DEVICE AND METHOD FOR OPERATING A VEHICLE DOOR AND VEHICLE

Abstract

Device (1) for operating a vehicle door (2) of a vehicle (3), in particular a motor vehicle, with -a sensor device (4) designed to detect a force acting on the vehicle door (2) and to generate corresponding sensor data, -an actuating device (5) designed to automatically open and / or close the vehicle door (2), -an operating device (6) which is configured to generate an operating signal when operated by a user, and -a control device (7) which is configured to check whether an operating signal is present, and depending on the sensor data and the result of the check, to initiate an automatic opening and / or closing of the vehicle door (2) by the actuating device (5) or to control the actuating device (5) in such a way that manual opening and / or closing of the vehicle door (2) by the user is possible, wherein the control device (7) is further configured to classify the force acting on the vehicle door (2) on the basis of the sensor data and to additionally control the actuating device (5) depending on the classification.

Description

[0001] The present invention relates to a device and a method for actuating a vehicle door of a vehicle, in particular a motor vehicle, as well as to a vehicle having at least one vehicle door and such a device.

[0002] State-of-the-art vehicles generally have vehicle doors with mechanical door operating elements built into the door handles. When operated by a user, these elements open a door lock, i.e., the vehicle door is released for opening, e.g., by retracting a door latch, and / or the vehicle door can be opened and / or closed manually, e.g., by pulling or pushing on the operating element. If the door lock or the vehicle door is already open, the vehicle door can usually also be closed or opened by pulling or pushing at any point on the door leaf.

[0003] WO 2017 / 211567 A1 relates to a power-operated system for a vehicle door of a vehicle, comprising an actuator, a control means, and a sensor for detecting a force and / or torque exerted on the vehicle door. The system has a first mode in which the control device controls the actuator to resist movement of the vehicle door. If the force and / or torque exerted on the vehicle door exceeds a first threshold when the system is in the first mode, the system exits the first mode and enters a second mode in which the control means controls the actuator to exert a force and / or torque on the vehicle door.

[0004] DE 10 2007 062 472 A1 relates to a door, in particular a vehicle door, and a method for its operation. The translationally and / or rotationally opening door or flap, or the vehicle door, is assigned at least one actuator for motor-assisted opening and / or closing movements and / or an unlocking or locking process. The at least one actuator is operatively connected to at least one sensor device for detecting an actuation and / or an actuation force between a person operating the door or vehicle door and the door or vehicle door itself.

[0005] DE 42 29 412 C1 discloses an evaluation system that uses sensors to measure the door opening angle, the vehicle's longitudinal inclination, and the transverse inclination. The door opening rate is calculated from the change in the opening angle.

[0006] DE 10 2009 001 668 A1 relates to an actuation detection of an active locking system with which vehicle doors, hoods, lids, flaps or other vehicle parts that can be moved along a specific path into a space next to the vehicle can be locked or secured and an actuation request to lock or move the vehicle part can be clearly identified.

[0007] DE 10 2013 013 226 A1 relates to a method for preparing a person to exit a motor vehicle. A monitoring device of the motor vehicle detects whether the person intends to open a vehicle door. Upon detection of the intention to open the door, an exit signal is transmitted to an assistance device, which then initiates a predetermined measure to assist or protect the person during exit.

[0008] DE 10 2015 005 988 A1 relates to a method for operating a door of a motor vehicle which can be driven by means of an automatic drive means, wherein at least one measured value curve describing the movement of the door over time is recorded in order to detect an actuation of the at least partially opened door due to the action of wind.

[0009] EP 3 299 561 A1 relates to an actuating device for a vehicle part movable relative to a body of a vehicle, comprising a drive arrangement with a drive unit and a movement state sensor, an actuating element displaceable relative to the drive arrangement by means of the drive unit, and a control unit for controlling the drive unit.

[0010] It is an object of the invention to improve the operation of a vehicle door, in particular to provide further possibilities for operating the vehicle door.

[0011] This object is achieved by a device and a method for actuating a vehicle door of a vehicle, in particular a motor vehicle, as well as a motor vehicle with a vehicle door and such a device according to the independent claims.

[0012] A device according to the invention for actuating a, in particular automatic, vehicle door of a vehicle, in particular a motor vehicle, has a sensor device configured to detect a force acting on the vehicle door and generate corresponding sensor data, as well as an actuating device configured to automatically open and / or close the vehicle door. Furthermore, an operating device is provided configured to generate an operating signal when operated by a user. A control device is configured to check whether an operating signal is present and, depending on the sensor data and the result of the check, to initiate automatic opening and / or closing of the vehicle door by the actuating device or to control the actuating device in such a way that manual opening and / or closing of the vehicle door by the user is possible.

[0013] A vehicle according to the invention, in particular a motor vehicle, has at least one, in particular automatic, vehicle door and a device according to the invention.

[0014] In the method according to the invention for actuating a, in particular automatic, vehicle door of a vehicle, in particular a motor vehicle, a force acting on the vehicle door is detected and corresponding sensor data is generated. Furthermore, when an operating device is operated by a user, an operating signal is generated, and a check is carried out, in particular by a control device, to determine whether an operating signal is present. Depending on the sensor data and the result of the check, an automatic opening and / or closing of the vehicle door is initiated by an actuating device, or the actuating device is controlled in such a way that manual opening of the vehicle door is possible by the user.

[0015] One aspect of the invention is based on the approach of controlling an actuating device with which a vehicle door can be automatically opened and / or closed depending on whether a user operates an operating device to trigger automatic opening and / or closing and / or exerts a force on the vehicle door. For this purpose, sensor data generated by a sensor device when a force exerted on the vehicle door is detected is taken into account and checked to see whether a signal generated by the operating device is present. This advantageously makes it possible to determine whether the user intends to operate the vehicle door manually or automatically, and to control the actuating device accordingly, i.e. depending on the situation. If, for example, an operating signal is present, a control device causes the vehicle door to be opened and / or closed automatically.If, however, a force acting on the vehicle door is detected, the control device enables manual opening and / or closing of the vehicle door by controlling the actuating device accordingly, for example, by changing the operating mode of the actuating device. This enables both manual and automatic operation of the vehicle door without causing damage to the actuating device.

[0016] In addition to checking whether an operating signal is present, the control device preferably also uses the sensor data to check or detect whether a force is acting on the door when an operating signal is present. If this is the case, the control device can control the actuating device in such a way that manual opening and / or closing of the vehicle door is possible, in particular in addition to automatic opening and / or closing. Preferably, the control device also checks whether a force is acting on the door after registering an operating signal which initiates automatic actuation of the vehicle door. This enables the user to intervene flexibly in the automatic opening and / or closing process of the vehicle door, for example to prevent further opening of the vehicle door or to accelerate the closing of the vehicle door.

[0017] Overall, the invention enables improved operation of a vehicle door. In particular, the invention provides additional options for operating the vehicle door.

[0018] In a preferred embodiment, the control device is configured to control the actuating device based on the sensor data and the test result in such a way that the actuating device assists a movement of the vehicle door during manual opening and / or closing of the vehicle door. The actuating device can be controlled by the control device, for example, in such a way that the actuating device applies an actuating force in addition to the force acting on the vehicle door detected by the sensor device in order to facilitate manual opening and / or closing, i.e., to reduce the force required by the user.

[0019] The control device is also preferably configured to derive a direction of movement of the vehicle door from the sensor data, e.g., by determining the effective direction of the detected force. The actuating device can then reliably apply the additional actuating force in the derived direction of movement.

[0020] In a further preferred embodiment, the sensor device has at least one monitoring sensor coupled to the actuating device, which is configured to detect a force exerted on the actuating device via the vehicle door. The monitoring sensor can, in particular, be configured to detect a moment acting on the actuating device, such as a torque resulting, for example, from the manual opening and / or closing of the vehicle door by the user or from the effect of an environmental condition on the vehicle door. The force acting on the vehicle door can then be reliably and precisely derived from the detected moment, in particular by the evaluation device.

[0021] For this purpose, the monitoring sensor is preferably designed as a Hall sensor and / or integrated into the actuating device or is part of the actuating device. This enables particularly reliable detection of the force or torque acting on the actuating device.

[0022] In a further preferred embodiment, the sensor device has at least one position sensor and / or one acceleration sensor configured to detect an orientation of the vehicle door, in particular relative to the direction of gravity, or an acceleration of the vehicle door, and to generate sensor data containing corresponding position and / or acceleration information. Preferably, the evaluation device is configured to take the position and / or acceleration information into account when controlling the actuating device. This allows the actuating device to be controlled in a particularly differentiated manner, i.e., depending on the situation.

[0023] Based on the position information, the evaluation device can, for example, determine whether gravity, or at least part of it, is influencing the pivoting movement of the vehicle door, for example due to a corresponding inclination of the vehicle. Gravity can have a hindering or encouraging effect when manually opening and / or closing the vehicle door. In these cases, the actuating device can be controlled by the control device to compensate for the influence. This can prevent a user from having to exert excessive force to open and / or close the vehicle door, or prevent the vehicle door from opening and / or closing without the user's intervention, in particular in an undesired and / or uncontrolled manner.

[0024] Based on the acceleration information, the evaluation device can determine, for example, whether the user is manually opening and / or closing the vehicle door or whether the user simply intends to initiate automatic operation of the vehicle door, for example, by briefly pushing the vehicle door. Accordingly, the user's intention to operate the vehicle door can be reliably derived, and the operating device can be controlled accordingly.

[0025] Alternatively or additionally, the evaluation device can also use the acceleration information to determine whether the force acting on the vehicle door is being exerted by a user or is the result of an environmental condition, such as a gust of wind. This can prevent unintentional operation of the vehicle door.

[0026] In a further preferred embodiment, the control device is configured to control the actuating device during manual opening and / or closing of the vehicle door based on the position and / or acceleration information in such a way that manual opening and / or closing is possible with a predetermined, in particular constant, force. In particular, the control device can be configured to cause the actuating device to exert a variable actuating force on the vehicle door, in particular in addition to the force acting on the vehicle door detected by the sensor device. This makes it possible for the force required for manually opening and / or closing the vehicle door to be at least substantially constant for the user.

[0027] By taking position and / or acceleration information into account, both constant and variable impairments of the manual opening and / or closing process, such as the constant effect of gravity on a vehicle door of a vehicle parked on a slope or the irregular effect of wind on an open vehicle door, can be compensated.

[0028] According to the invention, the control device is designed to classify the force acting on the vehicle door based on the sensor data and to additionally control the actuating device depending on the classification. The classification can be used, for example, to distinguish between causes of the force, such as whether the force is exerted on the vehicle door by a user or is the result of an environmental condition, e.g. gravity or a gust of wind. Alternatively or additionally, the classification can also be used to distinguish between different interactions of the user with the vehicle door, such as whether the user exerts the force constantly or over at least a predetermined period of time and thus intends to manually open and / or close the vehicle door, or whether the user transmits the force in bursts and thus intends to initiate an automatic opening and / or closing process.This makes it possible to control the actuating device in a particularly differentiated manner.

[0029] To classify the force acting on the vehicle door, the control device can be configured to filter the sensor data. For example, the control device can be configured to derive a force curve, i.e., the temporal development, of the force acting on the vehicle door from the sensor data. The control device can determine an indication of the cause of the force and / or the user's interaction with the vehicle door, for example, based on the temporal derivative of the force curve, in particular the gradient of the force curve.

[0030] In a further preferred embodiment, the operating device has at least one operating element, e.g. a button or a switch, arranged in the region of an A-pillar of the vehicle and / or in the region of a B-pillar of the vehicle and / or in the region of a door sill of the vehicle door. The or a further operating element can be arranged, for example, on a dashboard of the vehicle next to the A-pillar in order to enable a driver or front passenger of the vehicle to open and / or close the vehicle door easily and conveniently automatically. Alternatively or additionally, the operating element can also be recessed into an interior panel on the B-pillar in order to be easily accessible for a vehicle occupant in the rear of the vehicle.Preferably, the door sill also has an operating element on the side facing the vehicle interior and / or outside the vehicle, so that automatic opening and / or closing of the vehicle door is also conveniently possible by a person outside the vehicle.

[0031] It is also conceivable for a pedal located in the footwell of the vehicle to be designed as a control element. For example, when the vehicle door is open, pressing the brake pedal can trigger the automatic closing of the vehicle door.

[0032] The operating elements of the operating device are thus arranged ergonomically in an advantageous manner and allow targeted and convenient triggering of the automatic door operation.

[0033] In a further preferred embodiment, the vehicle has a position sensor unit configured to detect the orientation of the vehicle, in particular relative to a direction of gravity, and to output corresponding position information. This allows the control device to take into account the influence of gravity on the force required to open and / or close the vehicle door when controlling the actuating device for assisting manual opening and / or closing, even if no position sensor is installed in the vehicle door.

[0034] Further features, advantages, and possible applications of the invention will become apparent from the following description taken in conjunction with the single figure. It shows, at least partially schematically: Fig. 1 an example of a device for operating a vehicle door.

[0035] Fig. 1 shows an example of a device 1 for actuating a vehicle door 2 of a vehicle 3, in particular a motor vehicle, having a sensor device 4, an actuating device 5, an operating device 6 and a control device 7. The vehicle door 2 can be opened and / or closed automatically, i.e. without any effort from the user, with the aid of the actuating device 5. For this purpose, it is possible, when the user operates the operating device 6, for example by pressing a key or a button, to generate an operating signal, based on which the control device 7 can cause the actuating device 5 to automatically open and / or close the vehicle door 2.

[0036] In the example shown, the vehicle door 2 also has a door handle 8. In order to give the user the option of manually opening and / or closing the vehicle door 2 alternatively using the door handle 8, the sensor device 4 is configured to detect a force acting on the vehicle door 2 and generate corresponding sensor data that can be taken into account when controlling the actuating device 5. The sensor device 4 can, for example, detect a force exerted on the vehicle door 2 by the user, for example by a vehicle occupant or by a person outside the vehicle, to open the vehicle door 2.

[0037] The detected force is characterized by the generated sensor data. Preferably, the sensor data also characterize at least the magnitude of the force and / or its direction.

[0038] The control device 7 is designed to check whether an operating signal is present and, depending on the result of the check and the sensor data, either to cause an automatic opening and / or closing of the vehicle door 2 by the actuating device 5, as already described, or to control the actuating device 5 in such a way that a manual opening of the vehicle door 2 is possible, in particular by exerting a force on the vehicle door, e.g. by pulling or pushing the door handle 8.

[0039] The control device 7 is preferably configured to derive a user's actuation request from the sensor data. The control device 7 therefore preferably causes the actuation device 5 to automatically actuate the vehicle door 2 not only when an operating signal is present, but also, for example, when the sensor data indicates that the user has exerted force to initiate an automatic opening and / or closing process, for example, when the user gives the open vehicle door 2 a push.

[0040] The control device 7 is therefore preferably configured to analyze the sensor data, for example, to filter it, and to classify the force acting on the vehicle door 2 and registered by the sensor device 4, so that the actuating device 5 can be controlled depending on the classification. For example, the control device 7 can be configured to determine a force curve, i.e., the temporal change in the force acting on the vehicle door 2, from the sensor data and to perform the classification based on the determined force curve.

[0041] The force acting on the vehicle door 2 can be classified, for example, as a constant force exerted by a user to manually open the vehicle door 2 or as a comparatively short-term force exerted by a user, e.g., as a shock, to initiate an automatic opening of the vehicle door 2. In these cases, the control device 7 enables or initiates manual or automatic opening by appropriately controlling the actuating device 5.

[0042] Furthermore, the force can be classified, for example, as a force exerted on the vehicle door by an environmental condition, such as a gust of wind and / or gravity when the vehicle is tilted. In this case, the control device 7 prevents a change in the opening angle of the vehicle door 2 by appropriately controlling the actuating device 5, for example by blocking the vehicle door 2 or deactivating the door drive.

[0043] To detect the force acting on the vehicle door 2, the sensor device 4 can, for example, have a monitoring sensor 4a, which is configured to detect the force acting on the vehicle door 2 based on loads on the actuating device 5, e.g., a torque acting on the actuating device 5. Such a monitoring sensor 4a, e.g., a Hall sensor, is preferably part of the actuating device 5.

[0044] The sensor device 4 can also have an acceleration sensor 4c for detecting an acceleration of the vehicle door 2 and / or a position sensor 4b for detecting an orientation of the vehicle door 2, in particular relative to a direction of gravity. The acceleration sensor 4c and / or the position sensor 4b are, as shown in Fig. 1, installed in the vehicle door.

[0045] The acceleration sensor 4c preferably generates sensor data containing acceleration information. Based on the acceleration information, the control device 7 can, for example, determine the force with which a user acts on the vehicle door 2 and control the actuating device 5 accordingly.

[0046] The position sensor 4b preferably generates sensor data containing position information. Based on the position information, the control device 7 can, for example, derive the proportion of gravity that counteracts the opening and / or closing of the vehicle door 2 or supports an opening and / or closing movement of the vehicle door 2. If the vehicle 3 is parked on a slope, for example, the gravity on a side of the vehicle 3 facing the slope counteracts the opening of the vehicle door 2, while the gravity on a side of the vehicle 3 facing away from the slope can lead to an accelerated, possibly even uncontrolled, opening of the vehicle door 2.

[0047] Based on the position information and / or the acceleration information, the control device 7 can therefore control the actuating device 5 such that the actuating device 5 assists the manual opening and / or closing of the vehicle door 2, for example by causing the actuating device 5 to apply an additional force to the vehicle door 2 in or against a direction of movement of the vehicle door 2.

[0048] When the vehicle door is opened manually against at least part of the force of gravity, the actuating device 5 can, for example, apply an additional force in the opening direction to the vehicle door 2 to facilitate opening. When the vehicle door 2 is closed manually using at least part of the force of gravity, the actuating device 5 can, for example, counteract a violent slamming of the vehicle door 2 with a force opposite to the closing direction.

[0049] Alternatively or in addition to the position sensor 4b of the device 1, the vehicle 3 can have a position sensor unit 9 which is designed to detect the orientation of the vehicle, in particular relative to a direction of action of gravity, and to output corresponding position information on the basis of which the control device 7 can control the actuating device 5. List of reference symbols 1 device for operating a vehicle door 2 vehicle doors 3 vehicles 4 Sensor device 4a Monitoring sensor 4b Position sensor 4c acceleration sensor 5 Actuating device 6 Control device 7 Control device 8 Door handle 9 Position sensor device

Claims

[1] Device (1) for actuating a vehicle door (2) of a vehicle (3), in particular a motor vehicle, with -a sensor device (4) which is designed to detect a force acting on the vehicle door (2) and to generate corresponding sensor data, -an actuating device (5) which is designed to automatically open and / or close the vehicle door (2), -an operating device (6) which is designed to generate an operating signal when operated by a user, and -a control device (7) which is designed to check whether an operating signal is present and, depending on the sensor data and the result of the check, to cause the vehicle door (2) to open and / or close automatically by the actuating device (5) or to control the actuating device (5) in such a way that the vehicle door (2) can be opened and / or closed manually by the user, wherein the control device (7) is further designed to classify the force acting on the vehicle door (2) on the basis of the sensor data and to additionally control the actuating device (5) depending on the classification. [2] Device (1) according to claim 1, wherein the control device (7) is configured to control the actuating device (5) depending on the sensor data and the result of the test in such a way that the actuating device (5) assists a movement of the vehicle door (2) during manual opening and / or closing of the vehicle door (2). [3] Device (1) according to one of the preceding claims, wherein the sensor device (4) has at least one monitoring sensor (4a) coupled to the actuating device (5) which is designed to detect a force exerted on the actuating device (5) via the vehicle door (2). [4] Device (1) according to one of the preceding claims, wherein the sensor device (4) has at least one position sensor (4b) and / or one acceleration sensor (4c) which is designed to detect an orientation of the vehicle door (2), in particular relative to the direction of action of gravity, or an acceleration of the vehicle door (2) and to generate sensor data which contain corresponding position and / or acceleration information. [5] Device (1) according to claim 4, wherein the control device (7) is designed to control the actuating device (5) during manual opening and / or closing of the vehicle door (2) on the basis of the position and / or acceleration information in such a way that the manual opening and / or closing is possible with a predetermined effort of force. [6] Vehicle (3), in particular motor vehicle, with at least one vehicle door (2) and a device (1) according to one of the preceding claims. [7] Vehicle (3) according to claim 6, wherein the operating device (6) has at least one operating element arranged in the region of an A-pillar of the vehicle (3) and / or in the region of a B-pillar of the vehicle (3) and / or in the region of a door sill of the vehicle door (2). [8] Vehicle (3) according to one of claims 6 or 7, comprising a position sensor unit (9) which is designed to detect an orientation of the vehicle (3), in particular relative to a direction of action of gravity, and to output corresponding position information. [9] Method for operating a vehicle door (2) of a vehicle (3), in particular a motor vehicle, comprising the steps: - detecting a force acting on the vehicle door (2) and generating corresponding sensor data; -classifying the force acting on the vehicle door (2) based on the sensor data; - generating an operating signal when an operating device (6) is operated by a user; -Check whether an operating signal is present; and -depending on the sensor data and the result of the test, initiating an automatic opening and / or closing of the vehicle door (2) by an actuating device (5) or controlling the actuating device (5) in such a way that a manual opening of the vehicle door (2) by the user is possible, and controlling the actuating device (5) additionally depending on the classification.

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