a returned, reflected, or blocked signal.The returned signal can be detected using an IR photodiode to detect reflected light from a light-emitting diode (LED) in response to modulated IR signals, and / or triangulation. In some embodiments, the superimposition sensor 26 can be implemented as a plurality of sensors or as an array of sensors designed to detect an object in the superimposition zone 32. Such sensors can include, among others, touch sensors, capacitive surface / housing sensors, inductive sensors, video sensors (such as a camera), light field sensors, etc. As disclosed in more detail with reference to Fig. 2 and Fig. 3, capacitive and inductive sensors can be used to detect obstacles in the superimposition zone 32 of the door 14 of the vehicle 10 to ensure that the door 14 is properly positioned by the actuator 22 around the hinge assembly 18 from the open position to the closed position. According to the invention, the overlay sensor 26 is designed to detect objects or obstacles in the overlay zone 32 in a plurality of detection regions 34. For example, the detection regions 34 can comprise a first detection region 36, a second detection region 38, and a third detection region 40. In this configuration, the overlay sensor 26 can be designed to detect the presence of an object in a specific detection region and communicate the detection to the controller, so that the controller can control the actuator 22 accordingly. The detection regions 34 can provide information regarding the position of an object or obstacle in order to react precisely and to control the actuator 22 to change direction or to stop the movement of the door 14 before a collision with the object.Monitoring the location of an object or obstacle according to the invention relative to a radial extension 42 of the door 14 relative to the hinge assembly 18 significantly improves the control of the movement of the door 14 by having different sensitivities of each of the detection regions 34. The different sensitivities of each of the detection regions 34 can be advantageous due to the relative movement and force of the door 14 as it is moved around the hinge assembly 18 by the actuator 22. The first detection region 36 may be the most critical because the actuator 22 of the door assist system 12 has the greatest leverage or torque when located close to the hinge assembly 18. For example, a current sensor used to monitor the power delivered to the actuator 22 would be least effective when detecting an obstacle very close to the hinge assembly 18. The limited effect of the current sensor may be due to the short torque arm of the first detection region 36 relative to the hinge assembly 18 when compared to the second detection region 38 and the third detection region 40.Therefore, the superimposed sensor 26 in the first detection region 36 can have an increased sensitivity relative to the second and third detection regions 38 and 40 to ensure that objects are accurately detected, especially in the first detection region 36. In this way, the system 12 can facilitate precise and controlled movement and ensure the highest accuracy in object detection while limiting false detections. Although shown in Fig. 1 as being configured to monitor a lower part of the door 14 near the door sill 44, the overlay sensor 26 can be configured to monitor an access region and a door opening 20 near a door edge seal 48 and / or a door opening edge seal 50. For example, the overlay sensor 26 can correspond to a sensor or sensor array configured to monitor each of the overlay zones 36, 38, and 40 for an object that might obstruct the movement of the door 14 by the actuator 22. The overlay sensor 26 can be configured to monitor an entry region 52 of the vehicle 10, corresponding to a volumetric space formed between the door 14 and the body 16. In particular, a detection region of the overlay sensor can be concentrated on interface surfaces near the door edge seal 48 and the door opening edge seal 50. As further discussed here, the overlay sensor 26 can be implemented by a variety of systems that can be operated to detect objects and / or obstacles in the overlay zone 32, the entry region 52, and / or any region near the door 14 during the operation of the door assist system 12. Although the door assist system 12 is demonstrated in Fig. 1 with the detection regions 34 designed to detect an object located between an inner pivot path between the door 14 and the body 16 of the vehicle 10, the system 12 can also be designed to detect an object or obstacle in an outer pivot path of the door 14. Further details regarding such embodiments are discussed with reference to Fig. 4. Referring to Fig. 1 and Fig. 2, an exemplary embodiment of a superimposition sensor 62 is shown. The superimposition sensor 62 can correspond to the superimposition sensor 26 introduced in Fig. 1. The superimposition sensor 62 can be arranged near the door edge seals 48 and / or the door opening edge seal 50. In some embodiments, the superimposition sensor 62 can correspond to one or more proximity sensors or capacitive sensors designed to detect an object. As shown in Fig. 2, the object can correspond to a first object 64 and / or a second object 66 in the entry region 52 near the door 14 and / or the body 16. The one or more capacitive sensors can be designed to detect objects that are conductive or have dielectric properties that differ from those of air.In this configuration, the overlay sensor 62 is designed to communicate the presence of any such object to the controller 70, so that the controller 70 can limit the movement of the actuator 22 to prevent a collision between the door 14 and the objects 64 and 66. The superimposed sensor 62 can correspond to a variety of proximity sensors or a sensor array 72 comprising a first proximity sensor 74 designed to monitor the first detection region 36, a second proximity sensor 76 designed to monitor the second detection region 38, and a third proximity sensor 78 designed to monitor the third detection region 40. The sensor array 72 can communicate with the controller 70, enabling each of the proximity sensors 74, 76, and 78 to operate independently and communicate the presence of objects 64 and 66 in an electric field 80 that defines their respective detection regions. In this configuration, the controller 70 can be configured to identify objects in each of the detection regions 36, 38, and 40 at different sensitivities or thresholds.Additionally, each of the proximity sensors 74, 76 and 78 can be controlled by the controller 70 to have a specific detection region that corresponds to a proximity of a specific proximity sensor to the hinge assembly 18 and / or an angular position ϕ of the door 14. The controller 70 can further be configured to identify the location of at least one of the objects 64 and 66 relative to a radial position of the objects 64 and / or 66 along a length of the door 14 extending from the hinge assembly 18. The location(s) of the object(s) 64 and / or 66 can be identified by the controller 70 based on a signal received from one or more of the proximity sensors 74, 76, and 78. In this way, the controller 70 is configured to identify the location(s) of the object(s) 64 and / or 66 based on the position of the proximity sensors 74, 76, and 78 on the door 14. In some embodiments, the controller 70 can further identify the location(s) of the object(s) 64 and / or 66, based on the signal received from one or more of the proximity sensors 74, 76 and 78 in combination with an angular position ϕ of the door 14.In some embodiments, the controller 70 can be configured to identify an object in each of the detection regions 36, 38, and 40 at different sensitivities. The controller 70 can be configured to detect an object in the first detection region 36 near the first proximity sensor 74 with a first sensitivity. The controller 70 can be configured to detect an object in the second detection region 38 near the second proximity sensor 76 with a second sensitivity. The controller 70 can be configured to detect an object in the third detection region 40 near the third proximity sensor 78 with a third sensitivity.Each of the sensitivities discussed here can be designed to detect objects 64 and 66 at a specifically predetermined threshold corresponding to signal characteristics and / or strengths communicated to the controller 70 by each of the proximity sensors 74, 76 and 78. The first proximity sensor 74 can have a lower detection threshold than the second proximity sensor 76. The second proximity sensor 76 can have a lower detection threshold than the third proximity sensor 78. The lower threshold can correspond to higher or increased sensitivity in the detection of objects 64 and 66. In this configuration, the proximity sensors 74, 76, and 78 can be designed to independently detect objects across the overlap zone 32, since the position of the door 14 is set by the actuator 22 around the hinge assembly 18. Each of the proximity sensors 74, 76, and 78 can also be configured to have different detection ranges corresponding to their respective detection regions 36, 38, and 40. The detection regions of each of the proximity sensors 74, 76, and 78 can be controlled and adjusted by the controller 70, so that the electric field 80 defining the respective detection regions can change. The controller 70 can adjust the range of a detection region or an electric field 80 of the proximity sensors 74, 76, and 78 by setting a voltage level applied to each of the proximity sensors 74, 76, and 78. In addition, each of the proximity sensors 74, 76 and 78 can be designed to have independently different constructions, for example different sizes and proportions of dielectric plates, in order to control a range of the electric field 80 generated by a particular sensor.As described here, the revelation provides for a highly configurable system that can be used to detect a range of objects in the overlay zone 32. The superimposed sensor 62 can also be implemented using one or more resistive sensors. In some embodiments, the superimposed sensor 62 can correspond to an array of capacitive or resistive sensors in combination, designed to monitor the superimposed zone 32 for objects that could obstruct the operation of the door 14. In yet another exemplary embodiment, the superimposed sensor 62 can be implemented in combination with at least one inductive sensor, as discussed with reference to Fig. 3. Therefore, the disclosure provides a superimposed sensor that can be implemented using a range of detection techniques and combinations thereof to ensure that objects in the superimposed zone 32 are accurately detected. Further with reference to Fig. 1 and Fig. 2, the superimposed sensor 62 can, in some embodiments, be integrated as a component of the door edge seal 48 and / or the door opening edge seal 50. For example, the superimposed sensor 62 can correspond to a plurality of proximity sensors or an array of proximity sensors, which can be integrated as a layer of the door edge seal 48 and / or the door opening edge seal 50. This particular embodiment of the superimposed sensor 62 comprises a similar structure to the sensor array 72 discussed with reference to Fig. 6. In such embodiments, the superimposed sensor 62 can be implemented as a capacitive sensor array designed to detect objects near the door edge seal 48 and / or the door opening edge seal 50. The door edge seal 48 and / or the door opening edge seal 50 can comprise an outer layer 81 containing the proximity sensors 74, 76, and 78 of the sensor array 72 in their vicinity or in conjunction with them. The outer layer 81 can be a flexible or significantly rigid polymer material connected to the overlay sensor 62. In some embodiments, the sensor array 72 can also be arranged close to the door edge seal 48 and / or the door opening edge seal 50, respectively, on the door 14 and / or the body 16. In this configuration, the plurality of proximity sensors of the sensor array 72 can be used to detect an object in any of the detection regions 36, 38, and 40. This configuration can also include the overlay sensor 72, which should be conveniently installed in the door edge seal 48 and / or the door opening edge seal 50 to facilitate the implementation of the door assistance system 12.Referring to Fig. 1 and Fig. 3, an exemplary embodiment of a superposition sensor 82 is now shown. The superposition sensor 82 can correspond to the superposition sensor 26 introduced in Fig. 1. The superposition sensor 82 can be arranged near the door edge seal 48 and / or the door opening edge seal 50. In some embodiments, the superposition sensor 82 can correspond to one or more magnetic or inductive sensors designed to detect an object, for example, the first object 64 and / or the second object 66, in a region near the door 14 and / or the body 16. Each of the magnetic sensors can be designed to detect metallic objects and / or objects that could interfere with a magnetic field 84 generated by an induction coil of the superposition sensor 82.In this configuration, the overlay sensor 82 is designed to communicate the presence or position of various objects in the overlay zone 32 to the controller 70, so that the controller 70 can limit the movement of the actuator 22 to prevent a collision between the door 14 and the objects 64 and 66. Die Induktionsspule des Überlagerungssensors 82 kann dafür ausgelegt sein, das Magnetfeld 84 zu erzeugen und das Magnetfeld 84 auf Veränderungen hin zu überwachen, die einem Objekt entsprechen können, zum Beispiel dem ersten Objekt 64 oder dem zweiten Objekt 66, die in der Überlagerungszone 32 vorhanden sind. In dieser Konfiguration ist der Überlagerungssensor 82 betreibbar, ein Signal zu kommunizieren, das von der Steuerung 70 identifiziert werden kann, um die Bewegung des Aktuators 22 zu begrenzen und eine Kollision zwischen der Tür 14 und dem Objekt (zum Beispiel dem ersten Objekt 64 oder dem zweiten Objekt 66) zu verhindern. Der Überlagerungssensor 82 kann in verschiedenen Ausführungsformen allein oder in Kombination mit dem Überlagerungssensor 62 verwendet werden, um eine Detektionsgenauigkeit und -vielseitigkeit des Türassistenzsystems 12 zu erhöhen, um eine Bandbreite von Objekten mit einer großen Bandbreite von Materialeigenschaften zu detektieren. In some embodiments, the superposition sensor 82 can be configured to monitor the superposition zone 32 in each of the detection regions 36, 38, and 40. Similar to the superposition sensor 62, the superposition sensor 82 can comprise a variety of sensors, for example, magnetic sensors. In this configuration, the controller 70 can be configured to detect an object in the first detection region 36 near a first magnetic sensor 86 with a first sensitivity. The controller 70 can further be configured to detect an object in the second detection region 38 near a second magnetic sensor 88 with a second sensitivity. Finally, the controller 70 can also be configured to detect an object in the third detection region 40 near the third magnetic sensor 90 with a third sensitivity. Each of the sensitivities discussed here can correspond to a specifically predetermined threshold, which corresponds to signal characteristics and / or strengths communicated to the controller 70 by each of the magnetic sensors 86, 88, and 90. The first magnetic sensor 86 can have a lower detection threshold than the second magnetic sensor 88. The second magnetic sensor 88 can have a lower detection threshold than the third magnetic sensor 90. The lower threshold can correspond to a higher or increased sensitivity in detecting objects 64 and 66. In this configuration, the magnetic sensors 86, 88, and 90 can be configured to detect objects across the superposition zone 32, since the position of the door 14 is set by the actuator 22 around the hinge assembly 18. The controller 70 can be configured to receive various signals from the superposition sensor 82 or the magnetic sensors 86, 88, and 90, some of which may correspond to the detection of objects 64 and 66. The magnetic sensors discussed here correspond to various forms of magnetic or inductive sensors that may be designed to monitor the magnetic field 84.For example, a magnetic sensor can correspond to various magnetic detection devices, including, but not limited to, a Hall effect sensor, a magnetodiode, a magnetotransistor, an AMR magnetometer, a GMR magnetometer, a magnetic tunnel junction magnetometer, a magneto-optical sensor, a Lorentz force-based sensor, an electron tunnel-based sensor, a compass, a core precession magnetic field sensor, an optically pumped magnetic field sensor, a fluxgate magnetometer, and a search coil magnetic field sensor. The controller 70 can be configured to detect objects 64 and 66 by identifying changes in the magnetic field 84. For example, identification can be achieved by comparing signals from the magnetic sensors 86, 88, and 90, which monitor the magnetic field 84 during the operation of the door assistance system 12. The signals from the magnetic sensors 86, 88, and 90 can be compared by the controller 70 with previously measured or calibrated characteristics of the magnetic field 84. The previously measured or calibrated characteristics of the magnetic sensors 86, 88, and 90 can be stored in a memory that communicates with the controller 70.In some implementations, the controller 70 can further use the angular position ϕ of the door 14 from the position sensor 24 to improve the comparison based on changes in the magnetic field 84 resulting from changes in the distance between the door 14 and the body 16. In this configuration, the controller 70 can accurately identify changes in the magnetic field 84 to detect an obstacle in the superposition zone 32 (e.g., objects 64 and 66). Referring to Fig. 1, Fig. 2, and Fig. 3, the superimposed sensors 62 and 82 can now be operated to detect the presence of objects 64 and 66 in the superimposed zone 32 and, furthermore, to identify which of the objects 64 and 66 are located in which of the multiple detection regions 34. The sensors 62 and 82 can be used in various combinations to improve detection accuracy and reliability over a wide range of objects. In various implementations, the controller 70 can identify objects 64 and 66 based on the signals received from the different superimposed sensors in order to control the actuator 22 and the corresponding movement of the door 14.The various implementations of the door assistance system 12 discussed here provide the control 70 to set a position of the door 14, while preventing collisions between the door 14 and various objects that may enter the overlay zone 32. Now, with reference to Fig. 4, a schematic top view of the vehicle 10, which includes the door assistance system 12, is shown. As discussed previously, the door assistance system 12 can further be configured to detect the objects 64 and 66 in an outer pivot path 92 of the door 14. In this configuration, the controller 70 can be configured to control the actuator 22 to adjust the angular position ϕ of the door 14 of the vehicle 10 from a closed to an open position. As discussed previously, the superimposed sensor 26 can correspond to a sensor array 94 comprising a plurality of proximity sensors. Each of the proximity sensors can be configured to detect the objects 64 and 66 in the outer pivot path 92 of the door 14. The multitude of proximity sensors of the sensor array 94 corresponds to a first proximity sensor 96, a second proximity sensor 97 and a third proximity sensor 98.In this configuration, the controller 70 can be designed to detect the objects 64 and 66 in the plurality of detection regions 34 of the superposition zone 32, which corresponds to the outer pivot path 92 of the door, as well as the inner pivot path, as discussed with reference to Fig. 1. The overlay sensor 26 can be configured to identify the location of each of the objects 64 and 66 based on the positions of the objects 64 and 66 relative to each of the detection regions 34 and the angular position ϕ of the door 14. This means that the controller 70 can be configured to identify and monitor the location of the objects 64 and 66 relative to the radial extent 42 of the door 14 relative to the hinge assembly 18. The controller 70 can identify and monitor the location of the objects based on a detection signal for each of the objects received by one or more of the proximity sensors 96, 97, and 98. Based on the detection signal from one or more of the proximity sensors 96, 97 and 98, the controller 70 can identify the location of the objects based on the position of each of the proximity sensors 96, 97 and 98 along the radial extent 42 of the door 14.The controller 70 can further identify the location of the objects based on the angular position ϕ communicated by the door position sensor 24. In this configuration, the door assistance system 12 can be designed to position the door 14 from a closed position to an open position, while preventing the door 14 from colliding with the objects 64 and 66. In some embodiments, the controller 70 can further be operated to prioritize a first detection of the first object 64 and a second detection of the second object 66. As illustrated, for example, in Fig. 4, the controller 70 can identify that the door 14, relative to the rotation path of the door 14 around the hinge assembly 18, is closer to the first object 64 than to the second object 66. The controller 70 can identify that the first object 64 is closer than the second object based on the proximity of each of the objects 64 and 66 to the door 14, as determined by one or more signals received by the controller 70 from the superimposed sensor 26. The controller 70 can monitor the proximity of each of the objects 64 and 66 during an adjustment of the angular position ϕ of the door 14, based on the one or more signals.As soon as the controller 70 detects that a proximity signal from at least one of the proximity sensors 96, 97, and 98 exceeds a predetermined threshold, the controller 70 can control the actuator 22 to stop the positioning adjustment of the door 14. In this way, the controller 70 can prioritize a control instruction to control the actuator 22 to limit the angular position ϕ of the door 14 in order to prevent a collision between the door 14 and one or more objects 64 and 66 in the overlap zone 32. A flowchart of a method 102 for controlling the door assistance system 12 is now shown with reference to Fig. 5. The method 102 can begin in response to the controller 70 receiving an input signal from a door control device requesting that the door 14 be positioned in the closed position (104). In response to receiving the input signal, the controller 70 can activate the overlay sensor 26 to identify whether an object or obstacle is located in the overlay zone 32 or overlay regions, as discussed with reference to Fig. 1, Fig. 2, and Fig. 3 (106). Additionally, in response to receiving the input signal, the controller 70 can activate the actuator 22 to begin positioning the door 14 in a door-closing operation (108). Additional information regarding the door control device is discussed with reference to Fig. 6. The controller 70 is designed to identify whether an obstacle is detected when the actuator 22 begins to position the door 14 (110). If an obstacle is detected, the controller 70 can stop the door closing operation (112). The controller 70 can also output an obstacle detection signal, which can be designed to activate a warning alarm to alert an operator or occupant of the vehicle 10 regarding the obstacle detection (114). If no obstacle is detected, the controller 70 can continue to position the door 14 with the actuator 22 and monitor the angular position ϕ of the door 14 by processing position information from the position sensor 24 (116). As the door 14 is repositioned, the controller 70 can continue to monitor the position information to determine when the door closing operation is complete (118).Additionally, the controller 70 can continue monitoring the overlay zone 32 for obstacles during the repositioning of door 14, as discussed with reference to procedure steps 106-114. In step 118, if the door closing operation is determined to be complete, the controller 70 can stop the door actuator 22 (120). Additionally, the controller 70 can output a control signal that identifies that the door 14 of the vehicle 10 is secured, allowing vehicle operation to be activated (122). Vehicle operation may involve releasing a parking brake, entering autonomous vehicle operation, or otherwise enabling an operation of the vehicle 10, which may be completed if the door 14 is in the closed position.Furthermore, the controller 70 can communicate with the vehicle control module 162 by transmitting a signal or the like, in order to cause the vehicle control module 162 to take a predetermined action in response to the controller 70's detection that the door 14 is ajar. As discussed above, such a detection can be made using the position sensor 24 to determine whether the angular position ϕ of the door 14 is within the intended range for its closed position.The action taken by the vehicle control module 162 may include holding the vehicle 10 in a stopped state, such as preventing the ignition of the vehicle 10's engine (e.g., by communicating with an ignition module or ignition unit of the vehicle 10), implementing a parking lock mode in which the vehicle's power transmission is held in a park mode or parked state, or the like (e.g., by communicating with a parking lock module associated with the power transmission). The vehicle 10 may provide a bypass for such parking lock functionality, such as via a menu item on the HMI 128 or another control accessible within the vehicle.Furthermore, in an embodiment in which the vehicle 10 is designed for autonomous operation (including fully autonomous operation), the vehicle control module 162 can prevent the vehicle 10 from moving autonomously from a current location. Autonomous operation of the vehicle 10 can be achieved, for example, by the inclusion of an autonomous operating system 158 in the vehicle 10 (which may, for example, be part of the functionality of the vehicle control module 162) with a vehicle location module 174 (Fig. 11). This vehicle location module may include various devices or features for identifying the location and trajectory of the vehicle 10, such as a Global Positioning Service (“GPS”) module or the like. The autonomous operating system 158 may also include a vision module 166 that can identify objects surrounding the vehicle 10, such as pedestrians, other cars, etc., as well as the road on which the vehicle is traveling, including lane markings, shoulders, curbs, intersections, pedestrian crossings, traffic lights, etc. The vision module 166 may include a video camera, a light field camera (e.g., a plenoptic camera), radar, lidar, and various combinations thereof.A memory (either within the vehicle control module 162, the control unit 70 (i.e., the memory 170), or within the autonomous operating system 158 itself) can also contain map data for at least one area surrounding the vehicle 10. An internet or other wireless data connection can also be provided for updating, maintaining, and acquiring such data, including when driving into new areas. The autonomous operating system 158 is designed to process position, trajectory, road course, and map data to determine a route for the vehicle 10 between its current location and a desired destination. Furthermore, the autonomous operating system 158 is also designed to control the movement of the vehicle 10 along such a route, including by controlling a vehicle steering module 172, a vehicle braking module 176, and the vehicle throttle 178. Such control is implemented to maintain the speed of the vehicle 10 at an acceptable level while avoiding other vehicles, objects, etc., and while observing surrounding traffic signs and signals. In this way, a vehicle can be made "fully autonomous," enabling the vehicle 10 to travel from its current location to a destination without supervision from a user, driver, or the like.In some embodiments, fully autonomous vehicles can be operated under the guidance of a user who is not present in the vehicle 10, including through the integration of a communication module capable of communicating with an application running on a remote device, such as a computer, smartphone, tablet computer, dedicated device, or the like. In this and other embodiments, it may be useful for such a vehicle 10 to be able to identify whether a door 14 (and likewise other doors of the vehicle 10) is closed or not before commencing movement along the specified vehicle path. Accordingly, the controller 70 can output a signal to a vehicle control module 162 or an autonomous operating system 158 to prevent autonomous driving of the vehicle 10 if one or more doors 14 (e.g.,any of the four doors of a sedan is determined to be in an open, ajar, or unlocked state. Such information can also be transmitted to the remote device along with other vehicle state information. In a further embodiment, the controller 70 can take measures to rectify the door-open state by warning a vehicle occupant 10 (such as by visual or audible indicators) or by moving the door 14 into the closed configuration, such as by controlling the actuator 22 and monitoring it via the superimposed sensor 26, as discussed above. After the door closing operation is completed, the controller 70 can proceed to monitor the door control device to determine whether a door opening operation is requested (124). As described here, the method 102 for controlling the door assistance system 12 can further be used to control the opening operation of the door 14 and can include additional superimposed sensors 26 designed to detect obstacles that may be encountered when the actuator 22 opens the door 14. With reference to Fig. 6, a view of the vehicle 10 is now shown, depicting the door control device 130 of the door assistance system 12. The door control device 130 can correspond to a gesture sensor 132 designed to detect a movement or gesture by a tracked object 134, such as a limb, hand, foot, head, etc., of a user or other person located outside the vehicle 10. The door control device 130 can correspond to a variety of sensing devices. Sensing devices that can be used for the gesture sensor 132 can include, among others, optical, capacitive, resistive, infrared, and surface acoustic wave technologies, as well as other proximity and sensor arrays or other elements for determining the gestures of the object 134 in its vicinity.Various overlay sensors, such as those described here, can also be used to identify gestures of object 134. As discussed here, the gesture sensor 132 can be used to detect and record movement of the object 134 and to communicate the motion data corresponding to the movement recorded by the gesture sensor 132 to the controller 70. In some embodiments, the gesture sensor 132 can correspond to an optical detection device 136. The optical detection device 136 can comprise an image sensor 138 and a light-emitting device 140 in communication with the controller 70. The light-emitting device 140 can correspond to a variety of light-emitting devices and, in some embodiments, can correspond to one or more light-emitting diodes (LEDs) designed to emit light outside the visible range (e.g., infrared or ultraviolet light).The image sensor 138 can be configured to receive a light beam or a reflection thereof from the light-emitting device 140 within a field of view 142 of the image sensor 138. The image sensor 138 can be a CMOS image sensor, a CCD image sensor, or any type of image sensor capable of detecting light emitted by the light-emitting device 140. In some embodiments, the overlay sensor 26, the gesture sensor 132, the optical detection device 136, and / or any of the various detection devices discussed herein can be used to detect a period of inactivity of the door 14. A period of inactivity can correspond to a time interval or a predetermined duration during which no object is detected near the door 14. In such cases, the controller 70 can monitor various areas near the door 14 to identify whether an object (for example, a vehicle occupant) is in the vicinity. In response to the elapse of the predetermined duration without the controller 70 detecting an object near the door 14, the controller can activate the actuator 22 to position the door 14 in a closed position.In this way, the disclosure can have at least one security feature that can be automatically activated by the control unit 70 to secure the vehicle 10 in response to the period of inactivity. Referring to the embodiment of method 202 shown in Fig. 7, the gesture sensor 132 can transmit a signal to the controller 70 containing data relating to the type of sensing device used therein. In the example of an image sensor 138, such as one or more cameras, the gesture sensor 132 can output a signal containing image and / or video data for a field of view of the camera or cameras, the signal being received by the controller 70 in step 204. The controller 70 can then process the image or video data to, for example, identify and isolate the object 134 (step 206) and track the movement of the object 134 over time (step 214). The data used in this or other schemes to identify the movement of the object 134 can be transmitted via a variety of analog and / or digital signals, such as video data, logic-based signals, etc.The data used by the controller 70 to identify the gesture recorded in such data are communicated. The movement of object 134 thus identified by the controller 70 can be interpreted as a command (218) instructing the controller 70 to activate the door assistance system 12, so that the actuator 22 repositions the door 14 (step 220). The gesture to be identified by the controller 70 to activate the door assistance system 12 may be predefined or previously stored in a memory of the controller 70. Upon receiving the data, the controller 70 can compare the communicated movement data with the previously stored movement data to identify a gesture used to access the vehicle 10. To prevent unauthorized access to the vehicle 10, the controller 70 can first attempt to identify whether a user within the field of view of the gesture sensor 132 is an "authorized" user. This can be done by capturing image data from the signal received by the gesture sensor 132 (which can be achieved, for example, by isolating a single frame from the video data) and by processing the data (step 210) according to a desired user identification mode using visible characteristics. For example, the controller 70 can identify faces in the captured image data and run one of several facial recognition algorithms to determine whether any of the identified faces belong to an authorized user (step 208). Other physical characteristics can be processed similarly according to alternative methods of user identification.In this way, the controller 70 can be designed to accept a gesture-based command only from an identified authorized user. In an embodiment illustrated in Fig. 8, a user can be identified as an authorized user by entering a setting mode 222 for the system 12, for example via the HMI 128, using a smartphone application, or the like. In the setting mode (which may require the presence of a key fob or the like in the vehicle 10 to signal initial authorization), the user can store the required visible data in memory 170 (Fig. 11) and associate it with a label indicating that such visible data belongs to an authorized user. In the embodiment shown, the user can enter the user identification mode (step 226) before entering a recording command (step 228), which can activate the controller 70 to receive and process a signal from the optical detection device 136 (step 230).If the control unit 70 detects that a face is present in the image data, the user may be prompted to enter information (step 234), which is then associated with the face (step 236). Such information may simply state that the face corresponds to an authorized user, or it may include additional data, such as the user's name. The facial data and additional information are then stored in memory (step 240) before the settings mode is optionally exited (steps 240 and 242). The user information can also be stored in memory 170 and associated with the visible data, allowing other vehicle systems (e.g., climate control, seats, multimedia, etc.) to be automatically configured according to the known or learned preferences of the specific authorized user.Alternatively, visual or facial data can be obtained, for example, by the user entering an image using a smartphone application or by manually entering other physical data, e.g., using HMI 128. The motion data recorded by the gesture sensor 132 can include various movements of the object 134 and sequences or combinations thereof. For example, the optical detection device 136 can be operated to communicate video data containing images of the object 134's movement (e.g., a hand, a limb, etc.), or an authorized user can perform a gesture in the form of one of a variety of movements (e.g., up, down, left, right, in, out, etc.) of the object 134 within the field of view 142. In one aspect, the gesture sensor 132 can include two or more sensors (e.g., cameras) to obtain stereoscopic video data of the corresponding field of view, thereby enabling the determination and tracking of the object 134's movement toward or away from the vehicle 10.The controller 70 can then identify the object 134 and track its movements, comparing each of its movements with a specific sequence or order of movements corresponding to a predetermined or previously stored gesture associated with a command, in order to interpret a gesture within the data as a control gesture. Upon interpreting the control gesture to determine that the image data received from the image sensor 138 contains movement of the object 134 corresponding to the specific sequence or order of the predetermined or previously stored gesture, the controller 70 can activate the door assistance system 12, causing the door 14 to open, close, or reposition itself according to a specific identified gesture. The controller 70 can be pre-programmed with gestures for opening, closing, or repositioning the door 14, which the user can replicate using the object 134 for recognition by the controller in a video signal received from the gesture sensor 132. In another aspect, the previously described setting mode 222 can further include a protocol for entering user-derived control gestures (step 244). In this aspect, the user can enter a "recording" mode (step 246) in which a gesture is performed within the field of view of the image sensor 132. For example, the recording mode can be started by pressing a button on a key fob associated with the vehicle 10 or by a predefined gesture. When finished, the controller 70 can process the data (step 248), identify a tracked object 134 (step 250), and track its movement (step 252).The controller 70 can then cause the HMI 128 to display a representation of the recorded gesture (step 254), for which a desired operation is unknown. The user can then determine whether the gesture is used and what type of operation is associated with the gesture (such as by selecting from a list of menu items in step 256), whereby the previously unknown gesture is stored at this point as a command gesture in memory 170, associated with the desired door movement (step 258). In both gesture identification protocols, the controller 70 can implement a learning mode (202) during operation, in which the specific motion path 180 associated with a command gesture can be adjusted over time to identify a gesture more accurately and interpret it appropriately. In such a mode, an initial tolerance zone 182 can be applied to the motion path 180 stored in memory 170. In general, the tolerance zone 182 can represent a deviation from the motion path 180 by the object 134 that can be interpreted as corresponding to a command gesture. This operation can allow the controller 70 to identify a gesture even if the user moves the object 134 in a less precise manner (step 216).Furthermore, the controller 70 can monitor deviations from the motion path 180 that fall within tolerance zone 182 with respect to a consistency level of such deviations (step 260). The controller 70 can then adjust the motion path 180 to align or compensate for the repeated deviations with tolerance zone 182, which is adjusted accordingly (step 262). In another aspect, the learning mode can identify repeated movements of object 134 or a second object that are outside tolerance zone 182 for a specific motion path 180 but still exhibit characteristics of such movements. For example, a user's foot might move in a manner similar to a gesture made by the user's hand, but which differs from the exact path due to anatomy, etc.If such a movement is repeated a predetermined number of times in order to acquire the same characteristics as movement path 180, the controller 70 can then store such a movement as a second movement path corresponding to the same movement command in memory 170. In some embodiments, the gesture sensor 132 can correspond to one or more proximity sensors (although gesture sensors 132 in the form of an optical detection device and a proximity sensor are shown in Fig. 6, a system 12 can contain only one such sensor 132). The one or more proximity sensors can correspond to a sensor array 144 arranged on a panel 145 of the vehicle 10. As illustrated in Fig. 6, the sensor array 144 is arranged near an outer surface 146 of the door 14. The sensor array 144 can be configured to detect the object 134 within a proximity or detection range corresponding to a detection field of the sensor array 144. Once the object 134 is detected, the sensor array 144 can communicate a signal to the controller 70, which directly corresponds to a movement of the object relative to a variety of areas on the sensor array 144.In this way, the sensor array 144 can be operated to communicate the movement of the object 134 near the sensor array 144, so that the controller 70 can use the signal to identify a gesture by the object 134 and activate the door assistance system 12. Now referring to Fig. 9, a representation of the sensor array 144 is shown. The sensor array 144 can correspond to an array of capacitive sensors 148. Each of the capacitive sensors 148 can be configured to emit an electric field 150. The sensor array 144 can be mounted on the door 14 and include an activation surface 151, which can be configured to significantly replicate the appearance of the outer surface 146 of the door 14. In this configuration, the sensor array 144 can be hidden from view, thus achieving a smooth appearance for the outer surface 146 of the door 14 without a visible door control device (e.g., a conventional door handle). Although capacitive sensors with reference to Fig.9. As discussed, experts should recognize that additional or alternative types of proximity sensors can be used, such as, but not limited to, inductive sensors, optical sensors, temperature sensors, resistive sensors or the like, or a combination thereof. Each of the capacitive sensors 148 can generate a separate electric field 150. The controller 70 can use one or more signals received from the capacitive sensors 148 to identify the position of the object 134 and its movement relative to each of the electric fields 150. A threshold value of a signal received from each of the capacitive sensors 148 can be communicated to the controller 70 to identify the movement of the object 134 near the sensor array 144. The controller 70 can compare the signals received from the capacitive sensors 148 with a predetermined or previously recorded signal stored in memory to identify a gesture.The control unit 70 is designed to activate the door assistance system 12 in response to the identification of the gesture, so that the door 14 opens, closes or repositions itself according to the specific identified gesture. Referring to Fig. 10, a side view of the vehicle 10 is shown. In some embodiments, the control unit 70 can further be operated to detect circumstances or characteristics of the vehicle 10's location that may cause the door 14 to swing open or close unintentionally. Such circumstances may include gusts of wind and / or the vehicle 10 being parked on an incline 152. Under such circumstances, the control unit 70 can be operated to detect the unintentional movement of the door 14 and to use the door assist system 12 to significantly prevent the unintentional movement. In this way, the disclosure provides an advantageous system that can be used to improve the operation of the vehicle 10's door 14. In some embodiments, characteristics of the vehicle 10's location can correspond to an angular orientation of the vehicle 10 relative to gravity. The system 12 can include an inclination sensor 154, which communicates with the controller 70 and is designed to detect and measure the orientation. The inclination sensor 154 can be located in various parts of the vehicle 10 and can correspond to a variety of sensors. In some embodiments, the inclination sensor 154 can be designed to measure the inclination about a variety of axes via a tilt sensor, an accelerometer, a gyroscope, or any device that can be operated to measure the inclination of the vehicle 10 relative to gravity.The tilt sensor 154 can communicate the tilt 152 of the vehicle 10 to the controller 70, so that when the door 14 is in the open or partially open position, the controller 70 is configured to activate the actuator 22 to prevent the door 14 from swinging open, closing, or changing its angular position ϕ. In some embodiments, the controller 70 can be operated using GPS and a map to determine whether the vehicle 10 is on an incline, in order to identify that the vehicle 10 is likely to be on the incline 152. In some embodiments, the controller 70 can be configured to control the actuator 22 to balance the door 14 relative to the inclination 152. Based on the angular position or orientation communicated to the controller 70 by the inclination sensor 154, the controller 70 can be operated to determine a force required to apply to the door 14 to maintain the angular position ϕ of the door 14 and prevent the door 14 from accelerating due to gravity. The controller 70 can also be operated to control the actuator 22 to exert the force on the door to simulate the movement of the door on a flat surface. In this way, the controller 70 can identify that the vehicle 10 is parked or oriented at an angle and can prevent the door 14 from swinging open under the force of gravity. Additionally, the controller 70 can be configured to limit the movement rate of the door 14 by monitoring changes in the angular position ϕ of the door, as communicated by the position sensor 24. In such embodiments, the controller 70 can monitor the rate of change of the angular position ϕ of the door 14 and control the actuator 22 to exert a counterforce to a movement of the door 14 in order to dampen or slow the movement of the door 14 by a predetermined rate. The controller 70 can further be configured to hold the door 14 at one or more angular positions in response to an input received from the door control device 130 or based on one or more programmed door positions stored in a memory of the controller 70. In this way, the door assistance system 12 provides a variety of control schemes to support the operation of the door 14. In some embodiments, the door assistance system 12 can be configured to operate in a semi-automatic mode, whereby a user of the door 14 can manually adjust the angular position ϕ, and the actuator 22 can maintain the angular position ϕ set by the user. As shown in Fig. 10, the user can set the door 14 at the angular position ϕ. In response to the controller 70 receiving data from the tilt sensor 154 identifying that the vehicle 10 is parked on the incline 152, the controller 70 can activate the actuator 22 to prevent the door from moving or rotating around the hinge assembly 18. The controller 70 can be configured to hold the door at the angular position ϕ until the user interacts with the door control device 130, for example, with the gesture sensor 132 or a conventional handle.The control unit 70 can also be designed to hold the door at the angular position ϕ until the user exerts a force sufficient for the actuator 22, the position sensor 24, or any of a variety of devices and / or sensors discussed herein to communicate to the control unit 70 to release the angular position ϕ of the door 14. As described, the controller 70 can control the actuator 22 to exert sufficient force to prevent movement of the door 14 due to gravity around the hinge assembly 18. The controller 70 can also be configured to detect an external force exerted on the door 14 by a user of the vehicle 10. The external force can be identified by the controller 70 as a spike or increase in the current to the actuator 22. Upon identification of the spike or increase, the controller 70 can incrementally release the actuator 22, allowing the angular position ϕ to be freely adjusted. Additionally, the controller 70 can be configured to control the closing rate or the rate of change of the angular position ϕ when releasing the actuator 22.In this way, after the control unit 70 has released the actuator 22 so that the door 14 can move, the actuator 22 can continue to maintain force on the door sufficient to prevent the door 14 from swinging open and / or slamming shut quickly. In some embodiments, a characteristic of the vehicle 10's location may correspond to a weather or wind speed condition near the vehicle 10. The door assistance system 12 may use a positioning device (not shown), for example, a Global Positioning System (GPS), to retrieve weather information or at least a weather condition based on a location or a GPS location identified for the vehicle 10. The GPS location and / or weather information may be used to identify time periods during which the door 14 is likely to be unexpectedly repositioned or, due to a gust of wind or increased wind speeds, forced to swing around the hinge assembly 18.The weather information can be accessed by the controller 70 via a wireless data connection, for example via a GSM, CDMA, WiFi or any other wireless data communication protocol. The controller 70 can use GPS data in combination with weather data to identify whether the vehicle 10 is in an area with potentially increased wind speeds. The controller 70 is designed to prevent excessive movement of the door 14 and / or dampen the movement of the door 14 around the hinge assembly 18 if the controller 70 identifies that the vehicle 10 is in such an area. The controller 70 can be designed to prevent movement of the door 14 due to wind by detecting an external force exerted on the door 14, such as a spike or increase in the current from the actuator 22 and / or due to an unexpected increase in the rate of change of the angular position ϕ of the door 14.In this way, the door assistance system 12 can be operated to predict whether the vehicle 10 is in an area with increased wind speeds and to prevent excessive movement of the door 14 due to such windy conditions. The characteristics of the vehicle 10's location or weather information can also be detected by the controller 70 via a wind detection device 156, for example, an anemometer. The wind detection device 156 can be located on the vehicle 10 and can be configured to monitor the localized wind conditions near the vehicle 10 and communicate a wind speed or direction signal to the controller 70. The wind detection device 156 is configured to communicate wind condition data to the controller 70 in response to the detection of windy conditions. The controller 70 is configured to control the actuator 22, prevent excessive movement of the door 14, and / or dampen the movement of the door 14 around the hinge assembly 18 in response to windy conditions or wind speeds exceeding a wind speed threshold.In some implementations, the controller 70 can also control the actuator to hold the door 14 at an angular position ϕ to prevent unwanted movement of the door 14 due to windy conditions, as similarly discussed with reference to the tilt sensor 154. Referring to Fig. 11, a block diagram of the door assistance system 12 is shown. The door assistance system 12 comprises the controller 70, which communicates with the actuator 22 and is designed to control the angular position ϕ of the door 14. The controller may include a motor control unit with a feedback control system designed to accurately position the door 14 around the hinge assembly 18 along a smooth and controlled motion path. The controller 70 may also communicate with a position sensor 24 and with at least one superimposed sensor 26. The door position sensor 24 is designed to identify an angular position of the door 14, and the superimposed sensor 26 is designed to identify a potential obstruction that could prevent the operation of the door assistance system 12. The controller 70 can communicate with a vehicle control module 162 via a communication bus 164 of the vehicle. The communication bus 164 can be configured to supply signals identifying various vehicle states to the controller 70. For example, the communication bus 164 can be configured to communicate the vehicle 10's driving selection, ignition state, open or ajar status of the door 14, etc., to the controller 70. The vehicle control module 162 can also communicate with the HMI 128 for the purpose of implementing the learning and identification mode described above. The controller 70 can include a processor 168, which comprises one or more circuits configured to receive signals from the communication bus 164 and output signals for controlling the door assistance system 12.The processor 168 can communicate with a memory 170, which is designed to store instructions for controlling the activation of the door assistance system 12. The controller 70 is designed to control the actuator 22, move the door from the open position to the closed position, and regulate the angular position ϕ of the door 14 in between. The actuator 22 can be any type of actuator capable of moving the door 14, including, but not limited to, electric motors, servo motors, electric solenoids, pneumatic cylinders, hydraulic cylinders, etc. The position sensor 24 can correspond to a variety of rotation or position-sensing devices. In some embodiments, the position sensor can correspond to an angular position sensor designed to communicate the angular position ϕ of the door to the controller 70 in order to control the movement of the actuator 22. The position sensor 24 can correspond to an absolute and / or a relative position sensor. Such sensors can include, but are not limited to, encoders, potentiometers, accelerometers, etc.The position sensor 24 can also correspond to an optical and / or a magnetic rotary sensor. Other sensing devices can also be used for the position sensor 24 without deviating from the essence of the disclosure. The superimposed sensor 26 can be implemented by a variety of devices and, in some implementations, can be used in combination with the actuator 22 and the position sensor 24 to detect and control the movement of the door 14. The superimposed sensor 26 can include various sensors, which can be used alone or in combination. For example, the superimposed sensor 26 can correspond to one or more capacitive, magnetic, inductive, optical / photoelectric, laser, acoustic / sound, radar-based, Doppler-based, thermal, and / or radiation-based proximity sensors. Although certain devices are disclosed with reference to the exemplary embodiments of the superimposed sensor 26, it is understood that various known and yet-to-be-discovered sensor technologies can be used to implement the door assistance system 12 without deviating from the essence of the disclosure. The controller 70 also communicates with the door control device 130, which includes the gesture sensor 132. The gesture sensor 132 is designed to detect a movement or gesture of an object 134 in order to activate the controller 70 and adjust the position of the door 14. The gesture sensor 132 can correspond to a variety of sensing devices. Sensing devices that can be used for the gesture sensor 132 can include, among others, optical, capacitive, resistive, infrared, and acoustic surface wave technologies, as well as other proximity and sensor arrays or other elements for determining the gestures of the object 134 in its vicinity. The gesture sensor 132 can be used to detect and record the movement of an object and to communicate the motion data corresponding to the movement recorded by the gesture sensor 132 to the controller 70. The motion data can be communicated using a variety of analog or digital signals, which the controller 70 can use to identify a gesture recorded by the gesture sensor 132. The controller 70 can identify the motion data to activate the door assistance system 12, causing the actuator 22 to reposition the door 14. The gesture to be identified by the controller 70 to activate the door assistance system 12 can be predefined or previously stored in the memory 170 of the controller 70.Upon receiving the movement data, the controller 70 can compare the communicated movement data with previously stored movement data to identify a gesture used to access vehicle 10. The controller 70 can include an inclination sensor 154. The inclination sensor 154 can correspond to a variety of sensors and, in some embodiments, can correspond to a tilt sensor, an accelerometer, a gyroscope, or any other device operable to measure that the vehicle 10 is oriented on an incline relative to gravity. The inclination sensor 154 can communicate the inclination of the vehicle 10 to the controller 70 so that, when the door 14 is in the open or partially open position, the controller 70 is configured to activate the actuator 22 to prevent the door 14 from swinging open, closing, or changing its angular position ϕ. In this way, the controller 70 can identify that the vehicle 10 is parked or oriented at an angle and can prevent the door 14 from swinging open under the force of gravity. The controller 70 may also include a positioning device or GPS device 174 designed to receive position data and may also be designed to receive wireless data via a wireless data transceiver. The position data and / or the wireless data can be used to determine the location of the vehicle 10 and the weather conditions at that location. The controller 70 may be designed to identify time periods at which the door 14 is likely to be unexpectedly repositioned or, due to a gust of wind or increased wind speeds, forced to swing around the hinge assembly 18, based on the weather conditions and the location of the vehicle 10. The weather information can be accessed by the controller 70 via a wireless data transceiver designed to communicate data wirelessly.The data can be communicated wirelessly via GSM, CDMA, WiFi or any other form of wireless communication protocol. The controller 70 can communicate with a wind detection device 156, for example, an anemometer. The wind detection device 156 can be mounted on the vehicle 10 and can be configured to monitor localized wind conditions near the vehicle 10. The wind detection device 156 is configured to communicate wind condition data to the controller 70 in response to the detection of windy conditions. The controller 70 is configured to control the actuator 22, prevent excessive movement of the door 14, and / or dampen the movement of the door 14 around the hinge assembly 18 in response to wind conditions or wind speeds exceeding a wind speed threshold. The controller 70 can also communicate with an autonomous operating system 158. This can be achieved indirectly through communication between the controller 70 and the vehicle control module 162, which can implement the functionality of the autonomous operating system 158 or communicate with it. The autonomous operating system 158 can receive data from a vision module 166 and from the GPS device 174 to determine a route for autonomous driving and can implement the movement of the vehicle 10 along such a route by communicating with a brake module 176 and a throttle valve 178.The communication between the control unit 70 and the autonomous operating system 158 can enable the autonomous operating system to receive data relating to the angular position ϕ of the door 14 relative to the opening 20, or relating to a state of the door 14 between an open state and a closed state, so that autonomous movement of the vehicle 10 is prevented when one or more doors 14 of the vehicle 10 are in the open state. For the purpose of describing and defining the present teachings, it is noted that the terms "essentially" and "approximately" are used herein to represent the inherent degree of uncertainty that can be attributed to any quantitative comparison, value, measurement, or other representation. The terms "essentially" and "approximately" are also used here to represent the degree to which a quantitative representation may deviate from a given reference without altering the basic functionality of the subject matter. It is understood that variations and modifications to the above-mentioned structure may be made without deviating from the concepts of the present invention, and it is further understood that such concepts shall be covered by the following claims, unless these claims expressly state otherwise in their language.

Claims

System for determining a door state, comprising: a hinge (18) comprising a first part (54) coupled to a door (14) and a second part (56) coupled to a vehicle frame (16) and rotatably coupled to the first part; a door position sensor (24) outputting a signal relating to a position of the first part relative to the second part; a controller (70) receiving the signal and determining whether the signal corresponds to a door-closed state or a door-open state;wherein the controller (70) communicates with the door position sensor (24) and with at least one superimposed sensor (26) designed to identify a potential obstacle that can be contacted by the door (14), wherein the door position sensor (24) is designed to identify an angular position of the door (14), and the superimposed sensor (26) is designed to detect objects or obstacles in the superimposed zone (32) in a plurality of detection regions (34); wherein, in order to monitor the location of an object or obstacle relative to a radial extension (42) of the door (14) relative to the hinge assembly (18), the controller (70) of the movement of the door (14) has different sensitivities of each of the detection regions (34). System according to claim 1, wherein the door position sensor (24) is a potentiometer coupled between the first part (54) of the hinge and the second part (56) of the hinge; and the signal output through the potentiometer varies proportionally to an increase in an angle between the first part of the hinge and the second part of the hinge. System according to claim 2, wherein the control (70) determines whether the signal corresponds to the door-closed state or the door-open state by comparing the signal received from the door position sensor (24) with known signal value ranges corresponding to the door-closed state and the door-open state. System according to claim 1, wherein the door position sensor (24) is an optical sensor and the signal includes optical information within a field of view (142) of the optical sensor, wherein the field of view includes the hinge (18). System according to claim 4, wherein the control (70) determines whether the signal corresponds to a door-closed state or a door-open state by locating an identifiable feature of the hinge (18) and comparing a position of the identifiable feature with known position ranges thereof within the door-closed state and the door-open state. System according to claim 1, wherein the door position sensor (24) is a component of a hinge assembly (18) comprising the first part (54) and the second part (56) of the hinge. System according to claim 1, wherein the signal is a first signal and further comprises a servo support device (22) which is operably coupled to the hinge (18) to drive movement of the first part (54) of the hinge relative to the second part (56) of the hinge, wherein: the controller (70) outputs a second signal to the servo support device (22) to cause the servo support device to drive movement of the first part of the hinge for both an opening movement and a closing movement of the door (14); and the controller (70) compares successive positions of the first hinge part relative to the second hinge part to determine whether the door moves according to the second signal. System according to claim 7, wherein the controller (70) further identifies a disabled state of the door (14) by determining a plurality of successive positions of the first hinge part relative to the second hinge part, which are the same when the signal from the door position sensor (24) corresponds to the door-open state and the controller (70) outputs the second signal to the servo support device (22) which corresponds to the closing movement of the door. Vehicle (10) comprising: a door opening (20); a door (14); a hinge (18) coupled between the door (14) and the opening (20) and allowing angular movement of the door relative to the opening; a door position sensor (24) outputting a signal relating to an angular relationship between the door and the opening; and a controller (70) receiving the signal and determining whether the signal corresponds to a door-closed state or a door-open state;wherein the controller (70) communicates with the door position sensor (24) and with at least one superimposed sensor (26) designed to identify a potential obstacle that can be contacted by the door (14), wherein the door position sensor (24) is designed to identify an angular position of the door (14), and the superimposed sensor (26) is designed to detect objects or obstacles in the superimposed zone (32) in a plurality of detection regions (34); wherein, in order to monitor the location of an object or obstacle relative to a radial extension (42) of the door (14) relative to the hinge assembly (18), the controller (70) of the movement of the door (14) has different sensitivities of each of the detection regions (34). Vehicle according to claim 9, further comprising a servo support device (22) which is operably coupled between the opening (20) and the door (14) to drive the angular movement of the door relative to the opening, wherein: the controller (70) outputs a signal to the servo support device (22) to cause it to drive the angular movement of the door (14) between a closed position and a predetermined open position within a range of open positions relative to the opening (20). Vehicle according to claim 10, wherein the controller (70) outputs the signal to the servo support device (22) based on a proportional-integral control scheme using the signal from the door position sensor (24) as an input. Vehicle according to claim 10, wherein the control unit (70) compares successive positions of the door (14) relative to the opening (20) to determine whether the door is moving according to the signal output to the servo support device (22). Vehicle according to claim 12, wherein the control unit (70) further identifies a door (14) obstructed state by determining that a plurality of successive positions of the door relative to the opening (20) remain unchanged while the signal from the door position sensor (24) corresponds to the door-open state and the control unit (70) outputs the signal to the servo support device (22) corresponding to a closing movement of the door. Vehicle according to claim 10, further comprising a brushless DC motor which is operabably coupled between the opening (20) and the door (14) to drive the angular movement of the door relative to the opening, wherein: a signal from the door position sensor (24) is derived from the brushless DC motor by monitoring a control circuit of the same. Method for detecting a state of a vehicle door, comprising: receiving a signal from a door position sensor (24) containing information relating to a detected position of the vehicle door (14) relative to an associated door opening (20); determining whether the door is in a closed state or an open state based on a comparison of the detected position of the vehicle door (14) with a known range of positions for the closed state and the open state;wherein a controller (70) communicates with the door position sensor (24) and with at least one superimposed sensor (26) designed to identify a potential obstacle that can be contacted by the door (14), wherein the door position sensor (24) identifies an angular position of the door (14) and the superimposed sensor (26) detects objects or obstacles in the superimposed zone (32) in a plurality of detection regions (34); monitoring the location of an object or obstacle relative to a radial extension (42) of the door (14) relative to the hinge assembly (18), wherein the controller (70) of the movement of the door (14) has different sensitivities of each of the detection regions (34). The method of claim 15, wherein: the door (14) is coupled to a vehicle (10) and is rotatable through an angular movement range with respect to the door opening (20); the closed state of the door corresponds to a first limit of the angular movement range in which the door substantially covers the door opening; the known position range for the closed state is the first limit of the angular movement range; and the known position range for the open state is any position outside the first limit of the angular movement range. The method of claim 16, further comprising: determining that the door (14) is in a locked state with respect to the opening (20); determining that the door is in a predetermined range of the closed state, based on comparing the detected position of the vehicle door (14) with the known position range for the closed state; and zeroing the position range for the closed state by setting a lower end of the position range for the closed state to the detected position. The method of claim 15, further comprising: outputting a control signal to a servo support device (22) which instructs the servo support device to move the door (14) from a closed position to an open position; and determining that the door (14) is in a hindered state by determining that the door is in a single position within the known position range corresponding to the open state for a predetermined period of time. Method according to claim 15, wherein: the door position sensor (24) is a potentiometer comprising a first part (54) coupled to the door (14) and a second part (56) coupled to the door opening (20); the information regarding the detected position of the door (14) corresponds to an increase in an angle between the door (14) and the door opening (20); and the known position range for the closed state and for the open state are respectively ranges of the angle between the door (14) and the door opening (20). Method according to claim 15, wherein: the door position sensor (24) is a magnetic sensor coupled to the door (14) or the door opening (20), and the information regarding the detected position of the door (14) includes a distance from the magnetic sensor of a magnet mounted on the other side of the door (14) and the door opening (20); and the known position range for the closed state and for the open state are respectively ranges of the distance of the magnet to the magnetic sensor.

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