Device and method for closing a door

Abstract

Device (6) for closing a door (2) on a door recess (4), in particular on a vehicle (40), comprising: - a seal (20) formed between the door and the door recess to separate an interior space (22) and an exterior space (24) from each other in an installation environment of the door, - a door drive (10) for closing the door, - a control device (18) for controlling the door drive depending on an operating request (F sw ) of a user, wherein the operating request is a force (F) applied manually to the door (2) sw ) to express the closing wish and the control means (18) the operating wish (F sw ) detected due to a motor movement of the door drive (10) introduced by a movement of the door (2), wherein the control means (18) comprises a state monitoring unit (30) which is configured to determine a state of at least one variable state variable of the device (6), the door (2), the door recess (4) and / or the installation environment of the door, and the control means (18) is configured to output a value of at least one closing parameter (M) depending on the determined state S , v S ) to determine how to close the door.

Description

[0001] The invention relates to a device for closing a door at a door recess, a door arrangement with such a device, a motor vehicle with at least one such door arrangement, and a method for closing a door at a door recess.

[0002] The invention is described below in the context of electromechanically actuated vehicle doors, but is of course also applicable to doors on and / or in buildings where closing the door separates an interior space from an exterior space. Furthermore, the invention is also applicable to other door drives, such as hydraulically actuated doors.

[0003] Closing and, if necessary, subsequently locking vehicle doors requires significantly different closing forces or torques depending on the vehicle's or door's operating situation. There are numerous reasons for this. For example, opening the driver's door while the vehicle is parked on a slope towards the driver's side requires a considerably greater closing torque simply due to this incline than closing the door on level ground.

[0004] In addition, the door is normally closed against a sealing element that is at least partially circumferential (which may be located on the door and / or the door frame), so that the required closing torque may also depend on the material properties of the seal.

[0005] Furthermore, there are operating situations in which closing a door results in an airtight seal of the interior, for example when a ventilation system is set to recirculation mode and all other doors and windows are closed at the same time.

[0006] For known actuated vehicle doors, the problem of varying required closing torques is circumvented by determining a maximum closing torque required for the door across all intended operating conditions. This maximum torque is then applied whenever the user requests to close the door. If necessary, a safety margin is also incorporated to ensure reliable door closing in every operating condition of the vehicle.

[0007] In addition to a closing torque, a closing speed, for example, can also serve as a guide parameter when setting the door closing parameters, ensuring a sufficient closing impulse for a known door weight.

[0008] The aim of the closing process with these known vehicle doors is normally to close the door against all resistance forces to such an extent that the door engages an additional locking element (soft-close unit), which then moves the door into the final closed position.

[0009] The common approach of ensuring the door closes with sufficient speed and torque for all intended operating conditions, however, has disadvantages regarding noise during the closing process (door slamming) and potentially also regarding wear and tear on the components involved. Both of these can also be detrimental to the perceived value of high-priced vehicles.

[0010] GB 2 543 386 A discloses an assistance system for opening and closing a vertically pivoting door of a vehicle, comprising a sensor for measuring at least one vehicle parameter and an actuator for adjusting the force required to open or close the door and a control unit for controlling the actuator based on the value of the vehicle parameter, a so-called “power assist system with assistive force”, in which the measured force is used as a control variable to actuate the actuator in the sense of a smoother and more even door movement.

[0011] Against this background, it is an object of the invention to improve a device for closing a door at a door recess and to provide an improved method for closing a door at a door recess.

[0012] This problem is solved by a device having the features of claim 1 and a method having the features of claim 6. A door arrangement with such a device is the subject of claim 4, and a motor vehicle with at least one such door arrangement is the subject of claim 5. Preferred embodiments of the invention are the subject of the dependent claims.

[0013] According to one aspect of the invention, a device for closing a door at a door recess, in particular at a door assembly of a vehicle body, is provided (hereinafter also referred to as a closing device). The device is in particular arranged at the door and / or at the door recess and comprises: • a) A seal formed between the door and the door recess, which in particular has a plastic sealing lip that at least partially surrounds the door recess, for separating (in a closed state of the door assembly) an interior space and an exterior space, for example a vehicle or a room, from each other in an installation environment of the door. Normally, the seal has at least one sealing element on the door and / or on the door recess. • b) a door drive, in particular an electric machine, for example a linear actuator, connected to the door frame and a door leaf of the door by means of a suitable gearbox, for closing and, if necessary, also for opening the door. • c) A control device for controlling the door drive depending on a user's operating request, wherein the operating request is expressed in particular by a movement of the door by a user of the door and a resulting motor movement of the door drive. The operating request is implemented in particular according to at least one predetermined value of at least one closing parameter.

[0014] The control device includes a state monitoring unit configured to determine a state of at least one variable state variable of the device, the door, the door recess and / or the installation environment of the door, wherein the control device is configured to determine a value of at least one closing parameter for closing the door, depending on the determined state variable.

[0015] The monitored state variable can be assigned to the seal, such as a seal temperature or an aging state of the seal; however, the monitored state variable can also be assigned to the installation environment, such as an ambient temperature in the area of ​​the seal.

[0016] Depending on the monitored condition variable, the condition monitoring unit can be connected to a sensor such as a temperature sensor and / or a readout device for reading a temperature model stored in the control unit. As a result, a temperature value, for example, can be determined and monitored.

[0017] The closing parameter whose value is determined and / or adjusted is, in particular, a closing torque and / or a closing speed. If necessary, a required closing speed can also be determined from a required closing torque, especially depending on the weight of the door and / or other factors.

[0018] According to another aspect, a door arrangement, in particular in a motor vehicle or in a building, is provided, comprising a door, a door recess and a device for closing the door at the door recess according to one embodiment of the invention.

[0019] According to another aspect, a motor vehicle is provided with at least one, in particular two or four, door arrangements according to one embodiment of the invention.

[0020] According to a further aspect, a method for closing a door at a door opening, particularly on a vehicle, is provided. The method comprises the following steps: i) Determining an operating request, in particular the operating request of a user of the door, to close the door by moving the door and detecting a resulting motor movement of the door drive, ii) Determining a value of at least one variable state variable, in particular by means of a state monitoring unit, iii) Determining a value of at least one closing parameter as a function of the detected value by means of a control device to which the state monitoring unit is connected, iv) Controlling a door drive to close the door according to the determined value by means of the control device, v) Closing the door according to the control by means of the door drive.

[0021] The invention is based, among other things, on the understanding that different closing forces may be required to close a door against a door frame, depending on the condition of the door seal. The condition of the door seal is defined in particular by the stiffness of the sealing material, which in turn—especially in the case of plastic sealing elements—depends strongly on the current temperature of the sealing material and also on the aging state of the sealing element.

[0022] Furthermore, the invention is based, among other things, on the understanding that a multitude of other variable influencing factors affect the required closing force, not least the displacement of air in the vehicle interior, which depends on the state of the vehicle ventilation, the other doors and the windows of the vehicle: for example, if a window is open, the device only needs to exert a very small additional force when closing the door in order to compress the air in the interior; however, if, for example, the ventilation is set to recirculation and all other doors and windows are closed at the same time, the required additional force is relatively high.

[0023] The invention is based, among other things, on the idea of ​​determining and / or monitoring the relevant influencing factors on the force required to reliably close the door against the door opening, and of determining and / or adjusting a required closing parameter (usually a closing torque and / or a closing speed) depending on the monitoring results. Depending on the application, a single state variable may be of such dominant relevance that it is not necessary to monitor any further state variables; however, it may also be necessary to monitor several state variables.

[0024] Such an adjustment of the closing parameter to the required level (for example, according to the principle of "as little as possible, as much as necessary," or in the sense of "sound design" when closing the door) enables reliable door closing with minimal force. This can improve the sound of the door closing by preventing unnecessary slamming. If necessary, the seal can even be designed for continuous load without regard to larger load peaks, which are then eliminated.

[0025] According to one embodiment, the control device includes a state calibration unit configured to determine the state of at least one essentially constant state variable (hereinafter also referred to as a constant state variable) of the device, the door, the door recess, and / or the door's installation environment. In this embodiment, the control device is configured to determine, based on the determined state, a value for at least one closing parameter, in particular a closing speed and / or a closing torque, for closing the door. This allows influencing factors from environmental properties, such as those of the vehicle—like material properties and / or combinations of tolerance band characteristics—to be incorporated into the calculation, thus increasing its accuracy.

[0026] According to one embodiment, the condition monitoring unit and / or the condition calibration unit has at least one suitable sensor arrangement for measuring a value of at least one state variable.

[0027] Depending on the monitored state variable, the following sensor types, among others, are suitable: a) an acceleration sensor for detecting the spatial orientation of the door and / or a vehicle (i.e., for example, a tilted position of the vehicle); and / or b) a timer for detecting the age of the seal (although a timer is not a sensor in the strict sense, monitoring a time value allows, for example, a conclusion to be drawn about the aging state of a sealing element, and is therefore referred to as such in this context); and / or c) a position sensor, in particular an incremental encoder or motor field monitoring or image acquisition with element recognition, whereby the position sensor can be used, for example, c1) to detect a door position, in particular an opening angle, of the door, or c2) to detect a position of a ventilation flap, a vehicle window, or a vehicle door.

[0028] According to one embodiment, the sensor arrangement includes a temperature sensor that is located on or near the seal and / or has access to the measured values ​​of other temperature sensors inside and / or outside the vehicle in order to determine the temperature-dependent change in the stiffness of the seal in the most commonly used plastic seals.

[0029] The inclusion of one or more sensors allows the device to be adapted to state variables relevant in various applications.

[0030] To take into account stored (operating) models (for example, in the sense of a digital component twin) and / or user inputs and / or sensor values ​​of the vehicle provided in the vehicle control unit, according to one embodiment, the condition monitoring unit and / or the condition calibration unit has a suitable input means - such as a keyboard, touch input, etc. - and / or a possibility of a database query, in particular automated, especially for comparison with stored values ​​of the state variable and / or for querying values ​​of a state variable in a model stored in the control unit, which relates other factors to values ​​of the state variable.

[0031] An input device can be suitable for making calibration inputs and / or involving the user. An (operational) model of the state variable can be used for monitoring variable state variables and / or for calibrating constant state variables.

[0032] In order to control the closing parameter(s) according to the values ​​of the state variable(s), according to one implementation, the operating request and the value of the state variable are determined multiple times per second and the closing of the door is controlled in real time depending on this, in particular by determining an adapted value of the closing parameter based on the last determined value of the closing parameter, depending on the last determined operating request and the last determined value.

[0033] According to one embodiment of the method, an additional characteristic of at least one state variable that is at least essentially constant is recorded, and the value of the closing parameter is additionally determined as a function of the characteristic of this constant state variable.

[0034] In order to enable the closing parameter to be adapted to several relevant influencing factors, according to one implementation, the value of the closing parameter is determined depending on the characteristics of several variable and / or constant state variables.

[0035] To support an adjustment control of the closing parameter, one implementation involves adjusting a previously determined value of the closing parameter, depending on the state variable(s), specifically by multiplying it by an adjustment factor and / or increasing / decreasing it by an adjustment contribution. This also enables, among other things, the simple adaptation of existing controls for actuated doors.

[0036] Depending on which influencing factor or factors are relevant in the respective application, at least one of the following can be considered as a variable state variable: 1) a temperature of the seal, in particular detected by means of a temperature sensor and / or a temperature model, 2) a temperature in the interior and / or exterior, in particular detected by means of a temperature sensor and / or a temperature model, 3) a tilt of the vehicle, in particular detected by means of a high-resolution accelerometer, 4) an opening angle of the door, in particular detected by means of a position sensor, 5) a volume of air to be compressed in an interior space delimited by the door, in particular detected by means of communication with a control unit of a climate control / ventilation unit, the other vehicle doors and / or the window regulators, 6) a degree of aging of the seal.In particular, the data is captured using an aging model for the sealing element and a timer. This allows the device to capture the most important influencing factors on the common closing parameters.

[0037] In order to avoid using a separate temperature sensor, according to one design the sealing temperature is determined by means of an approximation calculation depending on a measured temperature in the interior and / or a measured temperature in the interior.

[0038] Depending on which influencing factor or factors are relevant in the respective application, at least one of the following can be considered as a consistently pronounced state variable: 1) a material and / or a nominal geometry of the seal, in particular read from a material model and / or a geometry model, 2) a nominal geometry and / or a real geometry of the door and / or the door frame, in particular read from a tolerance model of the door and / or the door frame.

[0039] In order to avoid, in individual cases, the door and door frame being subjected to a high closing torque and / or a high closing speed, the compressibility of the air volume is adjusted in addition to adjusting the value of the closing parameter, in particular by means of a (for example, short-term) opening of a ventilation valve of an interior ventilation system of the vehicle or a (for example, short-term) opening of a window of the vehicle.

[0040] Further features, advantages and applications of the invention will become apparent from the following description in conjunction with the figures. These show, • Fig. 1a-b a door arrangement with a door and a door recess as well as a closing device according to an exemplary embodiment of the invention in an open ( Fig. 1 a) and a closed ( Fig. 1b) schematic top view; • Fig. 2a-b a door arrangement with a door and a door recess and a closing device according to an exemplary embodiment of the invention as well as a soft-close unit in an open ( Fig. 2a) and a closed ( Fig. 2b) schematic top view; • Fig. 3 a motor vehicle according to an exemplary embodiment of the invention with four door arrangements in a schematic top view; and • Fig. 4 the motor vehicle Fig. 3 in an inclined parking position in a schematic rear view.

[0041] In Fig. Figure 1 shows a door arrangement 1 with a door 2 and a door recess 4 as well as with a locking device 6 according to an exemplary embodiment of the invention. In the exemplary embodiment, the door arrangement 1 is a side door of a motor vehicle; a side body part 8 of the otherwise in Fig. 1 motor vehicle not shown (see reference 40 in the Fig. 3 and Fig. 4) forms the door recess 4.

[0042] The closing device 6 has a door drive 10 designed as an electric linear motor, the motor body 12 of which is attached to the door 2 and its actuator 14 to the door recess 4. Depending on the deflection of the actuator 14 along a drive axis A of the linear motor 10, the door 2 can be opened or closed about a pivot bearing 16 of the door assembly 1.

[0043] Between the door 2 and the door recess 4, a seal 20 is arranged, positioned in the exemplary embodiment around the entire intended contact surface between the door and the door recess. The seal 20 has a plastic sealing element 21 which is designed to be elastically deformed (i.e., compressed) to seal an opening of the door recess 4 between an interior space 22 and an exterior space 24 when the door 2 is closed against the door recess 4.

[0044] The closing device 6 also includes a control means 18 with which the linear motor 10 can be closed according to a closing request from a vehicle sensor. The user can send a closing request to the control means 18, for example, by means of a control element (not shown) or by means of a manually applied force F. sw at the door - which is detected by the introduced motor movement.

[0045] Furthermore, the locking device 6 has an interior temperature sensor 23 arranged in the interior 22 of the vehicle and an exterior temperature sensor 25 arranged in the exterior 24 of the vehicle, wherein both temperature sensors 23 and 25 are connected to the control means 18 for the transmission of energy and / or sensor values.

[0046] Furthermore, in the exemplary embodiment, the control device 18 is connected to a database 26 which contains operating models 27 of the motor vehicle and in particular of the door arrangement.

[0047] Furthermore, the control device 18 has a condition monitoring unit 30 which, in the exemplary embodiment, is at least configured to determine a current value of a present temperature and a present aging state of the sealing element 21 and to derive an expected stiffness of the sealing element 21 from this, optionally using the temperature sensors and / or by referring to an operating model 27.

[0048] The control means 18 also has a state calibration unit 32 which, in the exemplary embodiment, is at least configured to determine a basic stiffness of the sealing element 21 based on an input of the sealing material and, if necessary, also taking into account a combination of real geometries of the door 2 and the door recess 4 within the respective provided tolerance ranges.

[0049] The following section explains and describes in detail the functionality of an exemplary embodiment of the invention using an exemplary method for closing a door at a door recess:

[0050] First, a user request to close the door is determined using control device 18. This can happen, for example, if the vehicle user manually applies a force F. swapplied to the door, which can be detected by means of the control means 18 through the associated movement of the actuator 14 relative to the motor body 12.

[0051] To determine the sealing force F DTo overcome the resistance that must be overcome to compress the seal and thus close the door to the desired closed position, the current seal temperature (first variable) is determined using temperature sensors 23 and 25 (based on empirical values ​​in an operating model 27 regarding a seal temperature as a function of a certain combination of an interior and an exterior temperature). Additionally, the current seal age (second variable) is determined using a timer. From the seal temperature and seal age, a seal stiffness is calculated, again using an operating model 27. In this embodiment, this is done using the condition monitoring unit 30.

[0052] Furthermore, the required closing torque M is determined depending on the values ​​of these two variable state variables. S and / or the required closing speed v S , to reliably close the door against the resistance of the seal (i.e., a suitable value of one or two closing parameters), is determined by means of the control device 18.

[0053] Based on the determined values ​​for the closing parameter(s) - i.e., the closing torque and / or closing speed - the door drive is activated to close the door and the door is closed accordingly.

[0054] In the exemplary embodiment, the tolerance situation of door 2 and door recess 4 relative to each other, as well as the material of the seal, are additionally recorded as constant state variables. The suitable values ​​for the closing parameter(s) are then determined, also depending on the recorded values ​​of these constant state variables. For example, a state-independent value of the closing parameter, predefined for the device, is adjusted depending on the recorded values ​​of the various variable and constant state variables.

[0055] In the embodiment, the operating request and the value of the state variable(s) are determined multiple times per second by means of the control device 18, and the closing of the door 2 is controlled independently in real time by determining an adapted value of the closing parameter(s) based on the last determined value of the closing parameter(s) depending on the last determined operating request and the last determined value(s) of each of the state variables.

[0056] In Fig. 2 shows a door arrangement that differs from the one shown according to Fig. 1 differs in particular in that a soft-close unit 34 is arranged on the side of the door recess 4 where the door is to be locked in a closed position. In this case, by means of an associated exemplary method for closing the door 2, it is only necessary to ensure that the door closes sufficiently to enable the soft-close unit 34 to perform the final part of the closing movement and to lock the door in the desired closed position (in a manner customary in the trade and independent of the installed model / concept of the soft-close unit 34).

[0057] In Fig. Figure 3 shows a motor vehicle 40 according to an exemplary embodiment of the invention with four door arrangements 1.1, 1.2, 1.3 and 1.4. Each of the door arrangements 1 is designed in the example as described above. Fig. 1. Door arrangement described 1.

[0058] Motor vehicle 40 has a tax resource 18, which is in addition to the Fig. The control device 18 controls each of the door arrangements 1.1 to 1.4 as described in section 1 and can also open and close at least one recirculation valve 42 of the vehicle ventilation system. The control device 18 can also sense whether the recirculation valve 42 is open or closed at a given time.

[0059] In the exemplary embodiment according to Fig. 3 is the regulation of the closing parameters for door 2.1 of door arrangement 4.1 (and also for the other doors 2 of the other door arrangements 4) additionally dependent on a volume of air to be compressed V. i inside the vehicle 22 40.

[0060] When the user requests that door 2.1 be closed, the control device 18 determines whether the recirculation valve 42 is closed. For the purposes of describing this embodiment, it is assumed that the interior is pressure-tight except for the door opening 4.1, when doors 2.2 to 2.4 are closed and the recirculation valve 42 is closed (any windows and their open / closed state are disregarded here to avoid unnecessarily complicating the example; however, such or other additional factors can of course be taken into account analogously in real-world exemplary embodiments).

[0061] Therefore, if door 2.1 is to be closed, it must not only exert the work of deformation against the seal to reach the desired closed position, but also the significantly greater work of compressing the air volume V in the interior 22 of the vehicle 40. Consequently, the control device 18 must apply a significantly greater closing torque when the recirculation valve 42 is closed than when the recirculation valve 42 is open.

[0062] In an alternative embodiment, it can additionally or instead be provided that when the last opened door 2 is closed, the recirculation flap 42 is opened in order to reduce or eliminate the required compression of the air volume in the interior.

[0063] In Fig. 4 is the motor vehicle from Fig. Figure 3 is shown in an inclined parking position to illustrate the influence of any inclination of the vehicle on the required activation of closing door 2.

[0064] If - as in Fig. Figure 4 shows that if the vehicle is inclined towards the vehicle 40 on a sloping road from the perspective of the door 2.1 to be closed (angle of inclination α), less support from the door drive 10 is required. Conversely, if the inclination is in the opposite direction, more support from the motor drive 10 is needed. If the vehicle 40 were inclined against the closing direction, the door drive would have to provide greater support for the closing torque, corresponding to the inclination.

[0065] This relationship can be incorporated into the regulation of closing parameters such as the closing torque M. S or the closing speed v SThis can be taken into account if the control device 18 additionally has an acceleration sensor 44, particularly a high-resolution one, for accelerations in all three spatial dimensions. The tilt angle α can be determined using the acceleration sensor 44, and from this, in turn, an additional closing force applied by the tilt can be determined, which the door drive then does not need to apply, or should not apply, in order to avoid unnecessarily amplifying the closing noise.

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